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annotate python/storage.py @ 329:a70c205ebdd9

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added sqlite code, in particular to load and save road user type
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 13 Jun 2013 00:42:40 -0400
parents 42f2b46ec210
children 00800ebae698
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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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11 ngsimUserTypes = {'twowheels':1,
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12 'car':2,
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13 'truck':3}
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15 #########################
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16 # Sqlite
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17 #########################
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18
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19 def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1):
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20 """
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21 This function writers trajectories to a specified sqlite file
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22 @param[in] objects -> a list of trajectories
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23 @param[in] trajectoryType -
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24 @param[out] outFile -> the .sqlite file containting the written objects
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25 @param[in] objectNumber : number of objects loaded
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26 """
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27
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28 import sqlite3
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29 connection = sqlite3.connect(outFilename)
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30 cursor = connection.cursor()
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31
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32 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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33 cursor.execute(schema)
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34
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35 trajectory_id = 0
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36 frame_number = 0
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37 if trajectoryType == 'feature':
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38 if type(objectNumbers) == int and objectNumbers == -1:
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39 for trajectory in objects:
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40 trajectory_id += 1
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41 frame_number = 0
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42 for position in trajectory.getPositions():
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43 frame_number += 1
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44 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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45 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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47 connection.commit()
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48 connection.close()
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49
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50 def setRoadUserTypes(filename, objects):
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51 import sqlite3
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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 import sqlite3
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67 connection = sqlite3.connect(filename)
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68 cursor = connection.cursor()
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70 try:
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71 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
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72 except sqlite3.OperationalError as err:
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73 print('DB Error: {0}'.format(err))
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74 return []
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76 for row in cursor:
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77 matched_indexes.append((row[0],row[1]))
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78
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79 connection.close()
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80 return matched_indexes
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81
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82 def getTrajectoryIdQuery(objectNumbers, trajectoryType):
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83 if trajectoryType == 'feature':
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84 statementBeginning = 'trajectory_id'
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85 elif trajectoryType == 'object':
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86 statementBeginning = 'object_id'
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87 else:
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88 print('no trajectory type was chosen')
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90 if type(objectNumbers) == int:
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91 if objectNumbers == -1:
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92 query = ''
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93 else:
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94 query = statementBeginning+' between 0 and {0}'.format(objectNumbers)
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95 elif type(objectNumbers) == list:
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96 query = statementBeginning+' in ('+', '.join([str(n) for n in objectNumbers])+')'
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97 return query
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98
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99 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1):
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100 '''Loads trajectories (in the general sense) from the given table
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101 can be positions or velocities
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102
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103 returns a moving object'''
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104 import sqlite3
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105
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106 cursor = connection.cursor()
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107
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108 try:
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109 if trajectoryType == 'feature':
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110 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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111 cursor.execute('SELECT * from '+tableName+' where '+trajectoryIdQuery+' order by trajectory_id, frame_number')
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112 elif trajectoryType == 'object':
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113 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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114 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.'+objectIdQuery+' group by OF.object_id, P.frame_number order by OF.object_id, P.frame_number')
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115 else:
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116 print('no trajectory type was chosen')
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117 except sqlite3.OperationalError as err:
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118 print('DB Error: {0}'.format(err))
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119 return []
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120
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121 objId = -1
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122 obj = None
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123 objects = []
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124 for row in cursor:
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125 if row[0] != objId:
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126 objId = row[0]
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127 if obj:
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128 objects.append(obj)
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129 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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130 else:
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131 obj.timeInterval.last = row[1]
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132 obj.positions.addPositionXY(row[2],row[3])
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133
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134 if obj:
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135 objects.append(obj)
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136
239
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137 return objects
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138
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139 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
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140 '''Loads nObjects or the indices in objectNumbers from the database
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141 TODO: load feature numbers and not average feature trajectories
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142 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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143 '''
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144 import sqlite3
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145
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146 connection = sqlite3.connect(filename) # add test if it open
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147
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148 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers)
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149 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers)
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150
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151 if len(objectVelocities) > 0:
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152 for o,v in zip(objects, objectVelocities):
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153 if o.getNum() == v.getNum():
239
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154 o.velocities = v.positions
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155 else:
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156 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum()))
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157
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158 if trajectoryType == 'object':
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159 cursor = connection.cursor()
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160 try:
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161 # attribute feature numbers to objects
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162 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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163 cursor.execute('SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id and OF.'+objectIdQuery+' group by P.trajectory_id order by OF.object_id') # order is important to group all features per object
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164
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165 featureNumbers = {}
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166 for row in cursor:
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167 objId = row[1]
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168 if objId not in featureNumbers:
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169 featureNumbers[objId] = [row[0]]
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170 else:
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171 featureNumbers[objId].append(row[0])
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172
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173 for obj in objects:
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174 obj.featureNumbers = featureNumbers[obj.getNum()]
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175
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176 # load userType
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177 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery)
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178 userTypes = {}
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179 for row in cursor:
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180 userTypes[row[0]] = row[1]
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181
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182 for obj in objects:
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183 obj.userType = userTypes[obj.getNum()]
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184
263
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185 except sqlite3.OperationalError as err:
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186 print('DB Error: {0}'.format(err))
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187 return []
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188
143
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189 connection.close()
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190 return objects
0
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191
235
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192 def removeObjectsFromSqlite(filename):
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193 'Removes the objects and object_features tables in the filename'
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194 import sqlite3
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195 connection = sqlite3.connect(filename)
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196 utils.dropTables(connection, ['objects', 'objects_features'])
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197 connection.close()
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198
329
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199
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200 #########################
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201 # txt files
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202 #########################
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203
173
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204 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
0
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205 '''Reads data from the trajectory data provided by NGSIM project
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206 and returns the list of Feature objects'''
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207 objects = []
0
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208
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209 input = utils.openCheck(filename)
0
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210 if not input:
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211 import sys
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212 sys.exit()
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213
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214 def createObject(numbers):
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215 firstFrameNum = int(numbers[1])
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216 # do the geometry and usertype
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217
72
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218 firstFrameNum = int(numbers[1])
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219 lastFrameNum = firstFrameNum+int(numbers[2])-1
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220 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
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221 obj = moving.MovingObject(num = int(numbers[0]),
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222 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
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223 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
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224 userType = int(numbers[10]))
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225 obj.userType = int(numbers[10])
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226 obj.laneNums = [int(numbers[13])]
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227 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
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228 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
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229 obj.spaceHeadways = [float(numbers[16])] # feet
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230 obj.timeHeadways = [float(numbers[17])] # seconds
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231 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate
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232 obj.speeds = [float(numbers[11])]
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233 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
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234 return obj
0
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235
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236 numbers = input.readline().strip().split()
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237 if (len(numbers) > 0):
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238 obj = createObject(numbers)
0
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239
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240 for line in input:
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241 numbers = line.strip().split()
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242 if obj.getNum() != int(numbers[0]):
0
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243 # check and adapt the length to deal with issues in NGSIM data
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244 if (obj.length() != obj.positions.length()):
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245 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length())
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diff changeset
246 obj.last = obj.getFirstInstant()+obj.positions.length()-1
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247 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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248 objects.append(obj)
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249 if (nObjects>0) and (len(objects)>=nObjects):
0
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250 break
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251 obj = createObject(numbers)
0
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252 else:
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253 obj.laneNums.append(int(numbers[13]))
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254 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
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255 obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1])
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256 obj.speeds.append(float(numbers[11]))
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257 obj.precedingVehicles.append(int(numbers[14]))
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258 obj.followingVehicles.append(int(numbers[15]))
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259 obj.spaceHeadways.append(float(numbers[16]))
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260 obj.timeHeadways.append(float(numbers[17]))
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261
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262 if (obj.size[0] != float(numbers[8])):
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263 print 'changed length obj %d' % (obj.getNum())
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264 if (obj.size[1] != float(numbers[9])):
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265 print 'changed width obj %d' % (obj.getNum())
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266
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267 input.close()
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268 return objects
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269
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270 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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271 '''Reads data from the trajectory data provided by NGSIM project
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272 and converts to our current format.'''
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273 if append:
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274 out = open(outFile,'a')
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275 else:
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276 out = open(outFile,'w')
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277 nObjectsPerType = [0,0,0]
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278
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279 features = loadNgsimFile(inFile, sequenceNum)
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280 for f in features:
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281 nObjectsPerType[f.userType-1] += 1
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282 f.write(out)
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283
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284 print nObjectsPerType
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285
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286 out.close()
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287
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288 if __name__ == "__main__":
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289 import doctest
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290 import unittest
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291 suite = doctest.DocFileSuite('tests/storage.txt')
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292 unittest.TextTestRunner().run(suite)
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293 # #doctest.testmod()
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294 # #doctest.testfile("example.txt")