Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 498:ef4059f51af9
merged
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 05 May 2014 23:17:46 -0400 |
parents | 343cfd185ca6 |
children | 935430b1d408 |
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1 #! /usr/bin/env python |
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2 # -*- coding: utf-8 -*- |
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3 '''Various utilities to save and load data''' |
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4 |
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5 import utils, moving, events, indicators |
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6 |
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7 import sqlite3, logging |
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8 |
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9 __metaclass__ = type |
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10 |
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11 |
50 | 12 ngsimUserTypes = {'twowheels':1, |
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13 'car':2, |
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14 'truck':3} |
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15 |
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16 ######################### |
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17 # Sqlite |
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18 ######################### |
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19 |
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20 # utils |
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21 def printDBError(error): |
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22 print('DB Error: {}'.format(error)) |
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23 |
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24 def dropTables(connection, tableNames): |
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25 'deletes the table with names in tableNames' |
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26 try: |
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27 cursor = connection.cursor() |
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28 for tableName in tableNames: |
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29 cursor.execute('DROP TABLE IF EXISTS '+tableName) |
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30 except sqlite3.OperationalError as error: |
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31 printDBError(error) |
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32 |
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33 # IO to sqlite |
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34 def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1): |
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35 """ |
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36 This function writers trajectories to a specified sqlite file |
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37 @param[in] objects -> a list of trajectories |
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38 @param[in] trajectoryType - |
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39 @param[out] outFile -> the .sqlite file containting the written objects |
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40 @param[in] objectNumber : number of objects loaded |
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41 """ |
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42 connection = sqlite3.connect(outFilename) |
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43 cursor = connection.cursor() |
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44 |
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45 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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46 cursor.execute(schema) |
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47 |
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48 trajectory_id = 0 |
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49 frame_number = 0 |
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50 if trajectoryType == 'feature': |
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51 if type(objectNumbers) == int and objectNumbers == -1: |
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52 for trajectory in objects: |
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53 trajectory_id += 1 |
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54 frame_number = 0 |
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55 for position in trajectory.getPositions(): |
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56 frame_number += 1 |
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57 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
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58 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
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59 |
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60 connection.commit() |
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61 connection.close() |
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62 |
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63 def setRoadUserTypes(filename, objects): |
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64 '''Saves the user types of the objects in the sqlite database stored in filename |
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65 The objects should exist in the objects table''' |
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66 connection = sqlite3.connect(filename) |
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67 cursor = connection.cursor() |
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68 for obj in objects: |
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69 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum())) |
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70 connection.commit() |
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71 connection.close() |
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72 |
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73 def loadPrototypeMatchIndexesFromSqlite(filename): |
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74 """ |
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75 This function loads the prototypes table in the database of name <filename>. |
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76 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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77 """ |
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78 matched_indexes = [] |
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79 |
211 | 80 connection = sqlite3.connect(filename) |
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81 cursor = connection.cursor() |
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82 |
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83 try: |
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84 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
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85 except sqlite3.OperationalError as error: |
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86 printDBError(error) |
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87 return [] |
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88 |
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89 for row in cursor: |
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90 matched_indexes.append((row[0],row[1])) |
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92 connection.close() | |
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93 return matched_indexes |
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94 |
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95 def getTrajectoryIdQuery(objectNumbers, trajectoryType): |
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96 if trajectoryType == 'feature': |
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97 statementBeginning = 'where trajectory_id ' |
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98 elif trajectoryType == 'object': |
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99 statementBeginning = 'and OF.object_id ' |
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100 else: |
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101 print('no trajectory type was chosen') |
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102 |
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103 if type(objectNumbers) == int: |
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104 if objectNumbers == -1: |
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105 query = '' |
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106 else: |
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107 query = statementBeginning+'between 0 and {0} '.format(objectNumbers) |
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108 elif type(objectNumbers) == list: |
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109 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') ' |
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110 return query |
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111 |
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112 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1): |
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113 '''Loads trajectories (in the general sense) from the given table |
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114 can be positions or velocities |
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115 |
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116 returns a moving object''' |
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117 cursor = connection.cursor() |
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118 |
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119 try: |
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120 if trajectoryType == 'feature': |
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121 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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122 queryStatement = 'SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number' |
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123 cursor.execute(queryStatement) |
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124 logging.debug(queryStatement) |
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125 elif trajectoryType == 'object': |
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126 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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127 queryStatement = 'SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by OF.object_id, P.frame_number order by OF.object_id, P.frame_number' |
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128 cursor.execute(queryStatement) |
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129 logging.debug(queryStatement) |
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130 else: |
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131 print('no trajectory type was chosen') |
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132 except sqlite3.OperationalError as error: |
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133 printDBError(error) |
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134 return [] |
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135 |
143
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136 objId = -1 |
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137 obj = None |
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138 objects = [] |
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139 for row in cursor: |
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140 if row[0] != objId: |
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141 objId = row[0] |
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142 if obj: |
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143 objects.append(obj) |
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144 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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145 else: |
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146 obj.timeInterval.last = row[1] |
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147 obj.positions.addPositionXY(row[2],row[3]) |
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148 |
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149 if obj: |
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150 objects.append(obj) |
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151 |
239
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152 return objects |
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153 |
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154 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1): |
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155 '''Loads nObjects or the indices in objectNumbers from the database''' |
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156 connection = sqlite3.connect(filename) # add test if it open |
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157 |
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158 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
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159 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
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160 |
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161 if len(objectVelocities) > 0: |
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162 for o,v in zip(objects, objectVelocities): |
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163 if o.getNum() == v.getNum(): |
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164 o.velocities = v.positions |
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165 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions |
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166 else: |
329
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167 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
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168 |
263
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169 if trajectoryType == 'object': |
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170 cursor = connection.cursor() |
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171 try: |
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172 # attribute feature numbers to objects |
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173 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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174 queryStatement = 'SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by P.trajectory_id order by OF.object_id' # order is important to group all features per object |
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175 cursor.execute(queryStatement) |
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176 logging.debug(queryStatement) |
263
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177 |
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178 featureNumbers = {} |
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179 for row in cursor: |
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180 objId = row[1] |
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181 if objId not in featureNumbers: |
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182 featureNumbers[objId] = [row[0]] |
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183 else: |
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184 featureNumbers[objId].append(row[0]) |
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185 |
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186 for obj in objects: |
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187 obj.featureNumbers = featureNumbers[obj.getNum()] |
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188 |
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189 # load userType |
330
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190 if objectIdQuery == '': |
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191 cursor.execute('SELECT object_id, road_user_type from objects') |
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192 else: |
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193 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:]) |
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194 userTypes = {} |
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195 for row in cursor: |
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196 userTypes[row[0]] = row[1] |
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197 |
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198 for obj in objects: |
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199 obj.userType = userTypes[obj.getNum()] |
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200 |
342
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201 except sqlite3.OperationalError as error: |
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202 printDBError(error) |
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203 return [] |
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204 |
143
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205 connection.close() |
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206 return objects |
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207 |
344
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208 def removeFromSqlite(filename, dataType): |
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209 'Removes some tables in the filename depending on type of data' |
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210 import os |
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211 if os.path.isfile(filename): |
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212 connection = sqlite3.connect(filename) |
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213 if dataType == 'object': |
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214 dropTables(connection, ['objects', 'objects_features']) |
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215 elif dataType == 'interaction': |
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216 dropTables(connection, ['interactions', 'indicators']) |
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217 elif dataType == 'bb': |
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218 dropTables(connection, ['bounding_boxes']) |
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219 else: |
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220 print('Unknown data type {} to delete from database'.format(dataType)) |
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221 connection.close() |
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222 else: |
491
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223 print('{} does not exist'.format(filename)) |
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224 |
341
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225 def createInteractionTable(cursor): |
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226 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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227 |
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228 def createIndicatorTables(cursor): |
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229 # 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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230 # 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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231 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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232 |
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233 def saveInteraction(cursor, interaction): |
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234 roadUserNumbers = list(interaction.getRoadUserNumbers()) |
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235 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant())) |
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236 |
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237 def saveInteractions(filename, interactions): |
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238 'Saves the interactions in the table' |
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239 connection = sqlite3.connect(filename) |
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240 cursor = connection.cursor() |
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241 try: |
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242 createInteractionTable(cursor) |
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243 for inter in interactions: |
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244 saveInteraction(cursor, inter) |
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245 except sqlite3.OperationalError as error: |
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246 printDBError(error) |
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247 connection.commit() |
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248 connection.close() |
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249 |
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250 def saveIndicator(cursor, interactionNum, indicator): |
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251 for instant in indicator.getTimeInterval(): |
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252 if indicator[instant]: |
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253 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant])) |
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254 |
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255 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames): |
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256 'Saves the indicator values in the table' |
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257 connection = sqlite3.connect(filename) |
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258 cursor = connection.cursor() |
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259 try: |
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260 createInteractionTable(cursor) |
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261 createIndicatorTables(cursor) |
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262 for inter in interactions: |
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263 saveInteraction(cursor, inter) |
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264 for indicatorName in indicatorNames: |
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265 indicator = inter.getIndicator(indicatorName) |
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266 if indicator != None: |
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267 saveIndicator(cursor, inter.getNum(), indicator) |
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268 except sqlite3.OperationalError as error: |
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269 printDBError(error) |
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270 connection.commit() |
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271 connection.close() |
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272 |
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273 def loadInteractions(filename): |
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274 '''Loads interaction and their indicators |
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275 |
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276 TODO choose the interactions to load''' |
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277 interactions = [] |
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278 connection = sqlite3.connect(filename) |
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279 cursor = connection.cursor() |
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280 try: |
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281 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') |
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282 interactionNum = -1 |
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283 indicatorTypeNum = -1 |
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284 tmpIndicators = {} |
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285 for row in cursor: |
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286 if row[0] != interactionNum: # save interaction and create new interaction |
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287 if interactionNum >= 0: |
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288 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
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289 interactions[-1].indicators = tmpIndicators |
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290 tmpIndicators = {} |
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291 interactionNum = row[0] |
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292 roadUserNumbers = row[1:3] |
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293 if indicatorTypeNum != row[5]: |
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294 if indicatorTypeNum >= 0: |
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295 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
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296 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
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297 indicatorTypeNum = row[5] |
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298 indicatorValues = {row[6]:row[7]} |
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299 else: |
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300 indicatorValues[row[6]] = row[7] |
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301 if interactionNum >= 0: |
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302 if indicatorTypeNum >= 0: |
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303 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
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304 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
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305 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
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306 interactions[-1].indicators = tmpIndicators |
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307 except sqlite3.OperationalError as error: |
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308 printDBError(error) |
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309 return [] |
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310 connection.close() |
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311 return interactions |
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312 # load first and last object instants |
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313 # 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 |
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314 |
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315 def createBoundingBoxTable(filename, invHomography = None): |
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316 '''Create the table to store the object bounding boxes in image space |
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317 ''' |
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318 connection = sqlite3.connect(filename) |
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319 cursor = connection.cursor() |
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320 try: |
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321 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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322 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from ' |
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323 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' |
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324 '(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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325 'GROUP BY object_id, frame_number') |
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326 except sqlite3.OperationalError as error: |
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327 printDBError(error) |
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328 connection.commit() |
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329 connection.close() |
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330 |
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331 def loadBoundingBoxTable(filename): |
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332 connection = sqlite3.connect(filename) |
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333 cursor = connection.cursor() |
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334 boundingBoxes = {} # list of bounding boxes for each instant |
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335 try: |
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336 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') |
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337 result = [row for row in cursor] |
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338 if len(result) > 0: |
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339 cursor.execute('SELECT * FROM bounding_boxes') |
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340 #objId = -1 |
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341 for row in cursor: |
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342 #if row[0] != objId: |
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343 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])]) |
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344 except sqlite3.OperationalError as error: |
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345 printDBError(error) |
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346 return boundingBoxes |
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347 connection.close() |
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348 return boundingBoxes |
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349 |
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350 |
329
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351 ######################### |
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352 # txt files |
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353 ######################### |
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354 |
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355 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
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356 '''Reads data from the trajectory data provided by NGSIM project |
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357 and returns the list of Feature objects''' |
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358 objects = [] |
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359 |
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360 input = utils.openCheck(filename) |
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361 if not input: |
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362 import sys |
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363 sys.exit() |
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364 |
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365 def createObject(numbers): |
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366 firstFrameNum = int(numbers[1]) |
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367 # do the geometry and usertype |
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368 |
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369 firstFrameNum = int(numbers[1]) |
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370 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
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371 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) |
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372 obj = moving.MovingObject(num = int(numbers[0]), |
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373 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
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374 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
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375 userType = int(numbers[10])) |
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376 obj.userType = int(numbers[10]) |
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377 obj.laneNums = [int(numbers[13])] |
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378 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
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379 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
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380 obj.spaceHeadways = [float(numbers[16])] # feet |
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381 obj.timeHeadways = [float(numbers[17])] # seconds |
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382 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate |
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383 obj.speeds = [float(numbers[11])] |
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384 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
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385 return obj |
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386 |
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387 numbers = input.readline().strip().split() |
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388 if (len(numbers) > 0): |
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389 obj = createObject(numbers) |
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390 |
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391 for line in input: |
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392 numbers = line.strip().split() |
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393 if obj.getNum() != int(numbers[0]): |
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394 # check and adapt the length to deal with issues in NGSIM data |
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395 if (obj.length() != obj.positions.length()): |
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396 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length()) |
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397 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
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398 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
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399 objects.append(obj) |
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400 if (nObjects>0) and (len(objects)>=nObjects): |
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401 break |
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402 obj = createObject(numbers) |
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403 else: |
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404 obj.laneNums.append(int(numbers[13])) |
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405 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
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406 obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) |
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407 obj.speeds.append(float(numbers[11])) |
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408 obj.precedingVehicles.append(int(numbers[14])) |
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409 obj.followingVehicles.append(int(numbers[15])) |
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410 obj.spaceHeadways.append(float(numbers[16])) |
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411 obj.timeHeadways.append(float(numbers[17])) |
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412 |
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413 if (obj.size[0] != float(numbers[8])): |
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414 print 'changed length obj %d' % (obj.getNum()) |
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415 if (obj.size[1] != float(numbers[9])): |
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416 print 'changed width obj %d' % (obj.getNum()) |
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417 |
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418 input.close() |
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419 return objects |
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420 |
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421 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0): |
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422 '''Reads data from the trajectory data provided by NGSIM project |
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423 and converts to our current format.''' |
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424 if append: |
377 | 425 out = utils.openCheck(outFile,'a') |
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426 else: |
377 | 427 out = utils.openCheck(outFile,'w') |
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428 nObjectsPerType = [0,0,0] |
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429 |
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430 features = loadNgsimFile(inFile, sequenceNum) |
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431 for f in features: |
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432 nObjectsPerType[f.userType-1] += 1 |
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433 f.write(out) |
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434 |
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435 print nObjectsPerType |
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436 |
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437 out.close() |
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438 |
335
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439 def writePositionsToCsv(f, obj): |
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440 timeInterval = obj.getTimeInterval() |
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441 positions = obj.getPositions() |
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442 curvilinearPositions = obj.getCurvilinearPositions() |
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443 for i in xrange(int(obj.length())): |
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444 p1 = positions[i] |
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445 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
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446 if curvilinearPositions != None: |
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447 p2 = curvilinearPositions[i] |
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448 s += ',{},{}'.format(p2[0],p2[1]) |
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449 f.write(s+'\n') |
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450 |
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451 def writeTrajectoriesToCsv(filename, objects): |
377 | 452 f = utils.openCheck(filename, 'w') |
335
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453 for i,obj in enumerate(objects): |
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454 writePositionsToCsv(f, obj) |
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455 f.close() |
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456 |
377 | 457 def writeList(filename, l): |
458 f = utils.openCheck(filename, 'w') | |
459 for x in l: | |
460 f.write('{}\n'.format(x)) | |
461 f.close() | |
462 | |
382
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463 def loadListStrings(filename): |
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464 f = utils.openCheck(filename, 'r') |
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465 result = [l.strip() for l in f] |
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466 f.close() |
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467 return result |
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468 |
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469 |
215
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470 if __name__ == "__main__": |
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471 import doctest |
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472 import unittest |
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473 suite = doctest.DocFileSuite('tests/storage.txt') |
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474 unittest.TextTestRunner().run(suite) |
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475 # #doctest.testmod() |
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476 # #doctest.testfile("example.txt") |