Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 585:aab2242ea88c
minor modification of objectNumbers to None
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 04 Dec 2014 17:04:56 -0500 |
parents | 5bda87ac0a69 |
children | ff4f0ce46ca6 |
rev | line source |
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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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8 |
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9 __metaclass__ = type |
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10 |
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11 |
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12 commentChar = '#' |
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13 |
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14 delimiterChar = '%'; |
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15 |
50 | 16 ngsimUserTypes = {'twowheels':1, |
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17 'car':2, |
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18 'truck':3} |
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19 |
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20 ######################### |
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21 # Sqlite |
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22 ######################### |
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23 |
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24 # utils |
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25 def printDBError(error): |
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26 print('DB Error: {}'.format(error)) |
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27 |
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28 def dropTables(connection, tableNames): |
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29 'deletes the table with names in tableNames' |
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30 try: |
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31 cursor = connection.cursor() |
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32 for tableName in tableNames: |
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33 cursor.execute('DROP TABLE IF EXISTS '+tableName) |
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34 except sqlite3.OperationalError as error: |
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35 printDBError(error) |
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36 |
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37 # IO to sqlite |
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38 def writeTrajectoriesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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39 """ |
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40 This function writers trajectories to a specified sqlite file |
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41 @param[in] objects -> a list of trajectories |
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42 @param[in] trajectoryType - |
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43 @param[out] outputFilename -> the .sqlite file containting the written objects |
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44 @param[in] objectNumber : number of objects loaded |
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45 """ |
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46 connection = sqlite3.connect(outputFilename) |
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47 cursor = connection.cursor() |
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48 |
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49 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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50 cursor.execute(schema) |
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51 |
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52 trajectory_id = 0 |
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53 frame_number = 0 |
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54 if trajectoryType == 'feature': |
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55 if type(objectNumbers) == int and objectNumbers == -1: |
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56 for trajectory in objects: |
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57 trajectory_id += 1 |
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58 frame_number = 0 |
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59 for position in trajectory.getPositions(): |
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60 frame_number += 1 |
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61 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
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62 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
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63 |
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64 connection.commit() |
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65 connection.close() |
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67 def writeFeaturesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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68 '''write features trajectories maintain trajectory ID,velocities dataset ''' |
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69 connection = sqlite3.connect(outputFilename) |
546 | 70 cursor = connection.cursor() |
71 | |
72 cursor.execute("CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))") | |
73 cursor.execute("CREATE TABLE IF NOT EXISTS \"velocities\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))") | |
74 | |
75 if trajectoryType == 'feature': | |
76 if type(objectNumbers) == int and objectNumbers == -1: | |
77 for trajectory in objects: | |
78 trajectory_id = trajectory.num | |
79 frame_number = trajectory.timeInterval.first | |
80 for position,velocity in zip(trajectory.getPositions(),trajectory.getVelocities()): | |
81 cursor.execute("insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,position.x,position.y)) | |
82 cursor.execute("insert into velocities (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,velocity.x,velocity.y)) | |
83 frame_number += 1 | |
84 | |
85 connection.commit() | |
86 connection.close() | |
87 | |
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88 def writePrototypesToSqlite(prototypes,nMatching, outputFilename): |
546 | 89 """ prototype dataset is a dictionary with keys== routes, values== prototypes Ids """ |
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90 connection = sqlite3.connect(outputFilename) |
546 | 91 cursor = connection.cursor() |
92 | |
93 cursor.execute("CREATE TABLE IF NOT EXISTS \"prototypes\"(prototype_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, nMatching INTEGER, PRIMARY KEY(prototype_id))") | |
94 | |
95 for route in prototypes.keys(): | |
96 if prototypes[route]!=[]: | |
97 for i in prototypes[route]: | |
98 cursor.execute("insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)",(i,route[0],route[1],nMatching[route][i])) | |
99 | |
100 connection.commit() | |
101 connection.close() | |
102 | |
103 def loadPrototypesFromSqlite(filename): | |
104 """ | |
105 This function loads the prototype file in the database | |
106 It returns a dictionary for prototypes for each route and nMatching | |
107 """ | |
108 prototypes = {} | |
109 nMatching={} | |
110 | |
111 connection = sqlite3.connect(filename) | |
112 cursor = connection.cursor() | |
113 | |
114 try: | |
115 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching') | |
116 except sqlite3.OperationalError as error: | |
117 utils.printDBError(error) | |
118 return [] | |
119 | |
120 for row in cursor: | |
121 route=(row[1],row[2]) | |
122 if route not in prototypes.keys(): | |
123 prototypes[route]=[] | |
124 prototypes[route].append(row[0]) | |
125 nMatching[row[0]]=row[3] | |
126 | |
127 connection.close() | |
128 return prototypes,nMatching | |
129 | |
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130 def writeLabelsToSqlite(labels, outputFilename): |
546 | 131 """ labels is a dictionary with keys: routes, values: prototypes Ids |
132 """ | |
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133 connection = sqlite3.connect(outputFilename) |
546 | 134 cursor = connection.cursor() |
135 | |
136 cursor.execute("CREATE TABLE IF NOT EXISTS \"labels\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, prototype_id INTEGER, PRIMARY KEY(object_id))") | |
137 | |
138 for route in labels.keys(): | |
139 if labels[route]!=[]: | |
140 for i in labels[route]: | |
141 for j in labels[route][i]: | |
142 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i)) | |
143 | |
144 connection.commit() | |
145 connection.close() | |
146 | |
147 def loadLabelsFromSqlite(filename): | |
148 labels = {} | |
149 | |
150 connection = sqlite3.connect(filename) | |
151 cursor = connection.cursor() | |
152 | |
153 try: | |
154 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id') | |
155 except sqlite3.OperationalError as error: | |
156 utils.printDBError(error) | |
157 return [] | |
158 | |
159 for row in cursor: | |
160 route=(row[1],row[2]) | |
161 p=row[3] | |
162 if route not in labels.keys(): | |
163 labels[route]={} | |
164 if p not in labels[route].keys(): | |
165 labels[route][p]=[] | |
166 labels[route][p].append(row[0]) | |
167 | |
168 connection.close() | |
169 return labels | |
170 | |
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171 def writeRoutesToSqlite(Routes, outputFilename): |
546 | 172 """ This function writes the activity path define by start and end IDs""" |
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173 connection = sqlite3.connect(outputFilename) |
546 | 174 cursor = connection.cursor() |
175 | |
176 cursor.execute("CREATE TABLE IF NOT EXISTS \"routes\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))") | |
177 | |
178 for route in Routes.keys(): | |
179 if Routes[route]!=[]: | |
180 for i in Routes[route]: | |
181 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1])) | |
182 | |
183 connection.commit() | |
184 connection.close() | |
185 | |
186 def loadRoutesFromSqlite(filename): | |
187 Routes = {} | |
188 | |
189 connection = sqlite3.connect(filename) | |
190 cursor = connection.cursor() | |
191 | |
192 try: | |
193 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend') | |
194 except sqlite3.OperationalError as error: | |
195 utils.printDBError(error) | |
196 return [] | |
197 | |
198 for row in cursor: | |
199 route=(row[1],row[2]) | |
200 if route not in Routes.keys(): | |
201 Routes[route]=[] | |
202 Routes[route].append(row[0]) | |
203 | |
204 connection.close() | |
205 return Routes | |
206 | |
207 def setRoutes(filename, objects): | |
208 connection = sqlite3.connect(filename) | |
209 cursor = connection.cursor() | |
210 for obj in objects: | |
211 cursor.execute('update objects set startRouteID = {} where object_id = {}'.format(obj.startRouteID, obj.getNum())) | |
212 cursor.execute('update objects set endRouteID = {} where object_id = {}'.format(obj.endRouteID, obj.getNum())) | |
213 connection.commit() | |
214 connection.close() | |
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215 |
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216 def setRoadUserTypes(filename, objects): |
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217 '''Saves the user types of the objects in the sqlite database stored in filename |
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218 The objects should exist in the objects table''' |
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219 connection = sqlite3.connect(filename) |
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220 cursor = connection.cursor() |
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221 for obj in objects: |
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222 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum())) |
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223 connection.commit() |
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224 connection.close() |
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225 |
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226 def loadPrototypeMatchIndexesFromSqlite(filename): |
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227 """ |
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228 This function loads the prototypes table in the database of name <filename>. |
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229 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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230 """ |
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231 matched_indexes = [] |
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232 |
211 | 233 connection = sqlite3.connect(filename) |
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234 cursor = connection.cursor() |
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235 |
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236 try: |
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237 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
342
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238 except sqlite3.OperationalError as error: |
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239 printDBError(error) |
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240 return [] |
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241 |
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242 for row in cursor: |
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243 matched_indexes.append((row[0],row[1])) |
211 | 244 |
245 connection.close() | |
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246 return matched_indexes |
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247 |
263
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248 def getTrajectoryIdQuery(objectNumbers, trajectoryType): |
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249 if trajectoryType == 'feature': |
330
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250 statementBeginning = 'where trajectory_id ' |
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251 elif trajectoryType == 'object': |
330
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252 statementBeginning = 'and OF.object_id ' |
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253 else: |
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254 print('no trajectory type was chosen') |
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255 |
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256 if objectNumbers is None: |
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257 query = '' |
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258 elif type(objectNumbers) == int: |
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259 query = statementBeginning+'between 0 and {0} '.format(objectNumbers) |
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260 elif type(objectNumbers) == list: |
330
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261 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') ' |
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262 return query |
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263 |
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264 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None): |
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265 '''Loads trajectories (in the general sense) from the given table |
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266 can be positions or velocities |
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267 |
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268 returns a moving object''' |
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269 cursor = connection.cursor() |
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270 |
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271 try: |
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272 if trajectoryType == 'feature': |
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273 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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274 queryStatement = 'SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number' |
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275 cursor.execute(queryStatement) |
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276 logging.debug(queryStatement) |
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277 elif trajectoryType == 'object': |
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278 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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279 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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280 cursor.execute(queryStatement) |
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281 logging.debug(queryStatement) |
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282 else: |
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283 print('no trajectory type was chosen') |
342
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284 except sqlite3.OperationalError as error: |
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285 printDBError(error) |
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286 return [] |
239
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287 |
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288 objId = -1 |
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289 obj = None |
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290 objects = [] |
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291 for row in cursor: |
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292 if row[0] != objId: |
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293 objId = row[0] |
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294 if obj: |
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295 objects.append(obj) |
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296 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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297 else: |
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298 obj.timeInterval.last = row[1] |
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299 obj.positions.addPositionXY(row[2],row[3]) |
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300 |
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301 if obj: |
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302 objects.append(obj) |
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303 |
239
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304 return objects |
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305 |
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306 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None): |
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307 '''Loads the first objectNumbers objects or the indices in objectNumbers from the database''' |
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308 connection = sqlite3.connect(filename) # add test if it open |
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309 |
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310 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
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311 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
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312 |
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313 if len(objectVelocities) > 0: |
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314 for o,v in zip(objects, objectVelocities): |
329
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315 if o.getNum() == v.getNum(): |
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316 o.velocities = v.positions |
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317 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions |
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318 else: |
329
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319 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
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320 |
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321 if trajectoryType == 'object': |
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322 cursor = connection.cursor() |
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323 try: |
329
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324 # attribute feature numbers to objects |
263
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325 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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326 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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327 cursor.execute(queryStatement) |
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328 logging.debug(queryStatement) |
263
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329 |
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330 featureNumbers = {} |
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331 for row in cursor: |
329
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332 objId = row[1] |
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333 if objId not in featureNumbers: |
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334 featureNumbers[objId] = [row[0]] |
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335 else: |
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336 featureNumbers[objId].append(row[0]) |
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337 |
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338 for obj in objects: |
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339 obj.featureNumbers = featureNumbers[obj.getNum()] |
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340 |
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341 # load userType |
330
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342 if objectIdQuery == '': |
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343 cursor.execute('SELECT object_id, road_user_type from objects') |
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344 else: |
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345 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:]) |
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346 userTypes = {} |
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347 for row in cursor: |
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348 userTypes[row[0]] = row[1] |
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349 |
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350 for obj in objects: |
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351 obj.userType = userTypes[obj.getNum()] |
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352 |
342
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353 except sqlite3.OperationalError as error: |
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354 printDBError(error) |
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355 return [] |
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356 |
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357 connection.close() |
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358 return objects |
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359 |
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360 def deleteFromSqlite(filename, dataType): |
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361 'Deletes (drops) some tables in the filename depending on type of data' |
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362 import os |
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363 if os.path.isfile(filename): |
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364 connection = sqlite3.connect(filename) |
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365 if dataType == 'object': |
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366 dropTables(connection, ['objects', 'objects_features']) |
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367 elif dataType == 'interaction': |
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368 dropTables(connection, ['interactions', 'indicators']) |
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369 elif dataType == 'bb': |
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370 dropTables(connection, ['bounding_boxes']) |
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371 else: |
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372 print('Unknown data type {} to delete from database'.format(dataType)) |
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373 connection.close() |
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374 else: |
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375 print('{} does not exist'.format(filename)) |
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376 |
341
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377 def createInteractionTable(cursor): |
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378 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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379 |
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380 def createIndicatorTables(cursor): |
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381 # 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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382 # 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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383 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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384 |
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385 def saveInteraction(cursor, interaction): |
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386 roadUserNumbers = list(interaction.getRoadUserNumbers()) |
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387 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant())) |
341
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388 |
340
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389 def saveInteractions(filename, interactions): |
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390 'Saves the interactions in the table' |
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391 connection = sqlite3.connect(filename) |
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392 cursor = connection.cursor() |
342
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393 try: |
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394 createInteractionTable(cursor) |
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395 for inter in interactions: |
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396 saveInteraction(cursor, inter) |
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397 except sqlite3.OperationalError as error: |
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398 printDBError(error) |
341
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399 connection.commit() |
340
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400 connection.close() |
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401 |
341
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402 def saveIndicator(cursor, interactionNum, indicator): |
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403 for instant in indicator.getTimeInterval(): |
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404 if indicator[instant]: |
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405 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant])) |
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406 |
343
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407 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames): |
340
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408 'Saves the indicator values in the table' |
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409 connection = sqlite3.connect(filename) |
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410 cursor = connection.cursor() |
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411 try: |
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412 createInteractionTable(cursor) |
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413 createIndicatorTables(cursor) |
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414 for inter in interactions: |
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415 saveInteraction(cursor, inter) |
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416 for indicatorName in indicatorNames: |
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417 indicator = inter.getIndicator(indicatorName) |
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418 if indicator != None: |
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419 saveIndicator(cursor, inter.getNum(), indicator) |
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420 except sqlite3.OperationalError as error: |
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421 printDBError(error) |
341
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422 connection.commit() |
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423 connection.close() |
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424 |
482
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425 def loadInteractions(filename): |
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426 '''Loads interaction and their indicators |
343
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427 |
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428 TODO choose the interactions to load''' |
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429 interactions = [] |
342
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430 connection = sqlite3.connect(filename) |
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431 cursor = connection.cursor() |
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432 try: |
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433 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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434 interactionNum = -1 |
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435 indicatorTypeNum = -1 |
343
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436 tmpIndicators = {} |
342
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437 for row in cursor: |
343
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438 if row[0] != interactionNum: # save interaction and create new interaction |
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439 if interactionNum >= 0: |
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440 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
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441 interactions[-1].indicators = tmpIndicators |
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442 tmpIndicators = {} |
342
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443 interactionNum = row[0] |
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444 roadUserNumbers = row[1:3] |
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445 if indicatorTypeNum != row[5]: |
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446 if indicatorTypeNum >= 0: |
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447 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
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448 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
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449 indicatorTypeNum = row[5] |
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450 indicatorValues = {row[6]:row[7]} |
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451 else: |
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452 indicatorValues[row[6]] = row[7] |
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453 if interactionNum >= 0: |
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454 if indicatorTypeNum >= 0: |
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455 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
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456 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
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457 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
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458 interactions[-1].indicators = tmpIndicators |
342
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459 except sqlite3.OperationalError as error: |
491
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460 printDBError(error) |
343
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461 return [] |
342
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462 connection.close() |
343
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463 return interactions |
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464 # load first and last object instants |
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465 # 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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466 |
390
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467 def createBoundingBoxTable(filename, invHomography = None): |
482
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468 '''Create the table to store the object bounding boxes in image space |
390
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469 ''' |
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470 connection = sqlite3.connect(filename) |
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471 cursor = connection.cursor() |
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472 try: |
394
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473 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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474 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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475 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' |
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476 '(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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477 'GROUP BY object_id, frame_number') |
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478 except sqlite3.OperationalError as error: |
491
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479 printDBError(error) |
390
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480 connection.commit() |
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481 connection.close() |
329
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482 |
393
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483 def loadBoundingBoxTable(filename): |
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484 connection = sqlite3.connect(filename) |
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485 cursor = connection.cursor() |
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486 boundingBoxes = {} # list of bounding boxes for each instant |
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|
487 try: |
394
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488 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') |
393
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489 result = [row for row in cursor] |
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490 if len(result) > 0: |
394
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491 cursor.execute('SELECT * FROM bounding_boxes') |
393
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492 #objId = -1 |
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493 for row in cursor: |
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494 #if row[0] != objId: |
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|
495 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])]) |
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diff
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|
496 except sqlite3.OperationalError as error: |
491
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diff
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|
497 printDBError(error) |
393
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498 return boundingBoxes |
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|
499 connection.close() |
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|
500 return boundingBoxes |
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diff
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|
501 |
eaf7765221d9
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parents:
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diff
changeset
|
502 |
329
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503 ######################### |
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504 # txt files |
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505 ######################### |
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|
506 |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
507 def openCheck(filename, option = 'r', quitting = False): |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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diff
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508 '''Open file filename in read mode by default |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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|
509 and checks it is open''' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
510 try: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
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diff
changeset
|
511 return open(filename, option) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
512 except IOError: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
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diff
changeset
|
513 print 'File %s could not be opened.' % filename |
525
7124c7d2a663
first draft of loading from VISSIM file
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parents:
524
diff
changeset
|
514 if quitting: |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
515 from sys import exit |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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diff
changeset
|
516 exit() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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diff
changeset
|
517 return None |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
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diff
changeset
|
518 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
519 def readline(f, commentCharacters = commentChar): |
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
520 '''Modified readline function to skip comments |
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
521 Can take a list of characters or a string (in will work in both)''' |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
491
diff
changeset
|
522 s = f.readline() |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
523 while (len(s) > 0) and s[0] in commentCharacters: |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
524 s = f.readline() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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diff
changeset
|
525 return s.strip() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
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diff
changeset
|
526 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
527 def getLines(f, commentCharacters = commentChar): |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
528 '''Gets a complete entry (all the lines) in between delimiterChar.''' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
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diff
changeset
|
529 dataStrings = [] |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
530 s = readline(f, commentCharacters) |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
531 while len(s) > 0: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
532 dataStrings += [s.strip()] |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
533 s = readline(f, commentCharacters) |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
534 return dataStrings |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
535 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
536 def writeList(filename, l): |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
537 f = openCheck(filename, 'w') |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
538 for x in l: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
539 f.write('{}\n'.format(x)) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
540 f.close() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
541 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
542 def loadListStrings(filename, commentCharacters = commentChar): |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
543 f = openCheck(filename, 'r') |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
544 result = getLines(f, commentCharacters) |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
545 f.close() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
546 return result |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
547 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
548 def getValuesFromINIFile(filename, option, delimiterChar = '=', commentCharacters = commentChar): |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
549 values = [] |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
550 for l in loadListStrings(filename, commentCharacters): |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
551 if l.startswith(option): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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552 values.append(l.split(delimiterChar)[1].strip()) |
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553 return values |
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|
554 |
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555 class FakeSecHead(object): |
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556 '''Add fake section header [asection] |
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557 |
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558 from http://stackoverflow.com/questions/2819696/parsing-properties-file-in-python/2819788#2819788 |
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559 use read_file in Python 3.2+ |
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560 ''' |
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561 def __init__(self, fp): |
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562 self.fp = fp |
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563 self.sechead = '[main]\n' |
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564 |
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565 def readline(self): |
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566 if self.sechead: |
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567 try: return self.sechead |
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568 finally: self.sechead = None |
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569 else: return self.fp.readline() |
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570 |
541
048b43654870
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571 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, nObjects = -1, warmUpLastInstant = None): |
525
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572 '''Reads data from VISSIM .fzp trajectory file |
527
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573 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM |
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574 for example, there seems to be 5 simulation steps per simulated second in VISSIM, |
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575 so simulationStepsPerTimeUnit should be 5, |
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576 so that all times correspond to the number of the simulation step (and can be stored as integers) |
525
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577 |
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578 Assumed to be sorted over time''' |
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579 objects = {} # dictionary of objects index by their id |
541
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580 firstInstants = {} |
525
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581 |
564
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582 inputfile = openCheck(filename, quitting = True) |
525
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583 |
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584 # data = pd.read_csv(filename, skiprows=15, delimiter=';') |
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585 # skip header: 15 lines + 1 |
564
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586 line = readline(inputfile, '*$') |
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587 while len(line) > 0:#for line in inputfile: |
525
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588 data = line.strip().split(';') |
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589 objNum = int(data[1]) |
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590 instant = int(float(data[0])*simulationStepsPerTimeUnit) |
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591 s = float(data[4]) |
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592 y = float(data[5]) |
527
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593 lane = data[2]+'_'+data[3] |
541
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594 if objNum not in firstInstants: |
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595 firstInstants[objNum] = instant |
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596 if warmUpLastInstant == None or firstInstants[objNum] >= warmUpLastInstant: |
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597 if nObjects < 0 or len(objects) < nObjects: |
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598 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant)) |
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599 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
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600 if (warmUpLastInstant == None or firstInstants[objNum] >= warmUpLastInstant) and objNum in objects: |
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601 objects[objNum].timeInterval.last = instant |
542
a3add9f751ef
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541
diff
changeset
|
602 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane) |
564
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diff
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|
603 line = readline(inputfile, '*$') |
524
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diff
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|
604 |
525
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|
605 return objects.values() |
524
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|
606 |
173
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|
607 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
0
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608 '''Reads data from the trajectory data provided by NGSIM project |
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609 and returns the list of Feature objects''' |
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610 objects = [] |
0
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611 |
564
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|
612 inputfile = openCheck(filename, quitting = True) |
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|
613 |
7
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|
614 def createObject(numbers): |
0
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615 firstFrameNum = int(numbers[1]) |
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|
616 # do the geometry and usertype |
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|
617 |
72
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618 firstFrameNum = int(numbers[1]) |
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619 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
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620 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) |
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changeset
|
621 obj = moving.MovingObject(num = int(numbers[0]), |
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622 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
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623 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
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624 userType = int(numbers[10])) |
78
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diff
changeset
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625 obj.userType = int(numbers[10]) |
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diff
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626 obj.laneNums = [int(numbers[13])] |
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627 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
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628 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
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629 obj.spaceHeadways = [float(numbers[16])] # feet |
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|
630 obj.timeHeadways = [float(numbers[17])] # seconds |
327
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631 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate |
72
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632 obj.speeds = [float(numbers[11])] |
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633 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
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|
634 return obj |
0
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|
635 |
564
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|
636 numbers = readline(inputfile).strip().split() |
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637 if (len(numbers) > 0): |
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|
638 obj = createObject(numbers) |
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|
639 |
564
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|
640 for line in inputfile: |
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|
641 numbers = line.strip().split() |
329
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642 if obj.getNum() != int(numbers[0]): |
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|
643 # check and adapt the length to deal with issues in NGSIM data |
72
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644 if (obj.length() != obj.positions.length()): |
329
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645 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length()) |
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646 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
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changeset
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647 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
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648 objects.append(obj) |
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649 if (nObjects>0) and (len(objects)>=nObjects): |
0
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|
650 break |
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|
651 obj = createObject(numbers) |
0
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652 else: |
327
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|
653 obj.laneNums.append(int(numbers[13])) |
72
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|
654 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
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diff
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655 obj.curvilinearPositions.addPositionSYL(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) |
72
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656 obj.speeds.append(float(numbers[11])) |
78
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657 obj.precedingVehicles.append(int(numbers[14])) |
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changeset
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658 obj.followingVehicles.append(int(numbers[15])) |
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659 obj.spaceHeadways.append(float(numbers[16])) |
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diff
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660 obj.timeHeadways.append(float(numbers[17])) |
7
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loading shell objects from NGSIM works
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diff
changeset
|
661 |
72
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diff
changeset
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662 if (obj.size[0] != float(numbers[8])): |
329
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added sqlite code, in particular to load and save road user type
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diff
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663 print 'changed length obj %d' % (obj.getNum()) |
72
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diff
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664 if (obj.size[1] != float(numbers[9])): |
329
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parents:
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665 print 'changed width obj %d' % (obj.getNum()) |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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parents:
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changeset
|
666 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
667 inputfile.close() |
7
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parents:
0
diff
changeset
|
668 return objects |
0
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changeset
|
669 |
564
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parents:
552
diff
changeset
|
670 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0): |
0
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parents:
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changeset
|
671 '''Reads data from the trajectory data provided by NGSIM project |
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672 and converts to our current format.''' |
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initial commit with non-functional python code for NGSIM
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|
673 if append: |
564
36605d843be5
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parents:
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diff
changeset
|
674 out = openCheck(outputfile,'a') |
0
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parents:
diff
changeset
|
675 else: |
564
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552
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changeset
|
676 out = openCheck(outputfile,'w') |
0
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|
677 nObjectsPerType = [0,0,0] |
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initial commit with non-functional python code for NGSIM
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changeset
|
678 |
564
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552
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changeset
|
679 features = loadNgsimFile(inputfile, sequenceNum) |
0
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changeset
|
680 for f in features: |
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parents:
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|
681 nObjectsPerType[f.userType-1] += 1 |
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changeset
|
682 f.write(out) |
aed8eb63cdde
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changeset
|
683 |
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initial commit with non-functional python code for NGSIM
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changeset
|
684 print nObjectsPerType |
aed8eb63cdde
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diff
changeset
|
685 |
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diff
changeset
|
686 out.close() |
aed8eb63cdde
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diff
changeset
|
687 |
335
3950bfe22768
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330
diff
changeset
|
688 def writePositionsToCsv(f, obj): |
3950bfe22768
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parents:
330
diff
changeset
|
689 timeInterval = obj.getTimeInterval() |
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330
diff
changeset
|
690 positions = obj.getPositions() |
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330
diff
changeset
|
691 curvilinearPositions = obj.getCurvilinearPositions() |
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added functions to export trajectories to csv
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330
diff
changeset
|
692 for i in xrange(int(obj.length())): |
3950bfe22768
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330
diff
changeset
|
693 p1 = positions[i] |
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parents:
330
diff
changeset
|
694 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
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330
diff
changeset
|
695 if curvilinearPositions != None: |
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added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
696 p2 = curvilinearPositions[i] |
3950bfe22768
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
697 s += ',{},{}'.format(p2[0],p2[1]) |
3950bfe22768
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diff
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|
698 f.write(s+'\n') |
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parents:
330
diff
changeset
|
699 |
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added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
700 def writeTrajectoriesToCsv(filename, objects): |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
701 f = openCheck(filename, 'w') |
335
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added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
702 for i,obj in enumerate(objects): |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
703 writePositionsToCsv(f, obj) |
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added functions to export trajectories to csv
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parents:
330
diff
changeset
|
704 f.close() |
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parents:
330
diff
changeset
|
705 |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
706 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
707 ######################### |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
708 # Utils to read .ini type text files for configuration, meta data... |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
709 ######################### |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
710 |
536
95276d310972
renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
711 class ProcessParameters: |
537
6c264b914846
work on classification parameters
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parents:
536
diff
changeset
|
712 '''Class for all parameters controlling data processing: input, |
6c264b914846
work on classification parameters
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parents:
536
diff
changeset
|
713 method parameters, etc. for tracking, classification and safety |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
714 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
715 Note: framerate is already taken into account''' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
716 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
717 def loadConfigFile(self, filename): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
718 from ConfigParser import ConfigParser |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
719 from numpy import loadtxt |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
720 from os import path |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
721 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
722 config = ConfigParser() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
723 config.readfp(FakeSecHead(openCheck(filename))) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
724 self.sectionHeader = config.sections()[0] |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
725 # Tracking/display parameters |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
726 self.videoFilename = config.get(self.sectionHeader, 'video-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
727 self.databaseFilename = config.get(self.sectionHeader, 'database-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
728 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
729 if (path.exists(self.homographyFilename)): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
730 self.homography = loadtxt(self.homographyFilename) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
731 else: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
732 self.homography = None |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
733 self.intrinsicCameraFilename = config.get(self.sectionHeader, 'intrinsic-camera-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
734 if (path.exists(self.intrinsicCameraFilename)): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
735 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
736 else: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
737 self.intrinsicCameraMatrix = None |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
738 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
739 self.distortionCoefficients = [float(x) for x in distortionCoefficients] |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
740 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
741 self.undistort = config.getboolean(self.sectionHeader, 'undistort') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
742 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
743 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps') |
377 | 744 |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
745 # Classification parameters |
6c264b914846
work on classification parameters
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parents:
536
diff
changeset
|
746 |
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
747 |
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work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
748 # Safety parameters |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
749 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
750 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
751 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
752 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
753 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
754 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
755 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
756 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
491
diff
changeset
|
757 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
758 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2 |
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759 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate |
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760 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction') |
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761 |
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762 def __init__(self, filename = None): |
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763 if filename != None: |
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764 self.loadConfigFile(filename) |
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765 |
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766 class SceneParameters: |
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767 def __init__(self, config, sectionName): |
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768 from ConfigParser import NoOptionError |
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769 from ast import literal_eval |
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770 try: |
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771 self.sitename = config.get(sectionName, 'sitename') |
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772 self.databaseFilename = config.get(sectionName, 'data-filename') |
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773 self.homographyFilename = config.get(sectionName, 'homography-filename') |
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774 self.calibrationFilename = config.get(sectionName, 'calibration-filename') |
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775 self.videoFilename = config.get(sectionName, 'video-filename') |
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776 self.frameRate = config.getfloat(sectionName, 'framerate') |
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777 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39 |
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778 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0] |
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779 self.rotation = config.getfloat(sectionName, 'rotation') |
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780 self.duration = config.getint(sectionName, 'duration') |
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781 except NoOptionError as e: |
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782 print(e) |
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783 print('Not a section for scene meta-data') |
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784 |
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785 @staticmethod |
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786 def loadConfigFile(filename): |
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787 from ConfigParser import ConfigParser |
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788 config = ConfigParser() |
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789 config.readfp(openCheck(filename)) |
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790 configDict = dict() |
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791 for sectionName in config.sections(): |
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792 configDict[sectionName] = SceneParameters(config, sectionName) |
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793 return configDict |
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794 |
382
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795 |
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796 if __name__ == "__main__": |
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797 import doctest |
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798 import unittest |
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799 suite = doctest.DocFileSuite('tests/storage.txt') |
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800 unittest.TextTestRunner().run(suite) |
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801 # #doctest.testmod() |
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802 # #doctest.testfile("example.txt") |