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annotate python/storage.py @ 263:c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 25 Jul 2012 22:06:51 -0400 |
parents | 8ab76b95ee72 |
children | f7872d15a6cc |
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1 #! /usr/bin/env python |
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2 # -*- coding: utf-8 -*- |
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3 '''Various utilities to save and load data''' |
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4 |
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5 import utils |
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6 import moving |
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7 |
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8 __metaclass__ = type |
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9 |
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10 |
50 | 11 ngsimUserTypes = {'twowheels':1, |
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12 'car':2, |
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13 'truck':3} |
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14 |
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15 ######################### |
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16 # txt files |
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17 ######################### |
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18 |
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19 |
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20 |
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21 ######################### |
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22 # Sqlite |
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23 ######################### |
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24 |
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25 def writeTrajectoriesToSqlite(objects, outFile, trajectoryType, objectNumbers = -1): |
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26 """ |
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27 This function writers trajectories to a specified sqlite file |
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28 @param[in] objects -> a list of trajectories |
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29 @param[in] trajectoryType - |
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30 @param[out] outFile -> the .sqlite file containting the written objects |
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31 @param[in] objectNumber : number of objects loaded |
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32 """ |
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33 |
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34 import sqlite3 |
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35 connection = sqlite3.connect(outFile) |
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36 cursor = connection.cursor() |
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37 |
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38 schema = "CREATE TABLE \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))" |
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39 cursor.execute(schema) |
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40 |
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41 trajectory_id = 0 |
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42 frame_number = 0 |
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43 if trajectoryType == 'feature': |
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44 if type(objectNumbers) == int and objectNumbers == -1: |
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45 for trajectory in objects: |
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46 trajectory_id += 1 |
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47 frame_number = 0 |
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48 for position in trajectory.getPositions(): |
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49 frame_number += 1 |
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50 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
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51 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
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52 |
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53 connection.commit() |
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54 connection.close() |
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55 |
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56 def loadPrototypeMatchIndexesFromSqlite(filename): |
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57 """ |
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58 This function loads the prototypes table in the database of name <filename>. |
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59 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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60 """ |
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61 matched_indexes = [] |
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62 |
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63 import sqlite3 |
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65 cursor = connection.cursor() |
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66 |
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67 try: |
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68 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
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69 except sqlite3.OperationalError as err: |
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70 print('DB Error: {0}'.format(err)) |
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71 return [] |
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72 |
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73 for row in cursor: |
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74 matched_indexes.append((row[0],row[1])) |
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76 connection.close() | |
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77 return matched_indexes |
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78 |
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79 def getTrajectoryIdQuery(objectNumbers, trajectoryType): |
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80 if trajectoryType == 'feature': |
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81 statementBeginning = ' where trajectory_id' |
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82 elif trajectoryType == 'object': |
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83 statementBeginning = ' and OF.object_id' |
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84 else: |
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85 print('no trajectory type was chosen') |
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86 |
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87 if type(objectNumbers) == int: |
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88 if objectNumbers == -1: |
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89 query = '' |
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90 else: |
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91 query = statementBeginning+' between 0 and {0}'.format(objectNumbers) |
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92 elif type(objectNumbers) == list: |
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93 query = statementBeginning+' in ('+', '.join([str(n) for n in objectNumbers])+')' |
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94 return query |
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95 |
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96 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1): |
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97 '''Loads trajectories (in the general sense) from the given table |
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98 can be positions or velocities |
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99 |
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100 returns a moving object''' |
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101 import sqlite3 |
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102 |
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103 cursor = connection.cursor() |
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104 |
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105 try: |
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106 if trajectoryType == 'feature': |
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107 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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108 cursor.execute('SELECT * from '+tableName+trajectoryIdQuery+' order by trajectory_id, frame_number') |
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109 elif trajectoryType == 'object': |
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110 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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111 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+' group by object_id, frame_number') |
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112 else: |
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113 print('no trajectory type was chosen') |
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114 except sqlite3.OperationalError as err: |
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115 print('DB Error: {0}'.format(err)) |
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116 return [] |
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117 |
143
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118 objId = -1 |
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119 obj = None |
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120 objects = [] |
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121 for row in cursor: |
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122 if row[0] != objId: |
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123 objId = row[0] |
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124 if obj: |
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125 objects.append(obj) |
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126 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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127 else: |
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128 obj.timeInterval.last = row[1] |
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129 obj.positions.addPositionXY(row[2],row[3]) |
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130 |
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131 if obj: |
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132 objects.append(obj) |
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133 |
239
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134 return objects |
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135 |
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136 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1): |
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137 '''Loads nObjects or the indices in objectNumbers from the database |
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138 TODO: load feature numbers and not average feature trajectories |
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139 TODO: other ways of averaging trajectories (load all points, sorted by frame_number and leave the agregation to be done in python) |
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140 ''' |
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141 import sqlite3 |
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142 |
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143 connection = sqlite3.connect(filename) # add test if it open |
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144 |
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145 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
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146 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
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147 |
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148 if len(objectVelocities) > 0: |
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149 for o,v in zip(objects, objectVelocities): |
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150 if o.num == v.num: |
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151 o.velocities = v.positions |
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152 else: |
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153 print('Could not match positions {0} with velocities {1}'.format(o.num, v.num)) |
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154 |
263
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155 if trajectoryType == 'object': |
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156 cursor = connection.cursor() |
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157 try: |
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158 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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159 cursor.execute('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') |
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160 |
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161 # attribute feature numbers to objects |
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162 objId = -1 |
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163 featureNumbers = {} |
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164 for row in cursor: |
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165 if row[1] != objId: |
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166 objId = row[1] |
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167 featureNumbers[objId] = [row[0]] |
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168 else: |
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169 featureNumbers[objId].append(row[0]) |
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170 |
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171 for obj in objects: |
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172 obj.featureNumbers = featureNumbers[obj.num] |
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173 except sqlite3.OperationalError as err: |
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174 print('DB Error: {0}'.format(err)) |
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175 return [] |
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176 |
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177 connection.close() |
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178 return objects |
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179 |
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180 def removeObjectsFromSqlite(filename): |
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181 'Removes the objects and object_features tables in the filename' |
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182 import sqlite3 |
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183 connection = sqlite3.connect(filename) |
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184 utils.dropTables(connection, ['objects', 'objects_features']) |
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185 connection.close() |
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186 |
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187 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
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188 '''Reads data from the trajectory data provided by NGSIM project |
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189 and returns the list of Feature objects''' |
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190 objects = [] |
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191 |
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192 input = utils.openCheck(filename) |
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193 if not input: |
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194 import sys |
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195 sys.exit() |
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196 |
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197 def createObject(numbers): |
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198 firstFrameNum = int(numbers[1]) |
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199 # do the geometry and usertype |
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200 |
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201 firstFrameNum = int(numbers[1]) |
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202 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
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203 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) |
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204 obj = moving.MovingObject(num = int(numbers[0]), |
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205 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
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206 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
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207 userType = int(numbers[10])) |
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208 obj.userType = int(numbers[10]) |
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209 obj.laneNums = [int(numbers[13])] |
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210 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
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211 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
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212 obj.spaceHeadways = [float(numbers[16])] # feet |
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213 obj.timeHeadways = [float(numbers[17])] # seconds |
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214 obj.curvilinearPositions = moving.Trajectory([[float(numbers[5])],[float(numbers[4])]]) # X is the longitudinal coordinate |
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215 obj.speeds = [float(numbers[11])] |
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216 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
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217 return obj |
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218 |
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219 numbers = input.readline().strip().split() |
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220 if (len(numbers) > 0): |
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221 obj = createObject(numbers) |
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222 |
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223 for line in input: |
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224 numbers = line.strip().split() |
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225 if obj.num != int(numbers[0]): |
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226 # check and adapt the length to deal with issues in NGSIM data |
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227 if (obj.length() != obj.positions.length()): |
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228 print 'length pb with object %s (%d,%d)' % (obj.num,obj.length(),obj.positions.length()) |
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229 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
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230 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
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231 objects.append(obj) |
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232 if (nObjects>0) and (len(objects)>=nObjects): |
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233 break |
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234 obj = createObject(numbers) |
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235 else: |
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236 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
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237 obj.curvilinearPositions.addPositionXY(float(numbers[5]), float(numbers[4])) |
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238 obj.speeds.append(float(numbers[11])) |
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239 obj.laneNums.append(int(numbers[13])) |
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240 obj.precedingVehicles.append(int(numbers[14])) |
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241 obj.followingVehicles.append(int(numbers[15])) |
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242 obj.spaceHeadways.append(float(numbers[16])) |
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243 obj.timeHeadways.append(float(numbers[17])) |
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244 |
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245 if (obj.size[0] != float(numbers[8])): |
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246 print 'changed length obj %d' % (f.num) |
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247 if (obj.size[1] != float(numbers[9])): |
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248 print 'changed width obj %d' % (f.num) |
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249 |
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250 input.close() |
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251 return objects |
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252 |
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253 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0): |
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254 '''Reads data from the trajectory data provided by NGSIM project |
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255 and converts to our current format.''' |
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256 if append: |
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257 out = open(outFile,'a') |
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258 else: |
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259 out = open(outFile,'w') |
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260 nObjectsPerType = [0,0,0] |
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261 |
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262 features = loadNgsimFile(inFile, sequenceNum) |
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263 for f in features: |
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264 nObjectsPerType[f.userType-1] += 1 |
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265 f.write(out) |
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266 |
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267 print nObjectsPerType |
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268 |
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269 out.close() |
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270 |
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271 if __name__ == "__main__": |
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272 import doctest |
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273 import unittest |
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274 suite = doctest.DocFileSuite('tests/storage.txt') |
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275 unittest.TextTestRunner().run(suite) |
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276 # #doctest.testmod() |
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277 # #doctest.testfile("example.txt") |