Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 744:ed6ff2ec0aeb dev
bug correction from Laurent Gauthier
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Thu, 10 Sep 2015 15:48:01 -0400 |
| parents | 867bab9f317a |
| children | 6049e9b6902c |
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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 from base import VideoFilenameAddable |
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7 |
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8 import sqlite3, logging |
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9 from numpy import log, min as npmin, max as npmax, round as npround, array, sum as npsum, loadtxt |
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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 def tableExists(filename, tableName): |
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38 'indicates if the table exists in the database' |
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39 try: |
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40 connection = sqlite3.connect(filename) |
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41 cursor = connection.cursor() |
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42 cursor.execute('SELECT COUNT(*) FROM SQLITE_MASTER WHERE type = \'table\' AND name = \''+tableName+'\'') |
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43 return cursor.fetchone()[0] == 1 |
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44 except sqlite3.OperationalError as error: |
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45 printDBError(error) |
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46 |
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47 def createIndex(connection, tableName, columnName, unique = False): |
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48 '''Creates an index for the column in the table |
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49 I will make querying with a condition on this column faster''' |
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50 try: |
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51 #connection = sqlite3.connect(filename) |
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52 cursor = connection.cursor() |
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53 s = "CREATE " |
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54 if unique: |
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55 s += "UNIQUE " |
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56 cursor.execute(s+"INDEX IF NOT EXISTS "+tableName+"_"+columnName+"_index ON "+tableName+"("+columnName+")") |
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57 connection.commit() |
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58 #connection.close() |
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59 except sqlite3.OperationalError as error: |
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60 printDBError(error) |
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61 |
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62 def getNumberRowsTable(connection, tableName, columnName = None): |
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63 '''Returns the number of rows for the table |
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64 If columnName is not None, means we want the number of distinct values for that column |
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65 (otherwise, we can just count(*))''' |
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66 try: |
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67 cursor = connection.cursor() |
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68 if columnName is None: |
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69 cursor.execute("SELECT COUNT(*) from "+tableName) |
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70 else: |
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71 cursor.execute("SELECT COUNT(DISTINCT "+columnName+") from "+tableName) |
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72 return cursor.fetchone()[0] |
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73 except sqlite3.OperationalError as error: |
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74 printDBError(error) |
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75 |
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76 def getMinMax(connection, tableName, columnName, minmax): |
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77 '''Returns max/min or both for given column in table |
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78 minmax must be string max, min or minmax''' |
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79 try: |
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80 cursor = connection.cursor() |
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81 if minmax == 'min' or minmax == 'max': |
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82 cursor.execute("SELECT "+minmax+"("+columnName+") from "+tableName) |
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83 elif minmax == 'minmax': |
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84 cursor.execute("SELECT MIN("+columnName+"), MAX("+columnName+") from "+tableName) |
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85 else: |
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86 print("Argument minmax unknown: {}".format(minmax)) |
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87 return cursor.fetchone()[0] |
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89 printDBError(error) |
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90 |
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91 # TODO: add test if database connection is open |
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92 # IO to sqlite |
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93 def writeTrajectoriesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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94 """ |
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95 This function writers trajectories to a specified sqlite file |
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96 @param[in] objects -> a list of trajectories |
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97 @param[in] trajectoryType - |
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98 @param[out] outputFilename -> the .sqlite file containting the written objects |
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99 @param[in] objectNumber : number of objects loaded |
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100 """ |
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101 connection = sqlite3.connect(outputFilename) |
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102 cursor = connection.cursor() |
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103 |
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104 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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105 cursor.execute(schema) |
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106 |
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107 trajectory_id = 0 |
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108 frame_number = 0 |
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109 if trajectoryType == 'feature': |
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110 if type(objectNumbers) == int and objectNumbers == -1: |
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111 for trajectory in objects: |
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112 trajectory_id += 1 |
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113 frame_number = 0 |
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114 for position in trajectory.getPositions(): |
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115 frame_number += 1 |
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116 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
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117 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
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118 |
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119 connection.commit() |
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120 connection.close() |
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121 |
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122 |
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123 def loadPrototypeMatchIndexesFromSqlite(filename): |
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124 """ |
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125 This function loads the prototypes table in the database of name <filename>. |
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126 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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127 """ |
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128 matched_indexes = [] |
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129 |
| 211 | 130 connection = sqlite3.connect(filename) |
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131 cursor = connection.cursor() |
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132 |
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133 try: |
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134 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
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135 except sqlite3.OperationalError as error: |
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136 printDBError(error) |
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137 return [] |
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138 |
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139 for row in cursor: |
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140 matched_indexes.append((row[0],row[1])) |
| 211 | 141 |
| 142 connection.close() | |
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143 return matched_indexes |
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144 |
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145 def getObjectCriteria(objectNumbers): |
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146 if objectNumbers is None: |
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147 query = '' |
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148 elif type(objectNumbers) == int: |
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149 query = 'between 0 and {0}'.format(objectNumbers-1) |
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150 elif type(objectNumbers) == list: |
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151 query = 'in ('+', '.join([str(n) for n in objectNumbers])+')' |
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152 else: |
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153 print('objectNumbers {} are not a known type ({})'.format(objectNumbers, type(objectNumbers))) |
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154 query = '' |
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155 return query |
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156 |
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157 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None): |
|
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158 '''Loads trajectories (in the general sense) from the given table |
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159 can be positions or velocities |
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160 |
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161 returns a moving object''' |
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162 cursor = connection.cursor() |
|
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163 |
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164 try: |
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165 objectCriteria = getObjectCriteria(objectNumbers) |
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166 if trajectoryType == 'feature': |
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167 queryStatement = 'SELECT * from '+tableName |
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168 if objectNumbers is not None: |
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169 queryStatement += ' where trajectory_id '+objectCriteria |
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170 queryStatement += ' ORDER BY trajectory_id, frame_number' |
|
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171 cursor.execute(queryStatement) |
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172 logging.debug(queryStatement) |
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173 elif trajectoryType == 'object': |
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174 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' |
|
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175 if objectNumbers is not None: |
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176 queryStatement += ' and OF.object_id '+objectCriteria |
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177 queryStatement += ' GROUP BY OF.object_id, P.frame_number ORDER BY OF.object_id, P.frame_number' |
|
587
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178 cursor.execute(queryStatement) |
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179 logging.debug(queryStatement) |
|
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180 elif trajectoryType in ['bbtop', 'bbbottom']: |
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181 if trajectoryType == 'bbtop': |
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182 corner = 'top_left' |
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183 elif trajectoryType == 'bbbottom': |
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184 corner = 'bottom_right' |
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185 queryStatement = 'SELECT object_id, frame_number, x_'+corner+', y_'+corner+' FROM '+tableName |
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186 if objectNumbers is not None: |
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187 queryStatement += ' WHERE object_id '+objectCriteria |
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188 queryStatement += ' ORDER BY object_id, frame_number' |
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189 cursor.execute(queryStatement) |
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190 logging.debug(queryStatement) |
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191 else: |
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192 print('no trajectory type was chosen') |
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193 except sqlite3.OperationalError as error: |
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194 printDBError(error) |
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195 return [] |
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196 |
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197 objId = -1 |
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198 obj = None |
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199 objects = [] |
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200 for row in cursor: |
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201 if row[0] != objId: |
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202 objId = row[0] |
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203 if obj is not None and obj.length() == obj.positions.length(): |
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204 objects.append(obj) |
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205 elif obj is not None: |
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206 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) |
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207 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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208 else: |
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209 obj.timeInterval.last = row[1] |
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210 obj.positions.addPositionXY(row[2],row[3]) |
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211 |
|
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212 if obj is not None and obj.length() == obj.positions.length(): |
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213 objects.append(obj) |
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214 elif obj is not None: |
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215 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) |
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216 |
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217 return objects |
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218 |
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219 def loadUserTypesFromTable(cursor, trajectoryType, objectNumbers): |
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220 objectCriteria = getObjectCriteria(objectNumbers) |
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221 queryStatement = 'SELECT object_id, road_user_type from objects' |
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222 if objectNumbers is not None: |
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223 queryStatement += ' where object_id '+objectCriteria |
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224 cursor.execute(queryStatement) |
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225 userTypes = {} |
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226 for row in cursor: |
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227 userTypes[row[0]] = row[1] |
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228 return userTypes |
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229 |
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230 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None, withFeatures = False): |
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231 '''Loads the first objectNumbers objects or the indices in objectNumbers from the database''' |
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232 connection = sqlite3.connect(filename) |
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233 |
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234 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
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235 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
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236 |
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237 if len(objectVelocities) > 0: |
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238 for o,v in zip(objects, objectVelocities): |
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239 if o.getNum() == v.getNum(): |
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240 o.velocities = v.positions |
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241 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions |
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239
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242 else: |
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243 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
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244 |
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263
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245 if trajectoryType == 'object': |
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246 cursor = connection.cursor() |
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247 try: |
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248 # attribute feature numbers to objects |
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249 objectCriteria = getObjectCriteria(objectNumbers) |
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250 queryStatement = 'SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id' |
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251 if objectNumbers is not None: |
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252 queryStatement += ' and OF.object_id '+objectCriteria |
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253 queryStatement += ' group by P.trajectory_id order by OF.object_id' # order is important to group all features per object |
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417
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254 cursor.execute(queryStatement) |
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255 logging.debug(queryStatement) |
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263
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256 |
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257 featureNumbers = {} |
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258 for row in cursor: |
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259 objId = row[1] |
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260 if objId not in featureNumbers: |
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261 featureNumbers[objId] = [row[0]] |
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262 else: |
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263 featureNumbers[objId].append(row[0]) |
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264 |
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265 for obj in objects: |
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266 obj.featureNumbers = featureNumbers[obj.getNum()] |
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267 |
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268 # load userType |
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269 userTypes = loadUserTypesFromTable(cursor, trajectoryType, objectNumbers) |
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270 for obj in objects: |
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271 obj.userType = userTypes[obj.getNum()] |
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272 |
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273 if withFeatures: |
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274 nFeatures = 0 |
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275 for obj in objects: |
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276 nFeatures = max(nFeatures, max(obj.featureNumbers)) |
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277 features = loadTrajectoriesFromSqlite(filename, 'feature', nFeatures+1) |
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278 for obj in objects: |
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279 obj.setFeatures(features) |
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280 |
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342
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281 except sqlite3.OperationalError as error: |
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282 printDBError(error) |
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283 objects = [] |
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284 |
|
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285 connection.close() |
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286 return objects |
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287 |
|
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288 def savePrototypesToSqlite(filename, prototypes, trajectoryType = 'feature'): |
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289 'Work in progress, do not use' |
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290 connection = sqlite3.connect(filename) |
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291 cursor = connection.cursor() |
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292 try: |
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293 cursor.execute('CREATE TABLE IF NOT EXISTS prototypes (id INTEGER PRIMARY KEY, object_id INTEGER, trajectory_id INTEGER, nMatchings INTEGER, FOREIGN KEY(object_id) REFERENCES objects(id), FOREIGN KEY(trajectory_id) REFERENCES positions(trajectory_id))') |
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294 #for inter in interactions: |
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295 # saveInteraction(cursor, inter) |
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296 except sqlite3.OperationalError as error: |
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297 printDBError(error) |
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298 connection.commit() |
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299 connection.close() |
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300 |
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301 def loadPrototypesFromSqlite(filename): |
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302 pass |
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303 |
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589
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304 def loadGroundTruthFromSqlite(filename, gtType = 'bb', gtNumbers = None): |
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305 'Loads bounding box annotations (ground truth) from an SQLite ' |
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306 connection = sqlite3.connect(filename) |
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307 gt = [] |
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308 |
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309 if gtType == 'bb': |
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310 topCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbtop', gtNumbers) |
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311 bottomCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbbottom', gtNumbers) |
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312 userTypes = loadUserTypesFromTable(connection.cursor(), 'object', gtNumbers) # string format is same as object |
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313 |
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314 for t, b in zip(topCorners, bottomCorners): |
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315 num = t.getNum() |
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316 if t.getNum() == b.getNum(): |
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317 annotation = moving.BBAnnotation(num, t.getTimeInterval(), t, b, userTypes[num]) |
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318 gt.append(annotation) |
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319 else: |
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320 print ('Unknown type of annotation {}'.format(gtType)) |
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321 |
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322 connection.close() |
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323 return gt |
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324 |
|
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325 def deleteFromSqlite(filename, dataType): |
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326 'Deletes (drops) some tables in the filename depending on type of data' |
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327 import os |
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328 if os.path.isfile(filename): |
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329 connection = sqlite3.connect(filename) |
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330 if dataType == 'object': |
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331 dropTables(connection, ['objects', 'objects_features']) |
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332 elif dataType == 'interaction': |
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333 dropTables(connection, ['interactions', 'indicators']) |
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334 elif dataType == 'bb': |
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335 dropTables(connection, ['bounding_boxes']) |
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336 else: |
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337 print('Unknown data type {} to delete from database'.format(dataType)) |
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338 connection.close() |
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344
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339 else: |
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340 print('{} does not exist'.format(filename)) |
|
235
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341 |
|
341
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342 def createInteractionTable(cursor): |
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343
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343 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))') |
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344 |
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345 def createIndicatorTables(cursor): |
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346 # 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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347 # 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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348 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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349 |
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350 def saveInteraction(cursor, interaction): |
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351 roadUserNumbers = list(interaction.getRoadUserNumbers()) |
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352 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant())) |
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353 |
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340
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354 def saveInteractions(filename, interactions): |
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355 'Saves the interactions in the table' |
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356 connection = sqlite3.connect(filename) |
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357 cursor = connection.cursor() |
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342
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358 try: |
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359 createInteractionTable(cursor) |
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360 for inter in interactions: |
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361 saveInteraction(cursor, inter) |
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362 except sqlite3.OperationalError as error: |
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363 printDBError(error) |
|
341
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364 connection.commit() |
|
340
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365 connection.close() |
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366 |
|
341
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367 def saveIndicator(cursor, interactionNum, indicator): |
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368 for instant in indicator.getTimeInterval(): |
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369 if indicator[instant]: |
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370 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant])) |
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371 |
|
343
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372 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames): |
|
340
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373 'Saves the indicator values in the table' |
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374 connection = sqlite3.connect(filename) |
|
341
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375 cursor = connection.cursor() |
|
342
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376 try: |
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377 createInteractionTable(cursor) |
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378 createIndicatorTables(cursor) |
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379 for inter in interactions: |
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380 saveInteraction(cursor, inter) |
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381 for indicatorName in indicatorNames: |
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|
382 indicator = inter.getIndicator(indicatorName) |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
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diff
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|
383 if indicator is not None: |
|
342
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384 saveIndicator(cursor, inter.getNum(), indicator) |
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385 except sqlite3.OperationalError as error: |
|
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386 printDBError(error) |
|
341
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387 connection.commit() |
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388 connection.close() |
|
340
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|
389 |
|
482
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diff
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390 def loadInteractions(filename): |
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diff
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391 '''Loads interaction and their indicators |
|
343
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392 |
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393 TODO choose the interactions to load''' |
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394 interactions = [] |
|
342
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395 connection = sqlite3.connect(filename) |
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396 cursor = connection.cursor() |
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397 try: |
|
693
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corrected bug when loading indicator time intervals and updated how queries are created for better legibility
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diff
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|
398 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, IND.frame_number') |
|
342
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399 interactionNum = -1 |
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diff
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|
400 indicatorTypeNum = -1 |
|
343
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401 tmpIndicators = {} |
|
342
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changeset
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402 for row in cursor: |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
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|
403 if row[0] != interactionNum: |
|
342
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|
404 interactionNum = row[0] |
|
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|
405 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), row[1], row[2])) |
|
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changeset
|
406 interactions[-1].indicators = {} |
|
693
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
407 if indicatorTypeNum != row[5] or row[0] != interactionNum: |
|
695
957126bfb456
corrected bug with indicator loading(also now correctly loading mostsevereismax)
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parents:
693
diff
changeset
|
408 indicatorTypeNum = row[5] |
|
628
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changeset
|
409 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
|
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|
410 indicatorValues = {row[6]:row[7]} |
|
695
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diff
changeset
|
411 interactions[-1].indicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues, mostSevereIsMax = not indicatorName in events.Interaction.timeIndicators) |
|
343
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|
412 else: |
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changeset
|
413 indicatorValues[row[6]] = row[7] |
|
693
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parents:
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diff
changeset
|
414 interactions[-1].indicators[indicatorName].timeInterval.last = row[6] |
|
342
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changeset
|
415 except sqlite3.OperationalError as error: |
|
491
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changeset
|
416 printDBError(error) |
|
343
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diff
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|
417 return [] |
|
342
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|
418 connection.close() |
|
343
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|
419 return interactions |
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diff
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|
420 # load first and last object instants |
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|
421 # 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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422 |
|
390
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sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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382
diff
changeset
|
423 def createBoundingBoxTable(filename, invHomography = None): |
|
482
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diff
changeset
|
424 '''Create the table to store the object bounding boxes in image space |
|
390
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sql code to create bounding boxes in image space
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425 ''' |
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426 connection = sqlite3.connect(filename) |
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427 cursor = connection.cursor() |
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428 try: |
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429 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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430 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from ' |
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431 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' |
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432 '(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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433 'GROUP BY object_id, frame_number') |
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434 except sqlite3.OperationalError as error: |
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491
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435 printDBError(error) |
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390
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436 connection.commit() |
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437 connection.close() |
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438 |
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586
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439 def loadBoundingBoxTableForDisplay(filename): |
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647
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440 '''Loads bounding boxes from bounding_boxes table for display over trajectories''' |
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441 connection = sqlite3.connect(filename) |
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442 cursor = connection.cursor() |
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443 boundingBoxes = {} # list of bounding boxes for each instant |
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444 try: |
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445 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') |
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446 result = [row for row in cursor] |
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447 if len(result) > 0: |
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448 cursor.execute('SELECT * FROM bounding_boxes') |
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449 for row in cursor: |
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450 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])]) |
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451 except sqlite3.OperationalError as error: |
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491
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452 printDBError(error) |
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453 return boundingBoxes |
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454 connection.close() |
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455 return boundingBoxes |
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456 |
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457 ######################### |
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458 # saving and loading for scene interpretation (Mohamed Gomaa Mohamed's PhD) |
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459 ######################### |
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460 |
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461 def writeFeaturesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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462 '''write features trajectories maintain trajectory ID,velocities dataset ''' |
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463 connection = sqlite3.connect(outputFilename) |
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464 cursor = connection.cursor() |
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465 |
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466 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))") |
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467 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))") |
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468 |
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469 if trajectoryType == 'feature': |
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470 if type(objectNumbers) == int and objectNumbers == -1: |
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471 for trajectory in objects: |
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472 trajectory_id = trajectory.num |
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473 frame_number = trajectory.timeInterval.first |
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474 for position,velocity in zip(trajectory.getPositions(),trajectory.getVelocities()): |
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475 cursor.execute("insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,position.x,position.y)) |
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476 cursor.execute("insert into velocities (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,velocity.x,velocity.y)) |
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477 frame_number += 1 |
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478 |
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479 connection.commit() |
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480 connection.close() |
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481 |
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482 def writePrototypesToSqlite(prototypes,nMatching, outputFilename): |
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483 """ prototype dataset is a dictionary with keys== routes, values== prototypes Ids """ |
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484 connection = sqlite3.connect(outputFilename) |
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485 cursor = connection.cursor() |
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486 |
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487 cursor.execute("CREATE TABLE IF NOT EXISTS \"prototypes\"(prototype_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, nMatching INTEGER, PRIMARY KEY(prototype_id))") |
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488 |
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489 for route in prototypes.keys(): |
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490 if prototypes[route]!=[]: |
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491 for i in prototypes[route]: |
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492 cursor.execute("insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)",(i,route[0],route[1],nMatching[route][i])) |
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493 |
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494 connection.commit() |
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495 connection.close() |
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496 |
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497 def readPrototypesFromSqlite(filename): |
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498 """ |
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499 This function loads the prototype file in the database |
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500 It returns a dictionary for prototypes for each route and nMatching |
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501 """ |
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502 prototypes = {} |
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503 nMatching={} |
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504 |
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505 connection = sqlite3.connect(filename) |
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506 cursor = connection.cursor() |
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507 |
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508 try: |
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509 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching') |
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510 except sqlite3.OperationalError as error: |
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511 utils.printDBError(error) |
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512 return [] |
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513 |
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514 for row in cursor: |
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515 route=(row[1],row[2]) |
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516 if route not in prototypes.keys(): |
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517 prototypes[route]=[] |
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518 prototypes[route].append(row[0]) |
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519 nMatching[row[0]]=row[3] |
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520 |
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521 connection.close() |
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522 return prototypes,nMatching |
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523 |
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524 def writeLabelsToSqlite(labels, outputFilename): |
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525 """ labels is a dictionary with keys: routes, values: prototypes Ids |
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526 """ |
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527 connection = sqlite3.connect(outputFilename) |
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528 cursor = connection.cursor() |
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529 |
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530 cursor.execute("CREATE TABLE IF NOT EXISTS \"labels\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, prototype_id INTEGER, PRIMARY KEY(object_id))") |
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531 |
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532 for route in labels.keys(): |
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533 if labels[route]!=[]: |
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534 for i in labels[route]: |
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535 for j in labels[route][i]: |
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536 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i)) |
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537 |
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538 connection.commit() |
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539 connection.close() |
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540 |
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541 def loadLabelsFromSqlite(filename): |
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542 labels = {} |
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543 |
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544 connection = sqlite3.connect(filename) |
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545 cursor = connection.cursor() |
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546 |
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547 try: |
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548 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id') |
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549 except sqlite3.OperationalError as error: |
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550 utils.printDBError(error) |
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551 return [] |
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552 |
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553 for row in cursor: |
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554 route=(row[1],row[2]) |
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555 p=row[3] |
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556 if route not in labels.keys(): |
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557 labels[route]={} |
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558 if p not in labels[route].keys(): |
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559 labels[route][p]=[] |
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560 labels[route][p].append(row[0]) |
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561 |
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562 connection.close() |
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563 return labels |
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564 |
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565 def writeSpeedPrototypeToSqlite(prototypes,nmatching, outFilename): |
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566 """ to match the format of second layer prototypes""" |
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567 connection = sqlite3.connect(outFilename) |
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568 cursor = connection.cursor() |
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569 |
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570 cursor.execute("CREATE TABLE IF NOT EXISTS \"speedprototypes\"(spdprototype_id INTEGER,prototype_id INTEGER,routeID_start INTEGER, routeID_end INTEGER, nMatching INTEGER, PRIMARY KEY(spdprototype_id))") |
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571 |
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572 for route in prototypes.keys(): |
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573 if prototypes[route]!={}: |
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574 for i in prototypes[route]: |
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575 if prototypes[route][i]!= []: |
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576 for j in prototypes[route][i]: |
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577 cursor.execute("insert into speedprototypes (spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching) values (?,?,?,?,?)",(j,i,route[0],route[1],nmatching[j])) |
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578 |
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579 connection.commit() |
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580 connection.close() |
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581 |
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582 def loadSpeedPrototypeFromSqlite(filename): |
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583 """ |
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584 This function loads the prototypes table in the database of name <filename>. |
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585 """ |
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586 prototypes = {} |
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587 nMatching={} |
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588 connection = sqlite3.connect(filename) |
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589 cursor = connection.cursor() |
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590 |
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591 try: |
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592 cursor.execute('SELECT * from speedprototypes order by spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching') |
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593 except sqlite3.OperationalError as error: |
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594 utils.printDBError(error) |
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595 return [] |
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|
596 |
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597 for row in cursor: |
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598 route=(row[2],row[3]) |
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599 if route not in prototypes.keys(): |
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600 prototypes[route]={} |
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601 if row[1] not in prototypes[route].keys(): |
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602 prototypes[route][row[1]]=[] |
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603 prototypes[route][row[1]].append(row[0]) |
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604 nMatching[row[0]]=row[4] |
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605 |
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606 connection.close() |
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607 return prototypes,nMatching |
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|
608 |
|
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|
609 |
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610 def writeRoutesToSqlite(Routes, outputFilename): |
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611 """ This function writes the activity path define by start and end IDs""" |
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612 connection = sqlite3.connect(outputFilename) |
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613 cursor = connection.cursor() |
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614 |
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615 cursor.execute("CREATE TABLE IF NOT EXISTS \"routes\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))") |
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616 |
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617 for route in Routes.keys(): |
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618 if Routes[route]!=[]: |
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619 for i in Routes[route]: |
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620 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1])) |
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621 |
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622 connection.commit() |
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623 connection.close() |
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624 |
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625 def loadRoutesFromSqlite(filename): |
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626 Routes = {} |
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627 |
|
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628 connection = sqlite3.connect(filename) |
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629 cursor = connection.cursor() |
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630 |
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|
631 try: |
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632 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend') |
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633 except sqlite3.OperationalError as error: |
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|
634 utils.printDBError(error) |
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635 return [] |
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|
636 |
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637 for row in cursor: |
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638 route=(row[1],row[2]) |
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639 if route not in Routes.keys(): |
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640 Routes[route]=[] |
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641 Routes[route].append(row[0]) |
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642 |
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643 connection.close() |
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644 return Routes |
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645 |
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646 def setRoutes(filename, objects): |
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647 connection = sqlite3.connect(filename) |
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648 cursor = connection.cursor() |
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649 for obj in objects: |
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650 cursor.execute('update objects set startRouteID = {} where object_id = {}'.format(obj.startRouteID, obj.getNum())) |
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651 cursor.execute('update objects set endRouteID = {} where object_id = {}'.format(obj.endRouteID, obj.getNum())) |
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652 connection.commit() |
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653 connection.close() |
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654 |
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655 def setRoadUserTypes(filename, objects): |
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656 '''Saves the user types of the objects in the sqlite database stored in filename |
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657 The objects should exist in the objects table''' |
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658 connection = sqlite3.connect(filename) |
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659 cursor = connection.cursor() |
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660 for obj in objects: |
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661 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum())) |
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662 connection.commit() |
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663 connection.close() |
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664 |
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665 ######################### |
|
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666 # txt files |
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667 ######################### |
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668 |
|
525
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669 def openCheck(filename, option = 'r', quitting = False): |
|
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670 '''Open file filename in read mode by default |
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671 and checks it is open''' |
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672 try: |
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673 return open(filename, option) |
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674 except IOError: |
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675 print 'File %s could not be opened.' % filename |
|
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676 if quitting: |
|
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677 from sys import exit |
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678 exit() |
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679 return None |
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|
680 |
|
564
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|
681 def readline(f, commentCharacters = commentChar): |
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682 '''Modified readline function to skip comments |
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683 Can take a list of characters or a string (in will work in both)''' |
|
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684 s = f.readline() |
|
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685 while (len(s) > 0) and s[0] in commentCharacters: |
|
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686 s = f.readline() |
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687 return s.strip() |
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|
688 |
|
722
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|
689 def getLines(f, delimiterChar = delimiterChar, commentCharacters = commentChar): |
|
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690 '''Gets a complete entry (all the lines) in between delimiterChar.''' |
|
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691 dataStrings = [] |
|
564
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692 s = readline(f, commentCharacters) |
|
722
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|
693 while len(s) > 0 and s[0] != delimiterChar: |
|
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|
694 dataStrings += [s.strip()] |
|
564
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695 s = readline(f, commentCharacters) |
|
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696 return dataStrings |
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|
697 |
|
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|
698 def writeList(filename, l): |
|
514
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|
699 f = openCheck(filename, 'w') |
|
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|
700 for x in l: |
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|
701 f.write('{}\n'.format(x)) |
|
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|
702 f.close() |
|
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|
703 |
|
564
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changeset
|
704 def loadListStrings(filename, commentCharacters = commentChar): |
|
514
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|
705 f = openCheck(filename, 'r') |
|
564
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|
706 result = getLines(f, commentCharacters) |
|
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|
707 f.close() |
|
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|
708 return result |
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|
709 |
|
564
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|
710 def getValuesFromINIFile(filename, option, delimiterChar = '=', commentCharacters = commentChar): |
|
509
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|
711 values = [] |
|
564
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|
712 for l in loadListStrings(filename, commentCharacters): |
|
509
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|
713 if l.startswith(option): |
|
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|
714 values.append(l.split(delimiterChar)[1].strip()) |
|
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|
715 return values |
|
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|
716 |
|
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changeset
|
717 class FakeSecHead(object): |
|
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|
718 '''Add fake section header [asection] |
|
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|
719 |
|
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changeset
|
720 from http://stackoverflow.com/questions/2819696/parsing-properties-file-in-python/2819788#2819788 |
|
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changeset
|
721 use read_file in Python 3.2+ |
|
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|
722 ''' |
|
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|
723 def __init__(self, fp): |
|
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|
724 self.fp = fp |
|
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|
725 self.sechead = '[main]\n' |
|
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changeset
|
726 |
|
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|
727 def readline(self): |
|
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|
728 if self.sechead: |
|
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changeset
|
729 try: return self.sechead |
|
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|
730 finally: self.sechead = None |
|
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changeset
|
731 else: return self.fp.readline() |
|
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diff
changeset
|
732 |
|
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
733 def generatePDLaneColumn(data): |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
734 data['LANE'] = data['LANE\LINK\NO'].astype(str)+'_'+data['LANE\INDEX'].astype(str) |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
735 |
|
718
2cd245cb780d
added option to set low_memory = False for pandas.read_csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
714
diff
changeset
|
736 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, nObjects = -1, warmUpLastInstant = None, usePandas = False, nDecimals = 2, lowMemory = True): |
|
525
7124c7d2a663
first draft of loading from VISSIM file
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524
diff
changeset
|
737 '''Reads data from VISSIM .fzp trajectory file |
|
527
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
738 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM |
|
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
739 for example, there seems to be 5 simulation steps per simulated second in VISSIM, |
|
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
740 so simulationStepsPerTimeUnit should be 5, |
|
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
741 so that all times correspond to the number of the simulation step (and can be stored as integers) |
|
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
742 |
|
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
743 Objects positions will be considered only after warmUpLastInstant |
|
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
744 (if the object has no such position, it won't be loaded) |
|
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
745 |
|
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
746 Assumed to be sorted over time''' |
|
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
747 objects = {} # dictionary of objects index by their id |
|
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
748 |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
749 if usePandas: |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
750 from pandas import read_csv |
|
718
2cd245cb780d
added option to set low_memory = False for pandas.read_csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
714
diff
changeset
|
751 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, low_memory = lowMemory) |
|
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
752 generatePDLaneColumn(data) |
|
642
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
753 data['TIME'] = data['$VEHICLE:SIMSEC']*simulationStepsPerTimeUnit |
|
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
754 if warmUpLastInstant is not None: |
|
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
755 data = data[data['TIME']>=warmUpLastInstant] |
|
642
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
756 grouped = data.loc[:,['NO','TIME']].groupby(['NO'], as_index = False) |
|
704
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
757 instants = grouped['TIME'].agg({'first': npmin, 'last': npmax}) |
|
642
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
758 for row_index, row in instants.iterrows(): |
|
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
759 objNum = int(row['NO']) |
|
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
760 tmp = data[data['NO'] == objNum] |
|
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
761 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(row['first'], row['last'])) |
|
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
762 # positions should be rounded to nDecimals decimals only |
|
704
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
763 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory(S = npround(tmp['POS'].tolist(), nDecimals), Y = npround(tmp['POSLAT'].tolist(), nDecimals), lanes = tmp['LANE'].tolist()) |
|
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
764 if nObjects > 0 and len(objects) >= nObjects: |
|
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
765 break |
|
642
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
766 return objects.values() |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
767 else: |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
768 inputfile = openCheck(filename, quitting = True) |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
769 # data = pd.read_csv(filename, skiprows=15, delimiter=';') |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
770 # skip header: 15 lines + 1 |
|
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
|
771 line = readline(inputfile, '*$') |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
772 while len(line) > 0:#for line in inputfile: |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
773 data = line.strip().split(';') |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
774 objNum = int(data[1]) |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
775 instant = int(float(data[0])*simulationStepsPerTimeUnit) |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
776 s = float(data[4]) |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
777 y = float(data[5]) |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
778 lane = data[2]+'_'+data[3] |
|
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
779 if objNum not in objects: |
|
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
780 if warmUpLastInstant is None or instant >= warmUpLastInstant: |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
781 if nObjects < 0 or len(objects) < nObjects: |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
782 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant)) |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
783 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
|
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
784 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects: |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
785 objects[objNum].timeInterval.last = instant |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
786 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane) |
|
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
787 line = readline(inputfile, '*$') |
|
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
788 |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
789 return objects.values() |
|
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
790 |
|
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
791 def selectPDLanes(data, lanes = None): |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
792 '''Selects the subset of data for the right lanes |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
793 |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
794 Lane format is a string 'x_y' where x is link index and y is lane index''' |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
795 if lanes is not None: |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
796 if 'LANE' not in data.columns: |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
797 generatePDLaneColumn(data) |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
798 indices = (data['LANE'] == lanes[0]) |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
799 for l in lanes[1:]: |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
800 indices = indices | (data['LANE'] == l) |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
801 return data[indices] |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
802 else: |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
803 return data |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
804 |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
805 def countStoppedVehiclesVissim(filename, lanes = None, proportionStationaryTime = 0.7): |
|
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
806 '''Counts the number of vehicles stopped for a long time in a VISSIM trajectory file |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
807 and the total number of vehicles |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
808 |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
809 Vehicles are considered finally stationary |
|
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
810 if more than proportionStationaryTime of their total time |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
811 If lanes is not None, only the data for the selected lanes will be provided |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
812 (format as string x_y where x is link index and y is lane index)''' |
|
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
813 from pandas import read_csv |
|
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
814 columns = ['NO', '$VEHICLE:SIMSEC', 'POS'] |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
815 if lanes is not None: |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
816 columns += ['LANE\LINK\NO', 'LANE\INDEX'] |
|
718
2cd245cb780d
added option to set low_memory = False for pandas.read_csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
714
diff
changeset
|
817 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = columns, low_memory = lowMemory) |
|
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
818 data = selectPDLanes(data, lanes) |
|
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
819 data.sort(['$VEHICLE:SIMSEC'], inplace = True) |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
820 |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
821 nStationary = 0 |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
822 nVehicles = 0 |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
823 for name, group in data.groupby(['NO'], sort = False): |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
824 nVehicles += 1 |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
825 positions = array(group['POS']) |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
826 diff = positions[1:]-positions[:-1] |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
827 if npsum(diff == 0.) >= proportionStationaryTime*len(positions): |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
828 nStationary += 1 |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
829 |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
830 return nStationary, nVehicles |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
831 |
|
744
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
832 def countCollisionsVissim(filename, lanes = None, collisionTimeDifference = 0.2, lowMemory = True): |
|
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
833 '''Counts the number of collisions per lane in a VISSIM trajectory file |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
834 |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
835 To distinguish between cars passing and collision, |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
836 one checks when the sign of the position difference inverts |
|
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
837 (if the time are closer than collisionTimeDifference) |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
838 If lanes is not None, only the data for the selected lanes will be provided |
|
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
839 (format as string x_y where x is link index and y is lane index)''' |
|
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
840 from pandas import read_csv, merge |
|
718
2cd245cb780d
added option to set low_memory = False for pandas.read_csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
714
diff
changeset
|
841 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = ['LANE\LINK\NO', 'LANE\INDEX', '$VEHICLE:SIMSEC', 'NO', 'POS'], low_memory = lowMemory) |
|
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
842 data = selectPDLanes(data, lanes) |
|
744
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
843 data = data.convert_objects(convert_numeric=True) |
|
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
844 |
|
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
845 merged = merge(data, data, how='inner', left_on=['LANE\LINK\NO', 'LANE\INDEX', '$VEHICLE:SIMSEC'], right_on=['LANE\LINK\NO', 'LANE\INDEX', '$VEHICLE:SIMSEC'], sort = False) |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
846 merged = merged[merged['NO_x']>merged['NO_y']] |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
847 |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
848 nCollisions = 0 |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
849 for name, group in merged.groupby(['LANE\LINK\NO', 'LANE\INDEX', 'NO_x', 'NO_y']): |
|
744
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
850 diff = group['POS_x']-group['POS_y'] |
|
704
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
851 # diff = group['POS_x']-group['POS_y'] # to check the impact of convert_objects and the possibility of using type conversion in read_csv or function to convert strings if any |
|
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
852 if len(diff) >= 2 and npmin(diff) < 0 and npmax(diff) > 0: |
|
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
853 xidx = diff[diff < 0].argmax() |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
854 yidx = diff[diff > 0].argmin() |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
855 if abs(group.loc[xidx, '$VEHICLE:SIMSEC'] - group.loc[yidx, '$VEHICLE:SIMSEC']) <= collisionTimeDifference: |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
856 nCollisions += 1 |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
857 return nCollisions |
|
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
858 |
|
173
319a04ba9033
function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
143
diff
changeset
|
859 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
860 '''Reads data from the trajectory data provided by NGSIM project |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
861 and returns the list of Feature objects''' |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
862 objects = [] |
|
0
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initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
863 |
|
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
|
864 inputfile = openCheck(filename, quitting = True) |
|
0
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Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
865 |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
866 def createObject(numbers): |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
867 firstFrameNum = int(numbers[1]) |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
868 # do the geometry and usertype |
|
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
869 |
|
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
870 firstFrameNum = int(numbers[1]) |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
871 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
872 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
873 obj = moving.MovingObject(num = int(numbers[0]), |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
874 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
875 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
876 userType = int(numbers[10])) |
|
78
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
877 obj.userType = int(numbers[10]) |
|
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
878 obj.laneNums = [int(numbers[13])] |
|
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
879 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
|
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
880 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
|
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
881 obj.spaceHeadways = [float(numbers[16])] # feet |
|
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
882 obj.timeHeadways = [float(numbers[17])] # seconds |
|
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
326
diff
changeset
|
883 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate |
|
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
884 obj.speeds = [float(numbers[11])] |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
885 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
886 return obj |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
887 |
|
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
|
888 numbers = readline(inputfile).strip().split() |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
889 if (len(numbers) > 0): |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
890 obj = createObject(numbers) |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
891 |
|
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
|
892 for line in inputfile: |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
893 numbers = line.strip().split() |
|
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
894 if obj.getNum() != int(numbers[0]): |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
895 # check and adapt the length to deal with issues in NGSIM data |
|
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
896 if (obj.length() != obj.positions.length()): |
|
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
897 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length()) |
|
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
898 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
899 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
900 objects.append(obj) |
|
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
901 if (nObjects>0) and (len(objects)>=nObjects): |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
902 break |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
903 obj = createObject(numbers) |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
904 else: |
|
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
326
diff
changeset
|
905 obj.laneNums.append(int(numbers[13])) |
|
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
906 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
|
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
541
diff
changeset
|
907 obj.curvilinearPositions.addPositionSYL(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) |
|
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
908 obj.speeds.append(float(numbers[11])) |
|
78
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
909 obj.precedingVehicles.append(int(numbers[14])) |
|
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
910 obj.followingVehicles.append(int(numbers[15])) |
|
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
911 obj.spaceHeadways.append(float(numbers[16])) |
|
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
912 obj.timeHeadways.append(float(numbers[17])) |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
913 |
|
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
914 if (obj.size[0] != float(numbers[8])): |
|
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
915 print 'changed length obj %d' % (obj.getNum()) |
|
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
916 if (obj.size[1] != float(numbers[9])): |
|
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
917 print 'changed width obj %d' % (obj.getNum()) |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
918 |
|
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
|
919 inputfile.close() |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
920 return objects |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
921 |
|
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
|
922 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0): |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
923 '''Reads data from the trajectory data provided by NGSIM project |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
924 and converts to our current format.''' |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
925 if append: |
|
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
|
926 out = openCheck(outputfile,'a') |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
927 else: |
|
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
|
928 out = openCheck(outputfile,'w') |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
929 nObjectsPerType = [0,0,0] |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
930 |
|
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
|
931 features = loadNgsimFile(inputfile, sequenceNum) |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
932 for f in features: |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
933 nObjectsPerType[f.userType-1] += 1 |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
934 f.write(out) |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
935 |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
936 print nObjectsPerType |
|
aed8eb63cdde
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|
937 |
|
aed8eb63cdde
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parents:
diff
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|
938 out.close() |
|
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|
939 |
|
335
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|
940 def writePositionsToCsv(f, obj): |
|
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diff
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|
941 timeInterval = obj.getTimeInterval() |
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diff
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|
942 positions = obj.getPositions() |
|
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|
943 curvilinearPositions = obj.getCurvilinearPositions() |
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diff
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|
944 for i in xrange(int(obj.length())): |
|
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diff
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|
945 p1 = positions[i] |
|
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diff
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|
946 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
|
636
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|
947 if curvilinearPositions is not None: |
|
335
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|
948 p2 = curvilinearPositions[i] |
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|
949 s += ',{},{}'.format(p2[0],p2[1]) |
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|
950 f.write(s+'\n') |
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|
951 |
|
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|
952 def writeTrajectoriesToCsv(filename, objects): |
|
514
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parents:
509
diff
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|
953 f = openCheck(filename, 'w') |
|
335
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|
954 for i,obj in enumerate(objects): |
|
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|
955 writePositionsToCsv(f, obj) |
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|
956 f.close() |
|
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|
957 |
|
509
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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|
958 |
|
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|
959 ######################### |
|
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|
960 # Utils to read .ini type text files for configuration, meta data... |
|
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|
961 ######################### |
|
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|
962 |
|
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
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diff
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|
963 class ProcessParameters(VideoFilenameAddable): |
|
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|
964 '''Class for all parameters controlling data processing: input, |
|
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|
965 method parameters, etc. for tracking, classification and safety |
|
509
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|
966 |
|
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|
967 Note: framerate is already taken into account''' |
|
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parents:
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|
968 |
|
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|
969 def loadConfigFile(self, filename): |
|
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|
970 from ConfigParser import ConfigParser |
|
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parents:
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|
971 from os import path |
|
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parents:
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|
972 |
|
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|
973 config = ConfigParser() |
|
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parents:
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|
974 config.readfp(FakeSecHead(openCheck(filename))) |
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|
975 self.sectionHeader = config.sections()[0] |
|
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|
976 # Tracking/display parameters |
|
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|
977 self.videoFilename = config.get(self.sectionHeader, 'video-filename') |
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|
978 self.databaseFilename = config.get(self.sectionHeader, 'database-filename') |
|
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|
979 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename') |
|
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|
980 if (path.exists(self.homographyFilename)): |
|
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|
981 self.homography = loadtxt(self.homographyFilename) |
|
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|
982 else: |
|
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|
983 self.homography = None |
|
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|
984 self.intrinsicCameraFilename = config.get(self.sectionHeader, 'intrinsic-camera-filename') |
|
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|
985 if (path.exists(self.intrinsicCameraFilename)): |
|
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|
986 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename) |
|
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|
987 else: |
|
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|
988 self.intrinsicCameraMatrix = None |
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|
989 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=') |
|
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|
990 self.distortionCoefficients = [float(x) for x in distortionCoefficients] |
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|
991 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication') |
|
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|
992 self.undistort = config.getboolean(self.sectionHeader, 'undistort') |
|
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|
993 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1') |
|
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994 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps') |
| 377 | 995 |
|
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|
996 # Classification parameters |
|
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997 self.speedAggregationMethod = config.get(self.sectionHeader, 'speed-aggregation-method') |
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998 self.nFramesIgnoreAtEnds = config.getint(self.sectionHeader, 'nframes-ignore-at-ends') |
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999 self.speedAggregationQuantile = config.getint(self.sectionHeader, 'speed-aggregation-quantile') |
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1000 self.minSpeedEquiprobable = config.getfloat(self.sectionHeader, 'min-speed-equiprobable') |
|
685
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1001 self.minNPixels = config.getint(self.sectionHeader, 'min-npixels-crop') |
|
680
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1002 self.pedBikeCarSVMFilename = config.get(self.sectionHeader, 'pbv-svm-filename') |
|
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1003 self.bikeCarSVMFilename = config.get(self.sectionHeader, 'bv-svm-filename') |
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1004 self.maxPedestrianSpeed = config.getfloat(self.sectionHeader, 'max-ped-speed') |
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1005 self.maxCyclistSpeed = config.getfloat(self.sectionHeader, 'max-cyc-speed') |
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1006 self.meanPedestrianSpeed = config.getfloat(self.sectionHeader, 'mean-ped-speed') |
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|
1007 self.stdPedestrianSpeed = config.getfloat(self.sectionHeader, 'std-ped-speed') |
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1008 self.locationCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-loc') |
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|
1009 self.scaleCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-scale') |
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1010 self.meanVehicleSpeed = config.getfloat(self.sectionHeader, 'mean-veh-speed') |
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|
1011 self.stdVehicleSpeed = config.getfloat(self.sectionHeader, 'std-veh-speed') |
|
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|
1012 |
|
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|
1013 # Safety parameters |
|
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|
1014 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate |
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1015 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate |
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1016 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance') |
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1017 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones') |
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1018 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method') |
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1019 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories') |
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1020 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2 |
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1021 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate |
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|
1022 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2 |
|
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|
1023 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2 |
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|
1024 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate |
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1025 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction') |
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1026 |
|
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|
1027 def __init__(self, filename = None): |
|
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1028 if filename is not None: |
|
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1029 self.loadConfigFile(filename) |
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|
1030 |
|
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1031 def convertToFrames(self, speedRatio = 3.6): |
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1032 '''Converts parameters with a relationship to time in 'native' frame time |
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|
1033 speedRatio is the conversion from the speed unit in the config file |
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1034 to the distance per second |
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1035 |
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1036 ie param(config file) = speedRatio x fps x param(used in program) |
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1037 eg km/h = 3.6 (m/s to km/h) x frame/s x m/frame''' |
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1038 denominator = self.videoFrameRate*speedRatio |
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1039 denominator2 = denominator**2 |
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1040 self.minSpeedEquiprobable = self.minSpeedEquiprobable/denominator |
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1041 self.maxPedestrianSpeed = self.maxPedestrianSpeed/denominator |
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1042 self.maxCyclistSpeed = self.maxCyclistSpeed/denominator |
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1043 self.meanPedestrianSpeed = self.meanPedestrianSpeed/denominator |
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1044 self.stdPedestrianSpeed = self.stdPedestrianSpeed/denominator |
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1045 self.meanVehicleSpeed = self.meanVehicleSpeed/denominator |
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1046 self.stdVehicleSpeed = self.stdVehicleSpeed/denominator |
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1047 # special case for the lognormal distribution |
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1048 self.locationCyclistSpeed = self.locationCyclistSpeed-log(denominator) |
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1049 #self.scaleCyclistSpeed = self.scaleCyclistSpeed |
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1050 |
|
665
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1051 class SceneParameters(object): |
|
509
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1052 def __init__(self, config, sectionName): |
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1053 from ConfigParser import NoOptionError |
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1054 from ast import literal_eval |
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1055 try: |
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1056 self.sitename = config.get(sectionName, 'sitename') |
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1057 self.databaseFilename = config.get(sectionName, 'data-filename') |
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1058 self.homographyFilename = config.get(sectionName, 'homography-filename') |
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1059 self.calibrationFilename = config.get(sectionName, 'calibration-filename') |
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1060 self.videoFilename = config.get(sectionName, 'video-filename') |
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1061 self.frameRate = config.getfloat(sectionName, 'framerate') |
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1062 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39 |
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1063 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0] |
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1064 self.rotation = config.getfloat(sectionName, 'rotation') |
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1065 self.duration = config.getint(sectionName, 'duration') |
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1066 except NoOptionError as e: |
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1067 print(e) |
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1068 print('Not a section for scene meta-data') |
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1069 |
|
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1070 @staticmethod |
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1071 def loadConfigFile(filename): |
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1072 from ConfigParser import ConfigParser |
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1073 config = ConfigParser() |
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1074 config.readfp(openCheck(filename)) |
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1075 configDict = dict() |
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1076 for sectionName in config.sections(): |
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1077 configDict[sectionName] = SceneParameters(config, sectionName) |
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1078 return configDict |
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1079 |
|
382
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1080 |
|
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1081 if __name__ == "__main__": |
|
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1082 import doctest |
|
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1083 import unittest |
|
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1084 suite = doctest.DocFileSuite('tests/storage.txt') |
|
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1085 unittest.TextTestRunner().run(suite) |
|
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1086 # #doctest.testmod() |
|
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1087 # #doctest.testfile("example.txt") |