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annotate python/storage.py @ 326:f7872d15a6cc

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added user type ids
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 23 May 2013 17:57:11 +0200
parents c71540470057
children 42f2b46ec210
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1 #! /usr/bin/env python
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2 # -*- coding: utf-8 -*-
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3 '''Various utilities to save and load data'''
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4
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5 import utils
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6 import moving
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8 __metaclass__ = type
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10
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11 ngsimUserTypes = {'twowheels':1,
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12 'car':2,
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13 'truck':3}
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14
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15 sqliteUserTypeNames = ['unknown',
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16 'car',
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17 'pedestrian',
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18 'motorcycle',
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19 'bicycle',
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20 'bus',
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21 'truck']
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22
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23
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24 #########################
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25 # txt files
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26 #########################
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29
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30 #########################
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31 # Sqlite
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32 #########################
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33
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34 def writeTrajectoriesToSqlite(objects, outFile, 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
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43 import sqlite3
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44 connection = sqlite3.connect(outFile)
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45 cursor = connection.cursor()
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46
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47 schema = "CREATE TABLE \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))"
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48 cursor.execute(schema)
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49
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50 trajectory_id = 0
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51 frame_number = 0
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52 if trajectoryType == 'feature':
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53 if type(objectNumbers) == int and objectNumbers == -1:
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54 for trajectory in objects:
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55 trajectory_id += 1
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56 frame_number = 0
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57 for position in trajectory.getPositions():
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58 frame_number += 1
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59 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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60 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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61
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62 connection.commit()
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63 connection.close()
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64
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65 def loadPrototypeMatchIndexesFromSqlite(filename):
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66 """
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67 This function loads the prototypes table in the database of name <filename>.
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68 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
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69 """
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70 matched_indexes = []
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71
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72 import sqlite3
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73 connection = sqlite3.connect(filename)
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74 cursor = connection.cursor()
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75
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76 try:
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77 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
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78 except sqlite3.OperationalError as err:
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79 print('DB Error: {0}'.format(err))
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80 return []
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81
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82 for row in cursor:
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83 matched_indexes.append((row[0],row[1]))
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84
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85 connection.close()
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86 return matched_indexes
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87
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88 def getTrajectoryIdQuery(objectNumbers, trajectoryType):
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89 if trajectoryType == 'feature':
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90 statementBeginning = ' where trajectory_id'
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91 elif trajectoryType == 'object':
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92 statementBeginning = ' and OF.object_id'
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93 else:
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94 print('no trajectory type was chosen')
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95
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96 if type(objectNumbers) == int:
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97 if objectNumbers == -1:
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98 query = ''
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99 else:
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100 query = statementBeginning+' between 0 and {0}'.format(objectNumbers)
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101 elif type(objectNumbers) == list:
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102 query = statementBeginning+' in ('+', '.join([str(n) for n in objectNumbers])+')'
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103 return query
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104
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105 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1):
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106 '''Loads trajectories (in the general sense) from the given table
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107 can be positions or velocities
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108
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109 returns a moving object'''
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110 import sqlite3
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111
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112 cursor = connection.cursor()
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113
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114 try:
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115 if trajectoryType == 'feature':
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116 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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117 cursor.execute('SELECT * from '+tableName+trajectoryIdQuery+' order by trajectory_id, frame_number')
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118 elif trajectoryType == 'object':
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119 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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120 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+' group by object_id, frame_number')
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121 else:
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122 print('no trajectory type was chosen')
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123 except sqlite3.OperationalError as err:
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124 print('DB Error: {0}'.format(err))
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125 return []
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126
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127 objId = -1
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128 obj = None
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129 objects = []
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130 for row in cursor:
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131 if row[0] != objId:
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132 objId = row[0]
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133 if obj:
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134 objects.append(obj)
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135 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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136 else:
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137 obj.timeInterval.last = row[1]
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138 obj.positions.addPositionXY(row[2],row[3])
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139
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140 if obj:
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141 objects.append(obj)
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142
239
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143 return objects
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144
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145 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
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146 '''Loads nObjects or the indices in objectNumbers from the database
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147 TODO: load feature numbers and not average feature trajectories
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148 TODO: other ways of averaging trajectories (load all points, sorted by frame_number and leave the agregation to be done in python)
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149 '''
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150 import sqlite3
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151
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152 connection = sqlite3.connect(filename) # add test if it open
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153
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154 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers)
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155 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers)
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156
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157 if len(objectVelocities) > 0:
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158 for o,v in zip(objects, objectVelocities):
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159 if o.num == v.num:
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160 o.velocities = v.positions
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161 else:
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162 print('Could not match positions {0} with velocities {1}'.format(o.num, v.num))
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163
263
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164 if trajectoryType == 'object':
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165 cursor = connection.cursor()
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166 try:
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167 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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168 cursor.execute('SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+' group by P.trajectory_id order by OF.object_id')
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169
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170 # attribute feature numbers to objects
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171 objId = -1
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172 featureNumbers = {}
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173 for row in cursor:
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174 if row[1] != objId:
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175 objId = row[1]
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176 featureNumbers[objId] = [row[0]]
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177 else:
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178 featureNumbers[objId].append(row[0])
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179
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180 for obj in objects:
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181 obj.featureNumbers = featureNumbers[obj.num]
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182 except sqlite3.OperationalError as err:
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183 print('DB Error: {0}'.format(err))
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184 return []
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185
143
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186 connection.close()
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187 return objects
0
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188
235
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189 def removeObjectsFromSqlite(filename):
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190 'Removes the objects and object_features tables in the filename'
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191 import sqlite3
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192 connection = sqlite3.connect(filename)
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193 utils.dropTables(connection, ['objects', 'objects_features'])
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194 connection.close()
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195
173
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196 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
0
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197 '''Reads data from the trajectory data provided by NGSIM project
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198 and returns the list of Feature objects'''
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199 objects = []
0
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200
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201 input = utils.openCheck(filename)
0
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202 if not input:
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203 import sys
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204 sys.exit()
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205
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206 def createObject(numbers):
0
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207 firstFrameNum = int(numbers[1])
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208 # do the geometry and usertype
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209
72
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diff changeset
210 firstFrameNum = int(numbers[1])
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diff changeset
211 lastFrameNum = firstFrameNum+int(numbers[2])-1
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212 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
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diff changeset
213 obj = moving.MovingObject(num = int(numbers[0]),
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214 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
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diff changeset
215 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
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diff changeset
216 userType = int(numbers[10]))
78
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diff changeset
217 obj.userType = int(numbers[10])
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diff changeset
218 obj.laneNums = [int(numbers[13])]
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diff changeset
219 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
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diff changeset
220 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
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diff changeset
221 obj.spaceHeadways = [float(numbers[16])] # feet
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diff changeset
222 obj.timeHeadways = [float(numbers[17])] # seconds
72
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diff changeset
223 obj.curvilinearPositions = moving.Trajectory([[float(numbers[5])],[float(numbers[4])]]) # X is the longitudinal coordinate
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diff changeset
224 obj.speeds = [float(numbers[11])]
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diff changeset
225 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
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diff changeset
226 return obj
0
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227
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228 numbers = input.readline().strip().split()
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229 if (len(numbers) > 0):
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diff changeset
230 obj = createObject(numbers)
0
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231
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232 for line in input:
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233 numbers = line.strip().split()
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diff changeset
234 if obj.num != int(numbers[0]):
0
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235 # check and adapt the length to deal with issues in NGSIM data
72
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diff changeset
236 if (obj.length() != obj.positions.length()):
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diff changeset
237 print 'length pb with object %s (%d,%d)' % (obj.num,obj.length(),obj.positions.length())
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diff changeset
238 obj.last = obj.getFirstInstant()+obj.positions.length()-1
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diff changeset
239 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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diff changeset
240 objects.append(obj)
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diff changeset
241 if (nObjects>0) and (len(objects)>=nObjects):
0
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242 break
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243 obj = createObject(numbers)
0
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244 else:
72
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diff changeset
245 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
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diff changeset
246 obj.curvilinearPositions.addPositionXY(float(numbers[5]), float(numbers[4]))
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diff changeset
247 obj.speeds.append(float(numbers[11]))
78
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diff changeset
248 obj.laneNums.append(int(numbers[13]))
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diff changeset
249 obj.precedingVehicles.append(int(numbers[14]))
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diff changeset
250 obj.followingVehicles.append(int(numbers[15]))
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diff changeset
251 obj.spaceHeadways.append(float(numbers[16]))
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diff changeset
252 obj.timeHeadways.append(float(numbers[17]))
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parents: 0
diff changeset
253
72
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diff changeset
254 if (obj.size[0] != float(numbers[8])):
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diff changeset
255 print 'changed length obj %d' % (f.num)
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diff changeset
256 if (obj.size[1] != float(numbers[9])):
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257 print 'changed width obj %d' % (f.num)
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258
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259 input.close()
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260 return objects
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261
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262 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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263 '''Reads data from the trajectory data provided by NGSIM project
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264 and converts to our current format.'''
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265 if append:
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266 out = open(outFile,'a')
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267 else:
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268 out = open(outFile,'w')
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269 nObjectsPerType = [0,0,0]
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270
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271 features = loadNgsimFile(inFile, sequenceNum)
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272 for f in features:
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273 nObjectsPerType[f.userType-1] += 1
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274 f.write(out)
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275
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276 print nObjectsPerType
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277
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278 out.close()
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279
215
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280 if __name__ == "__main__":
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281 import doctest
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282 import unittest
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283 suite = doctest.DocFileSuite('tests/storage.txt')
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284 unittest.TextTestRunner().run(suite)
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285 # #doctest.testmod()
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286 # #doctest.testfile("example.txt")