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annotate python/storage.py @ 211:ada6e8fbe4c6

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2 Changes : 1) Modified storage.py to read prototype and matching trajectory indexes from db 2) Modified moving.py to give draw function **kwargs option (to matplotlib.plot)
author Francois Belisle <belisle.francois@gmail.com>
date Wed, 06 Jun 2012 13:24:04 -0400
parents 746d02cea65f
children ce44605f888a
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1 #! /usr/bin/env python
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2 # -*- coding: utf-8 -*-
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3 '''Various utilities to save and load data'''
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4
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5 import utils
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6 import moving
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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 def writeTrajectoriesToSqlite(objects, outFile, trajectoryType, objectNumbers = -1):
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16 """
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17 This function writers trajectories to a specified sqlite file
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18 @param[in] objects -> a list of trajectories
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19 @param[in] trajectoryType -
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20 @param[out] outFile -> the .sqlite file containting the written objects
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21 @param[in] objectNumber : number of objects loaded
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22 """
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23
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24 import sqlite3
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25 connection = sqlite3.connect(outFile)
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26 cursor = connection.cursor()
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27
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28 #creation de la table
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29 schema = "CREATE TABLE \"trajectories\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))"
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30 cursor.execute(schema)
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31 trajectory_id = 0
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32 frame_number = 0
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33 if trajectoryType == 'feature':
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34 if type(objectNumbers) == int and objectNumbers == -1:
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35 for trajectory in objects:
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36 trajectory_id += 1
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37 frame_number = 0
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38 for position in trajectory.getPositions():
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39 frame_number += 1
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40 requete = "insert into trajectories(trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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41 cursor.execute(requete,(trajectory_id,frame_number,position.x,position.y))
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42
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43 connection.commit()
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44 connection.close()
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45
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46 def testWrite():
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47 features = loadTrajectoriesFromSqlite("/home/francois/Unison/École/12Été/CRSNG/Data/prototypes.sqlite",'feature',-1)
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48 writeTrajectoriesToSqlite(features, "/home/francois/Unison/École/12Été/CRSNG/TAAM-Experiments/resultats/testWrite.sqlite", 'feature')
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50 def loadPrototypeMatchIndexesFromSqlite(filename):
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51 """
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52 This function loads the prototypes table in the database of name <filename>.
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53 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
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54 """
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55 matched_indexes = []
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56
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57 import sqlite3
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58 connection = sqlite3.connect(filename)
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59 cursor = connection.cursor()
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60
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61 try:
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62 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
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63 except sqlite3.OperationalError:
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64 return matched_indexes
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65
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66 for row in cursor:
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67 matched_indexes.append((row[0],row[1]))
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68
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69 connection.close()
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70 return matched_indexes
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71
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72 def testloadPrototypeMatchIndexesFromSqlite():
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73 empty_list = loadPrototypeMatchIndexesFromSqlite("bidon")
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74 if empty_list == []:
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75 print "Empty list test Ok"
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76
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77 matches=loadPrototypeMatchIndexesFromSqlite("/home/francois/Unison/École/12Été/CRSNG/TAAM-Experiments/resultats/prototypes-with-matches.sqlite")
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78 if len(matches) == 66:
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79 print "Matches test Ok"
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80 return matches
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81
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82
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83 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
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84 '''Loads nObjects or the indices in objectNumbers from the database
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85 TODO: load velocities (replace table name 'positions' by 'velocities'
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86 TODO: load features as well, other ways of averaging trajectories
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87 '''
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88 import sqlite3
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89
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90 connection = sqlite3.connect(filename) # add test if it open
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91 cursor = connection.cursor()
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92
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93 if trajectoryType == 'feature':
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94 if type(objectNumbers) == int:
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95 if objectNumbers == -1:
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96 cursor.execute('SELECT * from positions order by trajectory_id, frame_number')
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97 else:
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98 cursor.execute('SELECT * from positions where trajectory_id between 0 and {0} order by trajectory_id, frame_number'.format(objectNumbers))
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99 elif type(objectNumbers) == list:
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100 cursor.execute('SELECT * from positions where trajectory_id in ('+', '.join([str(n) for n in objectNumbers])+') order by trajectory_id, frame_number')
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101 elif trajectoryType == 'object':
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102 if type(objectNumbers) == int:
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103 if objectNumbers == -1:
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104 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id group by object_id, frame_number')
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105 else:
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106 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id and trajectory_id between 0 and {0} group by object_id, frame_number'.format(objectNumbers))
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107 elif type(objectNumbers) == list:
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108 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id and trajectory_id in ('+', '.join([str(n) for n in objectNumbers])+') group by object_id, frame_number')
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109 else:
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110 print('no trajectory type was chosen')
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111
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112 objId = -1
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113 obj = None
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114 objects = []
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115 for row in cursor:
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116 if row[0] != objId:
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117 objId = row[0]
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118 if obj:
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119 objects.append(obj)
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120 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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121 else:
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122 obj.timeInterval.last = row[1]
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123 obj.positions.addPositionXY(row[2],row[3])
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124
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125 if obj:
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126 objects.append(obj)
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127
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128 connection.close()
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129 return objects
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131 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
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132 '''Reads data from the trajectory data provided by NGSIM project
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133 and returns the list of Feature objects'''
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134 objects = []
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135
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136 input = utils.openCheck(filename)
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137 if not input:
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138 import sys
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139 sys.exit()
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140
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141 def createObject(numbers):
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142 firstFrameNum = int(numbers[1])
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143 # do the geometry and usertype
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144
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145 firstFrameNum = int(numbers[1])
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146 lastFrameNum = firstFrameNum+int(numbers[2])-1
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147 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
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148 obj = moving.MovingObject(num = int(numbers[0]),
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149 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
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150 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
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151 userType = int(numbers[10]))
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152 obj.userType = int(numbers[10])
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153 obj.laneNums = [int(numbers[13])]
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154 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
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155 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
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156 obj.spaceHeadways = [float(numbers[16])] # feet
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157 obj.timeHeadways = [float(numbers[17])] # seconds
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158 obj.curvilinearPositions = moving.Trajectory([[float(numbers[5])],[float(numbers[4])]]) # X is the longitudinal coordinate
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159 obj.speeds = [float(numbers[11])]
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160 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
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161 return obj
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162
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163 numbers = input.readline().strip().split()
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164 if (len(numbers) > 0):
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165 obj = createObject(numbers)
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166
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167 for line in input:
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168 numbers = line.strip().split()
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169 if obj.num != int(numbers[0]):
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170 # check and adapt the length to deal with issues in NGSIM data
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171 if (obj.length() != obj.positions.length()):
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172 print 'length pb with object %s (%d,%d)' % (obj.num,obj.length(),obj.positions.length())
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173 obj.last = obj.getFirstInstant()+obj.positions.length()-1
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174 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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175 objects.append(obj)
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176 if (nObjects>0) and (len(objects)>=nObjects):
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177 break
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178 obj = createObject(numbers)
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179 else:
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180 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
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181 obj.curvilinearPositions.addPositionXY(float(numbers[5]), float(numbers[4]))
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182 obj.speeds.append(float(numbers[11]))
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183 obj.laneNums.append(int(numbers[13]))
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184 obj.precedingVehicles.append(int(numbers[14]))
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185 obj.followingVehicles.append(int(numbers[15]))
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186 obj.spaceHeadways.append(float(numbers[16]))
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187 obj.timeHeadways.append(float(numbers[17]))
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188
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189 if (obj.size[0] != float(numbers[8])):
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190 print 'changed length obj %d' % (f.num)
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191 if (obj.size[1] != float(numbers[9])):
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192 print 'changed width obj %d' % (f.num)
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193
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194 input.close()
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195 return objects
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196
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197 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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198 '''Reads data from the trajectory data provided by NGSIM project
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199 and converts to our current format.'''
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200 if append:
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201 out = open(outFile,'a')
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202 else:
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203 out = open(outFile,'w')
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204 nObjectsPerType = [0,0,0]
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205
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206 features = loadNgsimFile(inFile, sequenceNum)
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207 for f in features:
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208 nObjectsPerType[f.userType-1] += 1
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209 f.write(out)
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210
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211 print nObjectsPerType
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212
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213 out.close()
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214
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215
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216
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217
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218 # if __name__ == "__main__":
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219 # import doctest
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220 # import unittest
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221 # suite = doctest.DocFileSuite('tests/ubc_utils.txt')
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222 # unittest.TextTestRunner().run(suite)
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223 # #doctest.testmod()
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224 # #doctest.testfile("example.txt")