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annotate python/storage.py @ 417:a2ff03a52b73

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added basic logging capability for debugging
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 26 Sep 2013 17:07:44 -0400
parents 6567fee37c16
children f6415f012640
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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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9 __metaclass__ = type
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11
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12 ngsimUserTypes = {'twowheels':1,
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13 'car':2,
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14 'truck':3}
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15
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16 #########################
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17 # Sqlite
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18 #########################
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19
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20 def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1):
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21 """
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22 This function writers trajectories to a specified sqlite file
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23 @param[in] objects -> a list of trajectories
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24 @param[in] trajectoryType -
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25 @param[out] outFile -> the .sqlite file containting the written objects
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26 @param[in] objectNumber : number of objects loaded
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27 """
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28 connection = sqlite3.connect(outFilename)
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29 cursor = connection.cursor()
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30
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31 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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32 cursor.execute(schema)
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33
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34 trajectory_id = 0
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35 frame_number = 0
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36 if trajectoryType == 'feature':
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37 if type(objectNumbers) == int and objectNumbers == -1:
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38 for trajectory in objects:
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39 trajectory_id += 1
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40 frame_number = 0
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41 for position in trajectory.getPositions():
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42 frame_number += 1
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43 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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44 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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45
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46 connection.commit()
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47 connection.close()
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48
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49 def setRoadUserTypes(filename, objects):
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50 '''Saves the user types of the objects in the sqlite database stored in filename
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51 The objects should exist in the objects table'''
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52 connection = sqlite3.connect(filename)
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53 cursor = connection.cursor()
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54 for obj in objects:
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55 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum()))
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56 connection.commit()
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57 connection.close()
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58
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59 def loadPrototypeMatchIndexesFromSqlite(filename):
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60 """
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61 This function loads the prototypes table in the database of name <filename>.
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62 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
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63 """
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64 matched_indexes = []
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65
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66 connection = sqlite3.connect(filename)
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67 cursor = connection.cursor()
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69 try:
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70 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
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71 except sqlite3.OperationalError as error:
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72 utils.printDBError(error)
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73 return []
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75 for row in cursor:
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76 matched_indexes.append((row[0],row[1]))
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77
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78 connection.close()
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79 return matched_indexes
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81 def getTrajectoryIdQuery(objectNumbers, trajectoryType):
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82 if trajectoryType == 'feature':
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83 statementBeginning = 'where trajectory_id '
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84 elif trajectoryType == 'object':
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85 statementBeginning = 'and OF.object_id '
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86 else:
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87 print('no trajectory type was chosen')
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88
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89 if type(objectNumbers) == int:
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90 if objectNumbers == -1:
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91 query = ''
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92 else:
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93 query = statementBeginning+'between 0 and {0} '.format(objectNumbers)
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94 elif type(objectNumbers) == list:
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95 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') '
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96 return query
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97
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98 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1):
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99 '''Loads trajectories (in the general sense) from the given table
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100 can be positions or velocities
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101
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102 returns a moving object'''
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103 cursor = connection.cursor()
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104
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105 try:
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106 if trajectoryType == 'feature':
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107 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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108 queryStatement = 'SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number'
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109 cursor.execute(queryStatement)
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110 logging.debug(queryStatement)
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111 elif trajectoryType == 'object':
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112 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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113 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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114 cursor.execute(queryStatement)
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115 logging.debug(queryStatement)
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116 else:
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117 print('no trajectory type was chosen')
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118 except sqlite3.OperationalError as error:
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119 utils.printDBError(error)
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120 return []
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121
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122 objId = -1
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123 obj = None
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124 objects = []
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125 for row in cursor:
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126 if row[0] != objId:
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127 objId = row[0]
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128 if obj:
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129 objects.append(obj)
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130 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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131 else:
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132 obj.timeInterval.last = row[1]
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133 obj.positions.addPositionXY(row[2],row[3])
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134
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135 if obj:
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136 objects.append(obj)
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137
239
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138 return objects
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139
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140 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
417
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141 '''Loads nObjects or the indices in objectNumbers from the database'''
239
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142 connection = sqlite3.connect(filename) # add test if it open
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143
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144 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers)
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145 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers)
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146
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147 if len(objectVelocities) > 0:
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148 for o,v in zip(objects, objectVelocities):
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149 if o.getNum() == v.getNum():
239
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150 o.velocities = v.positions
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151 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions
239
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152 else:
329
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153 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum()))
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154
263
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155 if trajectoryType == 'object':
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156 cursor = connection.cursor()
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157 try:
329
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158 # attribute feature numbers to objects
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159 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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160 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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161 cursor.execute(queryStatement)
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162 logging.debug(queryStatement)
263
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163
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164 featureNumbers = {}
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165 for row in cursor:
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166 objId = row[1]
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167 if objId not in featureNumbers:
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168 featureNumbers[objId] = [row[0]]
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169 else:
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170 featureNumbers[objId].append(row[0])
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171
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172 for obj in objects:
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173 obj.featureNumbers = featureNumbers[obj.getNum()]
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174
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175 # load userType
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176 if objectIdQuery == '':
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177 cursor.execute('SELECT object_id, road_user_type from objects')
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178 else:
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179 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:])
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180 userTypes = {}
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181 for row in cursor:
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182 userTypes[row[0]] = row[1]
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183
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184 for obj in objects:
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185 obj.userType = userTypes[obj.getNum()]
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186
342
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187 except sqlite3.OperationalError as error:
344
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188 utils.printDBError(error)
263
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189 return []
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diff changeset
190
143
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191 connection.close()
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192 return objects
0
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193
344
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194 def removeFromSqlite(filename, dataType):
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195 'Removes some tables in the filename depending on type of data'
235
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196 connection = sqlite3.connect(filename)
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197 if dataType == 'object':
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198 utils.dropTables(connection, ['objects', 'objects_features'])
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199 elif dataType == 'interaction':
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diff changeset
200 utils.dropTables(connection, ['interactions', 'indicators'])
390
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diff changeset
201 elif dataType == 'bb':
394
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diff changeset
202 utils.dropTables(connection, ['bounding_boxes'])
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diff changeset
203 else:
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diff changeset
204 print('Unknown data type {} to delete from database'.format(dataType))
235
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205 connection.close()
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diff changeset
206
341
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207 def createInteractionTable(cursor):
343
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diff changeset
208 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))')
341
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diff changeset
209
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210 def createIndicatorTables(cursor):
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diff changeset
211 # 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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diff changeset
212 # 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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diff changeset
213 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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diff changeset
214
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diff changeset
215 def saveInteraction(cursor, interaction):
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diff changeset
216 roadUserNumbers = list(interaction.getRoadUserNumbers())
343
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diff changeset
217 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant()))
341
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diff changeset
218
340
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219 def saveInteractions(filename, interactions):
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220 'Saves the interactions in the table'
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diff changeset
221 connection = sqlite3.connect(filename)
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diff changeset
222 cursor = connection.cursor()
342
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diff changeset
223 try:
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diff changeset
224 createInteractionTable(cursor)
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225 for inter in interactions:
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diff changeset
226 saveInteraction(cursor, inter)
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diff changeset
227 except sqlite3.OperationalError as error:
344
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diff changeset
228 utils.printDBError(error)
341
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diff changeset
229 connection.commit()
340
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diff changeset
230 connection.close()
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diff changeset
231
341
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diff changeset
232 def saveIndicator(cursor, interactionNum, indicator):
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diff changeset
233 for instant in indicator.getTimeInterval():
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diff changeset
234 if indicator[instant]:
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diff changeset
235 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant]))
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diff changeset
236
343
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diff changeset
237 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames):
340
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diff changeset
238 'Saves the indicator values in the table'
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diff changeset
239 connection = sqlite3.connect(filename)
341
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diff changeset
240 cursor = connection.cursor()
342
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diff changeset
241 try:
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diff changeset
242 createInteractionTable(cursor)
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diff changeset
243 createIndicatorTables(cursor)
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diff changeset
244 for inter in interactions:
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diff changeset
245 saveInteraction(cursor, inter)
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diff changeset
246 for indicatorName in indicatorNames:
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diff changeset
247 indicator = inter.getIndicator(indicatorName)
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diff changeset
248 if indicator != None:
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diff changeset
249 saveIndicator(cursor, inter.getNum(), indicator)
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diff changeset
250 except sqlite3.OperationalError as error:
344
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diff changeset
251 utils.printDBError(error)
341
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diff changeset
252 connection.commit()
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diff changeset
253 connection.close()
340
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diff changeset
254
342
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diff changeset
255 def loadIndicators(filename):
343
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256 '''Loads interaction indicators
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257
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258 TODO choose the interactions to load'''
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259 interactions = []
342
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260 connection = sqlite3.connect(filename)
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261 cursor = connection.cursor()
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262 try:
343
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263 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')
342
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264 interactionNum = -1
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265 indicatorTypeNum = -1
343
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266 tmpIndicators = {}
342
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267 for row in cursor:
343
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268 if row[0] != interactionNum: # save interaction and create new interaction
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269 if interactionNum >= 0:
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270 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1]))
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diff changeset
271 interactions[-1].indicators = tmpIndicators
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272 tmpIndicators = {}
342
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273 interactionNum = row[0]
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274 roadUserNumbers = row[1:3]
343
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275 if indicatorTypeNum != row[5]:
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276 if indicatorTypeNum >= 0:
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277 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
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278 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
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279 indicatorTypeNum = row[5]
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280 indicatorValues = {row[6]:row[7]}
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281 else:
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282 indicatorValues[row[6]] = row[7]
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283 if interactionNum >= 0:
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284 if indicatorTypeNum >= 0:
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285 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
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286 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
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287 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1]))
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288 interactions[-1].indicators = tmpIndicators
342
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289 except sqlite3.OperationalError as error:
344
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290 utils.printDBError(error)
343
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291 return []
342
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292 connection.close()
343
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293 return interactions
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294 # load first and last object instants
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295 # CREATE TEMP TABLE IF NOT EXISTS object_instants AS SELECT OF.object_id, min(frame_number) as first_instant, max(frame_number) as last_instant from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id group by OF.object_id order by OF.object_id
342
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296
390
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297 def createBoundingBoxTable(filename, invHomography = None):
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298 '''Create the table to store the object bounding boxes
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299 '''
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300 connection = sqlite3.connect(filename)
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301 cursor = connection.cursor()
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302 try:
394
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303 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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304 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from '
390
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305 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from '
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306 '(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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307 'GROUP BY object_id, frame_number')
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308 except sqlite3.OperationalError as error:
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309 utils.printDBError(error)
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310 connection.commit()
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311 connection.close()
329
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312
393
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313 def loadBoundingBoxTable(filename):
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314 connection = sqlite3.connect(filename)
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315 cursor = connection.cursor()
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316 boundingBoxes = {} # list of bounding boxes for each instant
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317 try:
394
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318 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'')
393
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319 result = [row for row in cursor]
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320 if len(result) > 0:
394
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321 cursor.execute('SELECT * FROM bounding_boxes')
393
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diff changeset
322 #objId = -1
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323 for row in cursor:
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324 #if row[0] != objId:
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diff changeset
325 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])])
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326 except sqlite3.OperationalError as error:
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diff changeset
327 utils.printDBError(error)
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diff changeset
328 return boundingBoxes
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diff changeset
329 connection.close()
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diff changeset
330 return boundingBoxes
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diff changeset
331
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diff changeset
332
329
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333 #########################
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334 # txt files
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335 #########################
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336
173
319a04ba9033 function name change
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diff changeset
337 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
0
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338 '''Reads data from the trajectory data provided by NGSIM project
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339 and returns the list of Feature objects'''
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diff changeset
340 objects = []
0
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341
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342 input = utils.openCheck(filename)
0
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343 if not input:
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344 import sys
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345 sys.exit()
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346
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diff changeset
347 def createObject(numbers):
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348 firstFrameNum = int(numbers[1])
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349 # do the geometry and usertype
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350
72
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diff changeset
351 firstFrameNum = int(numbers[1])
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diff changeset
352 lastFrameNum = firstFrameNum+int(numbers[2])-1
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diff changeset
353 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
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diff changeset
354 obj = moving.MovingObject(num = int(numbers[0]),
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diff changeset
355 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
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diff changeset
356 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
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diff changeset
357 userType = int(numbers[10]))
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diff changeset
358 obj.userType = int(numbers[10])
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diff changeset
359 obj.laneNums = [int(numbers[13])]
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diff changeset
360 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
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diff changeset
361 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
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parents: 72
diff changeset
362 obj.spaceHeadways = [float(numbers[16])] # feet
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parents: 72
diff changeset
363 obj.timeHeadways = [float(numbers[17])] # seconds
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
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parents: 326
diff changeset
364 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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parents: 50
diff changeset
365 obj.speeds = [float(numbers[11])]
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diff changeset
366 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
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parents: 0
diff changeset
367 return obj
0
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parents:
diff changeset
368
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diff changeset
369 numbers = input.readline().strip().split()
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diff changeset
370 if (len(numbers) > 0):
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parents: 0
diff changeset
371 obj = createObject(numbers)
0
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diff changeset
372
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diff changeset
373 for line in input:
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diff changeset
374 numbers = line.strip().split()
329
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diff changeset
375 if obj.getNum() != int(numbers[0]):
0
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parents:
diff changeset
376 # check and adapt the length to deal with issues in NGSIM data
72
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diff changeset
377 if (obj.length() != obj.positions.length()):
329
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parents: 327
diff changeset
378 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length())
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379 obj.last = obj.getFirstInstant()+obj.positions.length()-1
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380 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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381 objects.append(obj)
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382 if (nObjects>0) and (len(objects)>=nObjects):
0
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383 break
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384 obj = createObject(numbers)
0
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385 else:
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386 obj.laneNums.append(int(numbers[13]))
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387 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
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388 obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1])
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389 obj.speeds.append(float(numbers[11]))
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390 obj.precedingVehicles.append(int(numbers[14]))
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391 obj.followingVehicles.append(int(numbers[15]))
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392 obj.spaceHeadways.append(float(numbers[16]))
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393 obj.timeHeadways.append(float(numbers[17]))
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394
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395 if (obj.size[0] != float(numbers[8])):
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396 print 'changed length obj %d' % (obj.getNum())
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397 if (obj.size[1] != float(numbers[9])):
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398 print 'changed width obj %d' % (obj.getNum())
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399
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400 input.close()
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401 return objects
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402
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403 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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404 '''Reads data from the trajectory data provided by NGSIM project
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405 and converts to our current format.'''
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406 if append:
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407 out = utils.openCheck(outFile,'a')
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408 else:
377
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409 out = utils.openCheck(outFile,'w')
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410 nObjectsPerType = [0,0,0]
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411
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412 features = loadNgsimFile(inFile, sequenceNum)
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413 for f in features:
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414 nObjectsPerType[f.userType-1] += 1
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415 f.write(out)
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416
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417 print nObjectsPerType
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418
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419 out.close()
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420
335
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421 def writePositionsToCsv(f, obj):
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422 timeInterval = obj.getTimeInterval()
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423 positions = obj.getPositions()
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424 curvilinearPositions = obj.getCurvilinearPositions()
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425 for i in xrange(int(obj.length())):
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426 p1 = positions[i]
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427 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y)
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428 if curvilinearPositions != None:
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429 p2 = curvilinearPositions[i]
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430 s += ',{},{}'.format(p2[0],p2[1])
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431 f.write(s+'\n')
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432
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433 def writeTrajectoriesToCsv(filename, objects):
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434 f = utils.openCheck(filename, 'w')
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435 for i,obj in enumerate(objects):
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436 writePositionsToCsv(f, obj)
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437 f.close()
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438
377
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439 def writeList(filename, l):
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440 f = utils.openCheck(filename, 'w')
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441 for x in l:
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442 f.write('{}\n'.format(x))
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443 f.close()
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444
382
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445 def loadListStrings(filename):
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446 f = utils.openCheck(filename, 'r')
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447 result = [l.strip() for l in f]
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448 f.close()
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449 return result
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450
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451
215
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452 if __name__ == "__main__":
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453 import doctest
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454 import unittest
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455 suite = doctest.DocFileSuite('tests/storage.txt')
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456 unittest.TextTestRunner().run(suite)
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diff changeset
457 # #doctest.testmod()
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diff changeset
458 # #doctest.testfile("example.txt")