Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 768:f8e0a8ea8402 dev
updated the bounding box code (the name so that it is general for ground truth and UT)
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Thu, 14 Jan 2016 11:44:39 -0500 |
| parents | a05b70f307dd |
| children | bf4a1790cfac |
| rev | line source |
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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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work in progress storage vissim sqlite
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5 import utils, moving, events, indicators, shutil |
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corrected bug with circular import for VideoFilenameAddable, moved to base module
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6 from base import VideoFilenameAddable |
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first version of indicator loading code
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7 |
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added basic logging capability for debugging
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8 import sqlite3, logging |
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cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
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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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moved pandas imports, sql in comments
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10 from pandas import read_csv, merge |
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11 |
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12 |
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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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13 commentChar = '#' |
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14 |
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15 delimiterChar = '%'; |
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16 |
| 50 | 17 ngsimUserTypes = {'twowheels':1, |
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added code to load object trajectories (average of features)
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18 'car':2, |
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19 'truck':3} |
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20 |
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added code to save collision points and crossing zones in txt files
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21 ######################### |
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22 # Sqlite |
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23 ######################### |
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24 |
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25 # utils |
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26 def printDBError(error): |
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27 print('DB Error: {}'.format(error)) |
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28 |
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29 def dropTables(connection, tableNames): |
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30 'deletes the table with names in tableNames' |
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31 try: |
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32 cursor = connection.cursor() |
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33 for tableName in tableNames: |
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34 cursor.execute('DROP TABLE IF EXISTS '+tableName) |
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35 except sqlite3.OperationalError as error: |
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36 printDBError(error) |
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37 |
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38 def tableExists(filename, tableName): |
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39 'indicates if the table exists in the database' |
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40 try: |
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41 connection = sqlite3.connect(filename) |
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42 cursor = connection.cursor() |
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43 cursor.execute('SELECT COUNT(*) FROM SQLITE_MASTER WHERE type = \'table\' AND name = \''+tableName+'\'') |
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44 return cursor.fetchone()[0] == 1 |
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45 except sqlite3.OperationalError as error: |
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46 printDBError(error) |
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47 |
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48 def createIndex(connection, tableName, columnName, unique = False): |
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49 '''Creates an index for the column in the table |
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50 I will make querying with a condition on this column faster''' |
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51 try: |
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52 #connection = sqlite3.connect(filename) |
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53 cursor = connection.cursor() |
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54 s = "CREATE " |
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55 if unique: |
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56 s += "UNIQUE " |
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57 cursor.execute(s+"INDEX IF NOT EXISTS "+tableName+"_"+columnName+"_index ON "+tableName+"("+columnName+")") |
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58 connection.commit() |
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59 #connection.close() |
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60 except sqlite3.OperationalError as error: |
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61 printDBError(error) |
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62 |
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63 def getNumberRowsTable(connection, tableName, columnName = None): |
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64 '''Returns the number of rows for the table |
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65 If columnName is not None, means we want the number of distinct values for that column |
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66 (otherwise, we can just count(*))''' |
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67 try: |
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68 cursor = connection.cursor() |
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69 if columnName is None: |
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70 cursor.execute("SELECT COUNT(*) from "+tableName) |
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71 else: |
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72 cursor.execute("SELECT COUNT(DISTINCT "+columnName+") from "+tableName) |
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73 return cursor.fetchone()[0] |
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74 except sqlite3.OperationalError as error: |
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75 printDBError(error) |
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76 |
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77 def getMinMax(connection, tableName, columnName, minmax): |
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78 '''Returns max/min or both for given column in table |
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79 minmax must be string max, min or minmax''' |
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80 try: |
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81 cursor = connection.cursor() |
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82 if minmax == 'min' or minmax == 'max': |
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83 cursor.execute("SELECT "+minmax+"("+columnName+") from "+tableName) |
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84 elif minmax == 'minmax': |
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85 cursor.execute("SELECT MIN("+columnName+"), MAX("+columnName+") from "+tableName) |
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86 else: |
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87 print("Argument minmax unknown: {}".format(minmax)) |
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88 return cursor.fetchone()[0] |
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89 except sqlite3.OperationalError as error: |
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90 printDBError(error) |
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91 |
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92 # TODO: add test if database connection is open |
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93 # IO to sqlite |
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94 def writeTrajectoriesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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95 """ |
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96 This function writers trajectories to a specified sqlite file |
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97 @param[in] objects -> a list of trajectories |
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98 @param[in] trajectoryType - |
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99 @param[out] outputFilename -> the .sqlite file containting the written objects |
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100 @param[in] objectNumber : number of objects loaded |
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101 """ |
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102 connection = sqlite3.connect(outputFilename) |
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103 cursor = connection.cursor() |
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104 |
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105 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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106 cursor.execute(schema) |
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107 |
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108 trajectory_id = 0 |
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109 frame_number = 0 |
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110 if trajectoryType == 'feature': |
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111 if type(objectNumbers) == int and objectNumbers == -1: |
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112 for trajectory in objects: |
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113 trajectory_id += 1 |
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114 frame_number = 0 |
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115 for position in trajectory.getPositions(): |
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116 frame_number += 1 |
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117 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
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118 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
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119 |
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120 connection.commit() |
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121 connection.close() |
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122 |
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123 |
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124 def loadPrototypeMatchIndexesFromSqlite(filename): |
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125 """ |
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126 This function loads the prototypes table in the database of name <filename>. |
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127 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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128 """ |
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129 matched_indexes = [] |
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130 |
| 211 | 131 connection = sqlite3.connect(filename) |
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132 cursor = connection.cursor() |
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133 |
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134 try: |
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135 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
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136 except sqlite3.OperationalError as error: |
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137 printDBError(error) |
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138 return [] |
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139 |
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140 for row in cursor: |
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141 matched_indexes.append((row[0],row[1])) |
| 211 | 142 |
| 143 connection.close() | |
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144 return matched_indexes |
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145 |
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146 def getObjectCriteria(objectNumbers): |
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147 if objectNumbers is None: |
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148 query = '' |
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149 elif type(objectNumbers) == int: |
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150 query = 'between 0 and {0}'.format(objectNumbers-1) |
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151 elif type(objectNumbers) == list: |
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152 query = 'in ('+', '.join([str(n) for n in objectNumbers])+')' |
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153 else: |
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154 print('objectNumbers {} are not a known type ({})'.format(objectNumbers, type(objectNumbers))) |
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155 query = '' |
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156 return query |
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157 |
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158 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None): |
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159 '''Loads trajectories (in the general sense) from the given table |
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160 can be positions or velocities |
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161 |
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162 returns a moving object''' |
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163 cursor = connection.cursor() |
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164 |
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165 try: |
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166 objectCriteria = getObjectCriteria(objectNumbers) |
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167 queryStatement = None |
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168 if trajectoryType == 'feature': |
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169 queryStatement = 'SELECT * from '+tableName |
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170 if objectNumbers is not None: |
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171 queryStatement += ' WHERE trajectory_id '+objectCriteria |
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172 queryStatement += ' ORDER BY trajectory_id, frame_number' |
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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' |
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178 elif trajectoryType in ['bbtop', 'bbbottom']: |
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179 if trajectoryType == 'bbtop': |
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180 corner = 'top_left' |
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181 elif trajectoryType == 'bbbottom': |
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182 corner = 'bottom_right' |
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183 queryStatement = 'SELECT object_id, frame_number, x_'+corner+', y_'+corner+' FROM '+tableName |
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184 if objectNumbers is not None: |
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185 queryStatement += ' WHERE object_id '+objectCriteria |
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186 queryStatement += ' ORDER BY object_id, frame_number' |
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187 else: |
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188 print('no trajectory type was chosen') |
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189 if queryStatement is not None: |
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190 cursor.execute(queryStatement) |
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191 logging.debug(queryStatement) |
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192 except sqlite3.OperationalError as error: |
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193 printDBError(error) |
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194 return [] |
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195 |
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196 objId = -1 |
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197 obj = None |
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198 objects = [] |
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199 for row in cursor: |
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200 if row[0] != objId: |
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201 objId = row[0] |
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202 if obj is not None and obj.length() == obj.positions.length(): |
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203 objects.append(obj) |
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204 elif obj is not None: |
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205 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) |
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206 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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207 else: |
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208 obj.timeInterval.last = row[1] |
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209 obj.positions.addPositionXY(row[2],row[3]) |
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210 |
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211 if obj is not None and obj.length() == obj.positions.length(): |
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212 objects.append(obj) |
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213 elif obj is not None: |
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214 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) |
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215 |
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216 return objects |
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217 |
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218 def loadUserTypesFromTable(cursor, trajectoryType, objectNumbers): |
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219 objectCriteria = getObjectCriteria(objectNumbers) |
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220 queryStatement = 'SELECT object_id, road_user_type from objects' |
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221 if objectNumbers is not None: |
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222 queryStatement += ' WHERE object_id '+objectCriteria |
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223 cursor.execute(queryStatement) |
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224 userTypes = {} |
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225 for row in cursor: |
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226 userTypes[row[0]] = row[1] |
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227 return userTypes |
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228 |
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229 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None, withFeatures = False): |
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230 '''Loads the first objectNumbers objects or the indices in objectNumbers from the database''' |
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231 connection = sqlite3.connect(filename) |
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232 |
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233 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
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234 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
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235 |
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236 if len(objectVelocities) > 0: |
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237 for o,v in zip(objects, objectVelocities): |
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238 if o.getNum() == v.getNum(): |
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239 o.velocities = v.positions |
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240 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions |
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241 else: |
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242 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
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243 |
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244 if trajectoryType == 'object': |
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245 cursor = connection.cursor() |
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246 try: |
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247 # attribute feature numbers to objects |
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248 objectCriteria = getObjectCriteria(objectNumbers) |
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249 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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250 if objectNumbers is not None: |
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251 queryStatement += ' and OF.object_id '+objectCriteria |
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252 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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253 cursor.execute(queryStatement) |
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254 logging.debug(queryStatement) |
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263
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255 |
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256 featureNumbers = {} |
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257 for row in cursor: |
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258 objId = row[1] |
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259 if objId not in featureNumbers: |
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260 featureNumbers[objId] = [row[0]] |
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261 else: |
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262 featureNumbers[objId].append(row[0]) |
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263 |
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264 for obj in objects: |
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265 obj.featureNumbers = featureNumbers[obj.getNum()] |
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266 |
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267 # load userType |
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268 userTypes = loadUserTypesFromTable(cursor, trajectoryType, objectNumbers) |
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269 for obj in objects: |
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270 obj.userType = userTypes[obj.getNum()] |
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271 |
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272 if withFeatures: |
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273 nFeatures = 0 |
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274 for obj in objects: |
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275 nFeatures = max(nFeatures, max(obj.featureNumbers)) |
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276 features = loadTrajectoriesFromSqlite(filename, 'feature', nFeatures+1) |
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277 for obj in objects: |
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278 obj.setFeatures(features) |
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279 |
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342
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280 except sqlite3.OperationalError as error: |
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281 printDBError(error) |
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282 objects = [] |
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283 |
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143
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284 connection.close() |
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285 return objects |
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286 |
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287 def savePrototypesToSqlite(filename, prototypes, trajectoryType = 'feature'): |
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288 'Work in progress, do not use' |
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289 connection = sqlite3.connect(filename) |
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290 cursor = connection.cursor() |
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291 try: |
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292 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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293 #for inter in interactions: |
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294 # saveInteraction(cursor, inter) |
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295 except sqlite3.OperationalError as error: |
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296 printDBError(error) |
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297 connection.commit() |
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298 connection.close() |
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299 |
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300 def loadPrototypesFromSqlite(filename): |
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301 pass |
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302 |
|
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303 def loadBBMovingObjectsFromSqlite(filename, objectType = 'bb', objectNumbers = None): |
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304 '''Loads bounding box moving object from an SQLite |
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305 (format of SQLite output by the ground truth annotation tool |
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306 or Urban Tracker |
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307 |
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308 Load descriptions?''' |
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309 connection = sqlite3.connect(filename) |
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310 objects = [] |
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311 |
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312 if objectType == 'bb': |
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313 topCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbtop', objectNumbers) |
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314 bottomCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbbottom', objectNumbers) |
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315 userTypes = loadUserTypesFromTable(connection.cursor(), 'object', objectNumbers) # string format is same as object |
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316 |
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317 for t, b in zip(topCorners, bottomCorners): |
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318 num = t.getNum() |
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319 if t.getNum() == b.getNum(): |
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768
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320 annotation = moving.BBMovingObject(num, t.getTimeInterval(), t, b, userTypes[num]) |
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321 objects.append(annotation) |
|
588
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added loading ground truth annotations (ground truth) from polytrack format
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322 else: |
|
768
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323 print ('Unknown type of bounding box {}'.format(objectType)) |
|
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324 |
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325 connection.close() |
|
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326 return objects |
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327 |
|
584
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renames removeFromSqlite to deleteFromSqlite
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328 def deleteFromSqlite(filename, dataType): |
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329 'Deletes (drops) some tables in the filename depending on type of data' |
|
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330 import os |
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331 if os.path.isfile(filename): |
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332 connection = sqlite3.connect(filename) |
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333 if dataType == 'object': |
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334 dropTables(connection, ['objects', 'objects_features']) |
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335 elif dataType == 'interaction': |
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336 dropTables(connection, ['interactions', 'indicators']) |
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337 elif dataType == 'bb': |
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338 dropTables(connection, ['bounding_boxes']) |
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339 else: |
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340 print('Unknown data type {} to delete from database'.format(dataType)) |
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341 connection.close() |
|
344
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slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
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343
diff
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342 else: |
|
491
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343 print('{} does not exist'.format(filename)) |
|
235
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added script and functions to remove object tables
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diff
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344 |
|
341
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345 def createInteractionTable(cursor): |
|
343
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346 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))') |
|
341
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347 |
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348 def createIndicatorTables(cursor): |
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349 # 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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350 # 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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351 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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352 |
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diff
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353 def saveInteraction(cursor, interaction): |
|
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diff
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354 roadUserNumbers = list(interaction.getRoadUserNumbers()) |
|
343
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diff
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355 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant())) |
|
341
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340
diff
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356 |
|
340
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diff
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357 def saveInteractions(filename, interactions): |
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358 'Saves the interactions in the table' |
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diff
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|
359 connection = sqlite3.connect(filename) |
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|
360 cursor = connection.cursor() |
|
342
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parents:
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diff
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|
361 try: |
|
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parents:
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diff
changeset
|
362 createInteractionTable(cursor) |
|
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diff
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|
363 for inter in interactions: |
|
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parents:
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diff
changeset
|
364 saveInteraction(cursor, inter) |
|
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341
diff
changeset
|
365 except sqlite3.OperationalError as error: |
|
491
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parents:
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diff
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|
366 printDBError(error) |
|
341
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parents:
340
diff
changeset
|
367 connection.commit() |
|
340
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diff
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|
368 connection.close() |
|
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diff
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|
369 |
|
341
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340
diff
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|
370 def saveIndicator(cursor, interactionNum, indicator): |
|
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parents:
340
diff
changeset
|
371 for instant in indicator.getTimeInterval(): |
|
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parents:
340
diff
changeset
|
372 if indicator[instant]: |
|
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parents:
340
diff
changeset
|
373 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant])) |
|
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first version of indicator saving to sqlite
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parents:
340
diff
changeset
|
374 |
|
343
74e437ab5f11
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parents:
342
diff
changeset
|
375 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames): |
|
340
1046b7346886
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parents:
335
diff
changeset
|
376 'Saves the indicator values in the table' |
|
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work in progress on storing indicator values
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parents:
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diff
changeset
|
377 connection = sqlite3.connect(filename) |
|
341
2f39c4ed0b62
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parents:
340
diff
changeset
|
378 cursor = connection.cursor() |
|
342
4d69486869a5
work on loading indicators
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parents:
341
diff
changeset
|
379 try: |
|
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parents:
341
diff
changeset
|
380 createInteractionTable(cursor) |
|
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parents:
341
diff
changeset
|
381 createIndicatorTables(cursor) |
|
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parents:
341
diff
changeset
|
382 for inter in interactions: |
|
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parents:
341
diff
changeset
|
383 saveInteraction(cursor, inter) |
|
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work on loading indicators
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parents:
341
diff
changeset
|
384 for indicatorName in indicatorNames: |
|
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parents:
341
diff
changeset
|
385 indicator = inter.getIndicator(indicatorName) |
|
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
|
386 if indicator is not None: |
|
342
4d69486869a5
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parents:
341
diff
changeset
|
387 saveIndicator(cursor, inter.getNum(), indicator) |
|
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parents:
341
diff
changeset
|
388 except sqlite3.OperationalError as error: |
|
491
343cfd185ca6
minor changes and reaarrangements
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parents:
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diff
changeset
|
389 printDBError(error) |
|
341
2f39c4ed0b62
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340
diff
changeset
|
390 connection.commit() |
|
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340
diff
changeset
|
391 connection.close() |
|
340
1046b7346886
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parents:
335
diff
changeset
|
392 |
|
482
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
417
diff
changeset
|
393 def loadInteractions(filename): |
|
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
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parents:
417
diff
changeset
|
394 '''Loads interaction and their indicators |
|
343
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342
diff
changeset
|
395 |
|
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parents:
342
diff
changeset
|
396 TODO choose the interactions to load''' |
|
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342
diff
changeset
|
397 interactions = [] |
|
342
4d69486869a5
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parents:
341
diff
changeset
|
398 connection = sqlite3.connect(filename) |
|
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parents:
341
diff
changeset
|
399 cursor = connection.cursor() |
|
4d69486869a5
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parents:
341
diff
changeset
|
400 try: |
|
750
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
401 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
4d69486869a5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
402 interactionNum = -1 |
|
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parents:
341
diff
changeset
|
403 indicatorTypeNum = -1 |
|
343
74e437ab5f11
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parents:
342
diff
changeset
|
404 tmpIndicators = {} |
|
342
4d69486869a5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
405 for row in cursor: |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
406 if row[0] != interactionNum: |
|
342
4d69486869a5
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parents:
341
diff
changeset
|
407 interactionNum = row[0] |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
408 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), row[1], row[2])) |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
409 interactions[-1].indicators = {} |
|
693
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
410 if indicatorTypeNum != row[5] or row[0] != interactionNum: |
|
695
957126bfb456
corrected bug with indicator loading(also now correctly loading mostsevereismax)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
693
diff
changeset
|
411 indicatorTypeNum = row[5] |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
412 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
413 indicatorValues = {row[6]:row[7]} |
|
695
957126bfb456
corrected bug with indicator loading(also now correctly loading mostsevereismax)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
693
diff
changeset
|
414 interactions[-1].indicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues, mostSevereIsMax = not indicatorName in events.Interaction.timeIndicators) |
|
343
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parents:
342
diff
changeset
|
415 else: |
|
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parents:
342
diff
changeset
|
416 indicatorValues[row[6]] = row[7] |
|
693
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
417 interactions[-1].indicators[indicatorName].timeInterval.last = row[6] |
|
342
4d69486869a5
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parents:
341
diff
changeset
|
418 except sqlite3.OperationalError as error: |
|
491
343cfd185ca6
minor changes and reaarrangements
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parents:
482
diff
changeset
|
419 printDBError(error) |
|
343
74e437ab5f11
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parents:
342
diff
changeset
|
420 return [] |
|
342
4d69486869a5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
421 connection.close() |
|
343
74e437ab5f11
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
422 return interactions |
|
74e437ab5f11
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parents:
342
diff
changeset
|
423 # load first and last object instants |
|
750
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
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424 # 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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342
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425 |
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426 def createBoundingBoxTable(filename, invHomography = None): |
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427 '''Create the table to store the object bounding boxes in image space |
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428 ''' |
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429 connection = sqlite3.connect(filename) |
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430 cursor = connection.cursor() |
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431 try: |
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432 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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433 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from ' |
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434 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' |
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435 '(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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436 'GROUP BY object_id, frame_number') |
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437 except sqlite3.OperationalError as error: |
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438 printDBError(error) |
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439 connection.commit() |
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440 connection.close() |
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441 |
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586
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442 def loadBoundingBoxTableForDisplay(filename): |
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647
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443 '''Loads bounding boxes from bounding_boxes table for display over trajectories''' |
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444 connection = sqlite3.connect(filename) |
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445 cursor = connection.cursor() |
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446 boundingBoxes = {} # list of bounding boxes for each instant |
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447 try: |
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448 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') |
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768
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449 result = cursor.fetchall() |
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450 if len(result) > 0: |
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451 cursor.execute('SELECT * FROM bounding_boxes') |
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452 for row in cursor: |
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453 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])]) |
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454 except sqlite3.OperationalError as error: |
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455 printDBError(error) |
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456 return boundingBoxes |
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457 connection.close() |
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458 return boundingBoxes |
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459 |
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460 ######################### |
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461 # saving and loading for scene interpretation (Mohamed Gomaa Mohamed's PhD) |
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462 ######################### |
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463 |
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464 def writeFeaturesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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465 '''write features trajectories maintain trajectory ID,velocities dataset ''' |
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466 connection = sqlite3.connect(outputFilename) |
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467 cursor = connection.cursor() |
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468 |
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469 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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470 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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471 |
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472 if trajectoryType == 'feature': |
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473 if type(objectNumbers) == int and objectNumbers == -1: |
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474 for trajectory in objects: |
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475 trajectory_id = trajectory.num |
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476 frame_number = trajectory.timeInterval.first |
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477 for position,velocity in zip(trajectory.getPositions(),trajectory.getVelocities()): |
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478 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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479 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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480 frame_number += 1 |
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481 |
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482 connection.commit() |
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483 connection.close() |
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484 |
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485 def writePrototypesToSqlite(prototypes,nMatching, outputFilename): |
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486 """ prototype dataset is a dictionary with keys== routes, values== prototypes Ids """ |
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487 connection = sqlite3.connect(outputFilename) |
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488 cursor = connection.cursor() |
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489 |
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490 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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491 |
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492 for route in prototypes.keys(): |
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493 if prototypes[route]!=[]: |
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494 for i in prototypes[route]: |
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495 cursor.execute("insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)",(i,route[0],route[1],nMatching[route][i])) |
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496 |
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497 connection.commit() |
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498 connection.close() |
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499 |
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500 def readPrototypesFromSqlite(filename): |
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501 """ |
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502 This function loads the prototype file in the database |
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503 It returns a dictionary for prototypes for each route and nMatching |
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504 """ |
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505 prototypes = {} |
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506 nMatching={} |
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507 |
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508 connection = sqlite3.connect(filename) |
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509 cursor = connection.cursor() |
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510 |
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511 try: |
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512 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching') |
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513 except sqlite3.OperationalError as error: |
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514 utils.printDBError(error) |
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515 return [] |
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516 |
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517 for row in cursor: |
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518 route=(row[1],row[2]) |
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519 if route not in prototypes.keys(): |
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520 prototypes[route]=[] |
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521 prototypes[route].append(row[0]) |
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522 nMatching[row[0]]=row[3] |
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523 |
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524 connection.close() |
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525 return prototypes,nMatching |
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526 |
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527 def writeLabelsToSqlite(labels, outputFilename): |
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528 """ labels is a dictionary with keys: routes, values: prototypes Ids |
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529 """ |
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530 connection = sqlite3.connect(outputFilename) |
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531 cursor = connection.cursor() |
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532 |
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533 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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534 |
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535 for route in labels.keys(): |
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536 if labels[route]!=[]: |
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537 for i in labels[route]: |
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538 for j in labels[route][i]: |
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539 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i)) |
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540 |
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541 connection.commit() |
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542 connection.close() |
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543 |
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544 def loadLabelsFromSqlite(filename): |
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545 labels = {} |
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546 |
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547 connection = sqlite3.connect(filename) |
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548 cursor = connection.cursor() |
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549 |
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550 try: |
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551 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id') |
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552 except sqlite3.OperationalError as error: |
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553 utils.printDBError(error) |
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554 return [] |
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555 |
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556 for row in cursor: |
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557 route=(row[1],row[2]) |
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558 p=row[3] |
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559 if route not in labels.keys(): |
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560 labels[route]={} |
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561 if p not in labels[route].keys(): |
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562 labels[route][p]=[] |
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563 labels[route][p].append(row[0]) |
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564 |
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565 connection.close() |
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566 return labels |
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567 |
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568 def writeSpeedPrototypeToSqlite(prototypes,nmatching, outFilename): |
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569 """ to match the format of second layer prototypes""" |
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570 connection = sqlite3.connect(outFilename) |
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571 cursor = connection.cursor() |
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572 |
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573 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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574 |
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575 for route in prototypes.keys(): |
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576 if prototypes[route]!={}: |
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577 for i in prototypes[route]: |
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578 if prototypes[route][i]!= []: |
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579 for j in prototypes[route][i]: |
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580 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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581 |
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582 connection.commit() |
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583 connection.close() |
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584 |
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585 def loadSpeedPrototypeFromSqlite(filename): |
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586 """ |
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587 This function loads the prototypes table in the database of name <filename>. |
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588 """ |
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589 prototypes = {} |
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590 nMatching={} |
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591 connection = sqlite3.connect(filename) |
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592 cursor = connection.cursor() |
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|
593 |
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594 try: |
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595 cursor.execute('SELECT * from speedprototypes order by spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching') |
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596 except sqlite3.OperationalError as error: |
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597 utils.printDBError(error) |
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598 return [] |
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|
599 |
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600 for row in cursor: |
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601 route=(row[2],row[3]) |
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602 if route not in prototypes.keys(): |
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603 prototypes[route]={} |
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604 if row[1] not in prototypes[route].keys(): |
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605 prototypes[route][row[1]]=[] |
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606 prototypes[route][row[1]].append(row[0]) |
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607 nMatching[row[0]]=row[4] |
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|
608 |
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609 connection.close() |
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610 return prototypes,nMatching |
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|
611 |
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|
612 |
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613 def writeRoutesToSqlite(Routes, outputFilename): |
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614 """ This function writes the activity path define by start and end IDs""" |
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615 connection = sqlite3.connect(outputFilename) |
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616 cursor = connection.cursor() |
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|
617 |
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618 cursor.execute("CREATE TABLE IF NOT EXISTS \"routes\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))") |
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|
619 |
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620 for route in Routes.keys(): |
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621 if Routes[route]!=[]: |
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622 for i in Routes[route]: |
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623 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1])) |
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624 |
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625 connection.commit() |
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626 connection.close() |
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|
627 |
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628 def loadRoutesFromSqlite(filename): |
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629 Routes = {} |
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|
630 |
|
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631 connection = sqlite3.connect(filename) |
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632 cursor = connection.cursor() |
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|
633 |
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|
634 try: |
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635 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend') |
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636 except sqlite3.OperationalError as error: |
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637 utils.printDBError(error) |
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|
638 return [] |
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|
639 |
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640 for row in cursor: |
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641 route=(row[1],row[2]) |
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642 if route not in Routes.keys(): |
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643 Routes[route]=[] |
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644 Routes[route].append(row[0]) |
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645 |
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646 connection.close() |
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647 return Routes |
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648 |
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649 def setRoutes(filename, objects): |
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650 connection = sqlite3.connect(filename) |
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651 cursor = connection.cursor() |
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652 for obj in objects: |
|
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653 cursor.execute('update objects set startRouteID = {} WHERE object_id = {}'.format(obj.startRouteID, obj.getNum())) |
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654 cursor.execute('update objects set endRouteID = {} WHERE object_id = {}'.format(obj.endRouteID, obj.getNum())) |
|
736
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655 connection.commit() |
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656 connection.close() |
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657 |
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658 def setRoadUserTypes(filename, objects): |
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659 '''Saves the user types of the objects in the sqlite database stored in filename |
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660 The objects should exist in the objects table''' |
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661 connection = sqlite3.connect(filename) |
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662 cursor = connection.cursor() |
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663 for obj in objects: |
|
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664 cursor.execute('update objects set road_user_type = {} WHERE object_id = {}'.format(obj.getUserType(), obj.getNum())) |
|
736
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665 connection.commit() |
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666 connection.close() |
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|
667 |
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668 ######################### |
|
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669 # txt files |
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670 ######################### |
|
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|
671 |
|
525
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first draft of loading from VISSIM file
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672 def openCheck(filename, option = 'r', quitting = False): |
|
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673 '''Open file filename in read mode by default |
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674 and checks it is open''' |
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675 try: |
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676 return open(filename, option) |
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677 except IOError: |
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678 print 'File %s could not be opened.' % filename |
|
525
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|
679 if quitting: |
|
509
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|
680 from sys import exit |
|
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681 exit() |
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682 return None |
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|
683 |
|
564
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modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
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|
684 def readline(f, commentCharacters = commentChar): |
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685 '''Modified readline function to skip comments |
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686 Can take a list of characters or a string (in will work in both)''' |
|
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687 s = f.readline() |
|
564
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688 while (len(s) > 0) and s[0] in commentCharacters: |
|
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689 s = f.readline() |
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690 return s.strip() |
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|
691 |
|
722
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corrected bugs in old ubc code
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changeset
|
692 def getLines(f, delimiterChar = delimiterChar, commentCharacters = commentChar): |
|
509
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693 '''Gets a complete entry (all the lines) in between delimiterChar.''' |
|
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694 dataStrings = [] |
|
564
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|
695 s = readline(f, commentCharacters) |
|
722
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|
696 while len(s) > 0 and s[0] != delimiterChar: |
|
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697 dataStrings += [s.strip()] |
|
564
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|
698 s = readline(f, commentCharacters) |
|
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|
699 return dataStrings |
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|
700 |
|
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changeset
|
701 def writeList(filename, l): |
|
514
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corrected bug from merging and argument issue in display-trajectories
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|
702 f = openCheck(filename, 'w') |
|
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|
703 for x in l: |
|
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|
704 f.write('{}\n'.format(x)) |
|
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|
705 f.close() |
|
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|
706 |
|
564
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modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
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changeset
|
707 def loadListStrings(filename, commentCharacters = commentChar): |
|
514
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corrected bug from merging and argument issue in display-trajectories
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changeset
|
708 f = openCheck(filename, 'r') |
|
564
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|
709 result = getLines(f, commentCharacters) |
|
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|
710 f.close() |
|
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|
711 return result |
|
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changeset
|
712 |
|
564
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diff
changeset
|
713 def getValuesFromINIFile(filename, option, delimiterChar = '=', commentCharacters = commentChar): |
|
509
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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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|
714 values = [] |
|
564
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changeset
|
715 for l in loadListStrings(filename, commentCharacters): |
|
509
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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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changeset
|
716 if l.startswith(option): |
|
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|
717 values.append(l.split(delimiterChar)[1].strip()) |
|
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|
718 return values |
|
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diff
changeset
|
719 |
|
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changeset
|
720 class FakeSecHead(object): |
|
935430b1d408
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changeset
|
721 '''Add fake section header [asection] |
|
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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
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diff
changeset
|
722 |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
723 from http://stackoverflow.com/questions/2819696/parsing-properties-file-in-python/2819788#2819788 |
|
935430b1d408
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parents:
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diff
changeset
|
724 use read_file in Python 3.2+ |
|
935430b1d408
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diff
changeset
|
725 ''' |
|
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
726 def __init__(self, fp): |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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changeset
|
727 self.fp = fp |
|
935430b1d408
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diff
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|
728 self.sechead = '[main]\n' |
|
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
729 |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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changeset
|
730 def readline(self): |
|
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
731 if self.sechead: |
|
935430b1d408
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491
diff
changeset
|
732 try: return self.sechead |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
733 finally: self.sechead = None |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
734 else: return self.fp.readline() |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
735 |
|
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
|
736 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
|
737 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
|
738 |
|
750
6049e9b6902c
work in progress storage vissim sqlite
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diff
changeset
|
739 def convertTrajectoriesVissimToSqlite(filename): |
|
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parents:
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diff
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|
740 '''Relies on a system call to sqlite3 |
|
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diff
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|
741 sqlite3 [file.sqlite] < import_fzp.sql''' |
|
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diff
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|
742 sqlScriptFilename = "import_fzp.sql" |
|
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diff
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|
743 # create sql file |
|
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diff
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|
744 out = openCheck(sqlScriptFilename, "w") |
|
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diff
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|
745 out.write(".separator \";\"\n"+ |
|
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work in progress storage vissim sqlite
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diff
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|
746 "CREATE TABLE IF NOT EXISTS curvilinear_positions (t REAL, trajectory_id INTEGER, link_id INTEGER, lane_id INTEGER, s_coordinate REAL, y_coordinate REAL, speed REAL, PRIMARY KEY (t, trajectory_id));\n"+ |
|
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diff
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|
747 ".import "+filename+" curvilinear_positions\n"+ |
|
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diff
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|
748 "DELETE FROM curvilinear_positions WHERE trajectory_id IS NULL OR trajectory_id = \"NO\";\n") |
|
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diff
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|
749 out.close() |
|
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diff
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|
750 # system call |
|
753
3d48e34db846
switched to subprocess.check_call
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diff
changeset
|
751 from subprocess import check_call |
|
3d48e34db846
switched to subprocess.check_call
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
752 out = openCheck("err.log", "w") |
|
3d48e34db846
switched to subprocess.check_call
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diff
changeset
|
753 check_call("sqlite3 "+utils.removeExtension(filename)+".sqlite < "+sqlScriptFilename, stderr = out, shell = True) |
|
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switched to subprocess.check_call
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diff
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|
754 out.close() |
|
3d48e34db846
switched to subprocess.check_call
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
755 shutil.os.remove(sqlScriptFilename) |
|
750
6049e9b6902c
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
756 |
|
754
782e8fd3672c
added function to find object ids going through some vissim links
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
753
diff
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|
757 def loadObjectNumbersInLinkFromVissimFile(filename, linkIds): |
|
782e8fd3672c
added function to find object ids going through some vissim links
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
758 '''Finds the ids of the objects that go through any of the link in the list linkIds''' |
|
782e8fd3672c
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diff
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|
759 connection = sqlite3.connect(filename) |
|
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added function to find object ids going through some vissim links
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diff
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|
760 cursor = connection.cursor() |
|
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diff
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|
761 queryStatement = 'SELECT DISTINCT trajectory_id FROM curvilinear_positions where link_id IN ('+','.join([str(id) for id in linkIds])+')' |
|
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diff
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|
762 try: |
|
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|
763 cursor.execute(queryStatement) |
|
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|
764 return [row[0] for row in cursor] |
|
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diff
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|
765 except sqlite3.OperationalError as error: |
|
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diff
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|
766 printDBError(error) |
|
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diff
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|
767 |
|
759
a05b70f307dd
added function to count vehicles per VISSIM link
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diff
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|
768 def getNObjectsInLinkFromVissimFile(filename, linkIds): |
|
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diff
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|
769 '''Returns the number of objects that traveled through the link ids''' |
|
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diff
changeset
|
770 connection = sqlite3.connect(filename) |
|
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|
771 cursor = connection.cursor() |
|
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|
772 queryStatement = 'SELECT link_id, COUNT(DISTINCT trajectory_id) FROM curvilinear_positions where link_id IN ('+','.join([str(id) for id in linkIds])+') GROUP BY link_id' |
|
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diff
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|
773 try: |
|
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diff
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|
774 cursor.execute(queryStatement) |
|
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|
775 return {row[0]:row[1] for row in cursor} |
|
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added function to count vehicles per VISSIM link
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diff
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|
776 except sqlite3.OperationalError as error: |
|
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|
777 printDBError(error) |
|
754
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|
778 |
|
750
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|
779 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, objectNumbers = None, warmUpLastInstant = None, usePandas = False, nDecimals = 2, lowMemory = True): |
|
525
7124c7d2a663
first draft of loading from VISSIM file
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diff
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|
780 '''Reads data from VISSIM .fzp trajectory file |
|
755
f3aeb0b47eff
comment improvement: vissim time is multiplied to get integers similar to frame numbers
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diff
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|
781 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM (second) |
|
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diff
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|
782 for example, there seems to be 10 simulation steps per simulated second in VISSIM, |
|
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comment improvement: vissim time is multiplied to get integers similar to frame numbers
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parents:
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diff
changeset
|
783 so simulationStepsPerTimeUnit should be 10, |
|
527
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
784 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>
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diff
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|
785 |
|
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diff
changeset
|
786 Objects positions will be considered only after warmUpLastInstant |
|
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diff
changeset
|
787 (if the object has no such position, it won't be loaded) |
|
525
7124c7d2a663
first draft of loading from VISSIM file
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diff
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|
788 |
|
752
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debug finished
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diff
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|
789 Assumed to be sorted over time |
|
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diff
changeset
|
790 Warning: if reading from SQLite a limited number of objects, objectNumbers will be the maximum object id''' |
|
525
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|
791 objects = {} # dictionary of objects index by their id |
|
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|
792 |
|
636
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diff
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|
793 if usePandas: |
|
718
2cd245cb780d
added option to set low_memory = False for pandas.read_csv
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diff
changeset
|
794 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
|
795 generatePDLaneColumn(data) |
|
642
932f96c89212
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636
diff
changeset
|
796 data['TIME'] = data['$VEHICLE:SIMSEC']*simulationStepsPerTimeUnit |
|
660
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parents:
649
diff
changeset
|
797 if warmUpLastInstant is not None: |
|
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diff
changeset
|
798 data = data[data['TIME']>=warmUpLastInstant] |
|
642
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diff
changeset
|
799 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
|
800 instants = grouped['TIME'].agg({'first': npmin, 'last': npmax}) |
|
642
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parents:
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diff
changeset
|
801 for row_index, row in instants.iterrows(): |
|
932f96c89212
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diff
changeset
|
802 objNum = int(row['NO']) |
|
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diff
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|
803 tmp = data[data['NO'] == objNum] |
|
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diff
changeset
|
804 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(row['first'], row['last'])) |
|
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diff
changeset
|
805 # positions should be rounded to nDecimals decimals only |
|
704
f83d125d0c55
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
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|
806 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory(S = npround(tmp['POS'].tolist(), nDecimals), Y = npround(tmp['POSLAT'].tolist(), nDecimals), lanes = tmp['LANE'].tolist()) |
|
750
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diff
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|
807 if objectNumbers is not None and objectNumbers > 0 and len(objects) >= objectNumbers: |
|
752
14963a9c3b09
debug finished
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diff
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|
808 objects.values() |
|
636
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diff
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|
809 else: |
|
750
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diff
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|
810 if filename.endswith(".fzp"): |
|
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|
811 inputfile = openCheck(filename, quitting = True) |
|
636
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diff
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|
812 line = readline(inputfile, '*$') |
|
750
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|
813 while len(line) > 0:#for line in inputfile: |
|
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diff
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|
814 data = line.strip().split(';') |
|
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parents:
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diff
changeset
|
815 objNum = int(data[1]) |
|
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diff
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|
816 instant = float(data[0])*simulationStepsPerTimeUnit |
|
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diff
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|
817 s = float(data[4]) |
|
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diff
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|
818 y = float(data[5]) |
|
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diff
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|
819 lane = data[2]+'_'+data[3] |
|
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diff
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|
820 if objNum not in objects: |
|
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diff
changeset
|
821 if warmUpLastInstant is None or instant >= warmUpLastInstant: |
|
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diff
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|
822 if objectNumbers is None or len(objects) < objectNumbers: |
|
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diff
changeset
|
823 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant)) |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
824 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
|
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744
diff
changeset
|
825 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects: |
|
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diff
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|
826 objects[objNum].timeInterval.last = instant |
|
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diff
changeset
|
827 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane) |
|
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parents:
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diff
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|
828 line = readline(inputfile, '*$') |
|
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parents:
744
diff
changeset
|
829 elif filename.endswith(".sqlite"): |
|
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parents:
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diff
changeset
|
830 connection = sqlite3.connect(filename) |
|
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diff
changeset
|
831 cursor = connection.cursor() |
|
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diff
changeset
|
832 queryStatement = 'SELECT t, trajectory_id, link_id, lane_id, s_coordinate, y_coordinate FROM curvilinear_positions' |
|
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diff
changeset
|
833 if objectNumbers is not None: |
|
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diff
changeset
|
834 queryStatement += ' WHERE trajectory_id '+getObjectCriteria(objectNumbers) |
|
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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744
diff
changeset
|
835 queryStatement += ' ORDER BY trajectory_id, t' |
|
752
14963a9c3b09
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751
diff
changeset
|
836 try: |
|
14963a9c3b09
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751
diff
changeset
|
837 cursor.execute(queryStatement) |
|
14963a9c3b09
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parents:
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diff
changeset
|
838 for row in cursor: |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
839 objNum = row[1] |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
840 instant = row[0]*simulationStepsPerTimeUnit |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
841 s = row[4] |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
842 y = row[5] |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
843 lane = '{}_{}'.format(row[2], row[3]) |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
844 if objNum not in objects: |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
845 if warmUpLastInstant is None or instant >= warmUpLastInstant: |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
846 if objectNumbers is None or len(objects) < objectNumbers: |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
847 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant)) |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
848 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
849 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects: |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
850 objects[objNum].timeInterval.last = instant |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
851 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane) |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
852 except sqlite3.OperationalError as error: |
|
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
853 printDBError(error) |
|
750
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
854 else: |
|
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
855 print("File type of "+filename+" not supported (only .sqlite and .fzp files)") |
| 751 | 856 return objects.values() |
|
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
857 |
|
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
|
858 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
|
859 '''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
|
860 |
|
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
|
861 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
|
862 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
|
863 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
|
864 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
|
865 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
|
866 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
|
867 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
|
868 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
|
869 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
|
870 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
|
871 |
|
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
|
872 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
|
873 '''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
|
874 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
|
875 |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
876 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
|
877 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
|
878 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
|
879 (format as string x_y where x is link index and y is lane index)''' |
|
756
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
880 if filename.endswith(".fzp"): |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
881 columns = ['NO', '$VEHICLE:SIMSEC', 'POS'] |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
882 if lanes is not None: |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
883 columns += ['LANE\LINK\NO', 'LANE\INDEX'] |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
884 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = columns, low_memory = lowMemory) |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
885 data = selectPDLanes(data, lanes) |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
886 data.sort(['$VEHICLE:SIMSEC'], inplace = True) |
|
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
887 |
|
756
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
888 nStationary = 0 |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
889 nVehicles = 0 |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
890 for name, group in data.groupby(['NO'], sort = False): |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
891 nVehicles += 1 |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
892 positions = array(group['POS']) |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
893 diff = positions[1:]-positions[:-1] |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
894 if npsum(diff == 0.) >= proportionStationaryTime*(len(positions)-1): |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
895 nStationary += 1 |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
896 elif filename.endswith(".sqlite"): |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
897 # select trajectory_id, t, s_coordinate, speed from curvilinear_positions where trajectory_id between 1860 and 1870 and speed < 0.1 |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
898 # pb of the meaning of proportionStationaryTime in arterial network? Why proportion of existence time? |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
899 pass |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
900 else: |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
901 print("File type of "+filename+" not supported (only .sqlite and .fzp files)") |
|
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
902 |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
903 return nStationary, nVehicles |
|
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
904 |
|
744
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
905 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
|
906 '''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
|
907 |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
908 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
|
909 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
|
910 (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
|
911 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
|
912 (format as string x_y where x is link index and y is 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
|
913 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
|
914 data = selectPDLanes(data, lanes) |
|
744
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
915 data = data.convert_objects(convert_numeric=True) |
|
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
916 |
|
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
917 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
|
918 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
|
919 |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
920 nCollisions = 0 |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
921 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
|
922 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
|
923 # 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
|
924 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
|
925 xidx = diff[diff < 0].argmax() |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
926 yidx = diff[diff > 0].argmin() |
|
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
927 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
|
928 nCollisions += 1 |
|
756
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
929 |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
930 # select TD1.link_id, TD1.lane_id from temp.diff_positions as TD1, temp.diff_positions as TD2 where TD1.link_id = TD2.link_id and TD1.lane_id = TD2.lane_id and TD1.id1 = TD2.id1 and TD1.id2 = TD2.id2 and TD1.t = TD2.t+0.1 and TD1.diff*TD2.diff < 0; # besoin de faire un group by?? |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
931 # create temp table diff_positions as select CP1.t as t, CP1.link_id as link_id, CP1.lane_id as lane_id, CP1.trajectory_id as id1, CP2.trajectory_id as id2, CP1.s_coordinate - CP2.s_coordinate as diff from curvilinear_positions CP1, curvilinear_positions CP2 where CP1.link_id = CP2.link_id and CP1.lane_id = CP2.lane_id and CP1.t = CP2.t and CP1.trajectory_id > CP2.trajectory_id; |
|
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
932 # SQL select link_id, lane_id, id1, id2, min(diff), max(diff) from (select CP1.t as t, CP1.link_id as link_id, CP1.lane_id as lane_id, CP1.trajectory_id as id1, CP2.trajectory_id as id2, CP1.s_coordinate - CP2.s_coordinate as diff from curvilinear_positions CP1, curvilinear_positions CP2 where CP1.link_id = CP2.link_id and CP1.lane_id = CP2.lane_id and CP1.t = CP2.t and CP1.trajectory_id > CP2.trajectory_id) group by link_id, lane_id, id1, id2 having min(diff)*max(diff) < 0 |
|
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
933 return nCollisions |
|
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
934 |
|
173
319a04ba9033
function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
143
diff
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|
935 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
|
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|
936 '''Reads data from the trajectory data provided by NGSIM project |
|
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diff
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|
937 and returns the list of Feature objects''' |
|
7
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diff
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|
938 objects = [] |
|
0
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|
939 |
|
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|
940 inputfile = openCheck(filename, quitting = True) |
|
0
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|
941 |
|
7
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diff
changeset
|
942 def createObject(numbers): |
|
0
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|
943 firstFrameNum = int(numbers[1]) |
|
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diff
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|
944 # do the geometry and usertype |
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diff
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|
945 |
|
72
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diff
changeset
|
946 firstFrameNum = int(numbers[1]) |
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50
diff
changeset
|
947 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
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diff
changeset
|
948 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) |
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diff
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|
949 obj = moving.MovingObject(num = int(numbers[0]), |
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diff
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|
950 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
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50
diff
changeset
|
951 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
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50
diff
changeset
|
952 userType = int(numbers[10])) |
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changeset
|
953 obj.userType = int(numbers[10]) |
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diff
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|
954 obj.laneNums = [int(numbers[13])] |
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|
955 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
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diff
changeset
|
956 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
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diff
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|
957 obj.spaceHeadways = [float(numbers[16])] # feet |
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|
958 obj.timeHeadways = [float(numbers[17])] # seconds |
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327
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959 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate |
|
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960 obj.speeds = [float(numbers[11])] |
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961 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
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|
962 return obj |
|
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963 |
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564
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964 numbers = readline(inputfile).strip().split() |
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965 if (len(numbers) > 0): |
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966 obj = createObject(numbers) |
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967 |
|
564
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968 for line in inputfile: |
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969 numbers = line.strip().split() |
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970 if obj.getNum() != int(numbers[0]): |
|
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971 # check and adapt the length to deal with issues in NGSIM data |
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972 if (obj.length() != obj.positions.length()): |
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973 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length()) |
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974 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
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975 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
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976 objects.append(obj) |
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|
977 if (nObjects>0) and (len(objects)>=nObjects): |
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978 break |
|
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|
979 obj = createObject(numbers) |
|
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980 else: |
|
327
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981 obj.laneNums.append(int(numbers[13])) |
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982 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
|
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
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541
diff
changeset
|
983 obj.curvilinearPositions.addPositionSYL(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) |
|
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984 obj.speeds.append(float(numbers[11])) |
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985 obj.precedingVehicles.append(int(numbers[14])) |
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986 obj.followingVehicles.append(int(numbers[15])) |
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987 obj.spaceHeadways.append(float(numbers[16])) |
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988 obj.timeHeadways.append(float(numbers[17])) |
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|
989 |
|
72
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990 if (obj.size[0] != float(numbers[8])): |
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991 print 'changed length obj %d' % (obj.getNum()) |
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992 if (obj.size[1] != float(numbers[9])): |
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993 print 'changed width obj %d' % (obj.getNum()) |
|
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994 |
|
564
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995 inputfile.close() |
|
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|
996 return objects |
|
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997 |
|
564
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998 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0): |
|
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|
999 '''Reads data from the trajectory data provided by NGSIM project |
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|
1000 and converts to our current format.''' |
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|
1001 if append: |
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|
1002 out = openCheck(outputfile,'a') |
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1003 else: |
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1004 out = openCheck(outputfile,'w') |
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1005 nObjectsPerType = [0,0,0] |
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1006 |
|
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|
1007 features = loadNgsimFile(inputfile, sequenceNum) |
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1008 for f in features: |
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1009 nObjectsPerType[f.userType-1] += 1 |
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1010 f.write(out) |
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1011 |
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1012 print nObjectsPerType |
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1013 |
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1014 out.close() |
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1015 |
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1016 def writePositionsToCsv(f, obj): |
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1017 timeInterval = obj.getTimeInterval() |
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1018 positions = obj.getPositions() |
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1019 curvilinearPositions = obj.getCurvilinearPositions() |
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1020 for i in xrange(int(obj.length())): |
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1021 p1 = positions[i] |
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1022 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
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1023 if curvilinearPositions is not None: |
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1024 p2 = curvilinearPositions[i] |
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1025 s += ',{},{}'.format(p2[0],p2[1]) |
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1026 f.write(s+'\n') |
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1027 |
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1028 def writeTrajectoriesToCsv(filename, objects): |
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514
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corrected bug from merging and argument issue in display-trajectories
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1029 f = openCheck(filename, 'w') |
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1030 for i,obj in enumerate(objects): |
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1031 writePositionsToCsv(f, obj) |
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1032 f.close() |
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1033 |
|
509
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diff
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1034 |
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1035 ######################### |
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1036 # Utils to read .ini type text files for configuration, meta data... |
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1037 ######################### |
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|
1038 |
|
664
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added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1039 class ProcessParameters(VideoFilenameAddable): |
|
537
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diff
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|
1040 '''Class for all parameters controlling data processing: input, |
|
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diff
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|
1041 method parameters, etc. for tracking, classification and safety |
|
509
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diff
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|
1042 |
|
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diff
changeset
|
1043 Note: framerate is already taken into account''' |
|
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diff
changeset
|
1044 |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1045 def loadConfigFile(self, filename): |
|
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1046 from ConfigParser import ConfigParser |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1047 from os import path |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1048 |
|
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1049 config = ConfigParser() |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1050 config.readfp(FakeSecHead(openCheck(filename))) |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1051 self.sectionHeader = config.sections()[0] |
|
537
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diff
changeset
|
1052 # Tracking/display parameters |
|
509
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parents:
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diff
changeset
|
1053 self.videoFilename = config.get(self.sectionHeader, 'video-filename') |
|
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diff
changeset
|
1054 self.databaseFilename = config.get(self.sectionHeader, 'database-filename') |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
1055 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename') |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1056 if (path.exists(self.homographyFilename)): |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1057 self.homography = loadtxt(self.homographyFilename) |
|
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parents:
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diff
changeset
|
1058 else: |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1059 self.homography = None |
|
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diff
changeset
|
1060 self.intrinsicCameraFilename = config.get(self.sectionHeader, 'intrinsic-camera-filename') |
|
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1061 if (path.exists(self.intrinsicCameraFilename)): |
|
935430b1d408
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parents:
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diff
changeset
|
1062 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename) |
|
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parents:
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diff
changeset
|
1063 else: |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1064 self.intrinsicCameraMatrix = None |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
1065 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=') |
|
935430b1d408
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diff
changeset
|
1066 self.distortionCoefficients = [float(x) for x in distortionCoefficients] |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1067 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication') |
|
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parents:
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diff
changeset
|
1068 self.undistort = config.getboolean(self.sectionHeader, 'undistort') |
|
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parents:
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diff
changeset
|
1069 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1') |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1070 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps') |
| 377 | 1071 |
|
537
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diff
changeset
|
1072 # Classification parameters |
|
680
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parents:
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diff
changeset
|
1073 self.speedAggregationMethod = config.get(self.sectionHeader, 'speed-aggregation-method') |
|
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classification is working
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parents:
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diff
changeset
|
1074 self.nFramesIgnoreAtEnds = config.getint(self.sectionHeader, 'nframes-ignore-at-ends') |
|
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classification is working
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parents:
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diff
changeset
|
1075 self.speedAggregationQuantile = config.getint(self.sectionHeader, 'speed-aggregation-quantile') |
|
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classification is working
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parents:
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diff
changeset
|
1076 self.minSpeedEquiprobable = config.getfloat(self.sectionHeader, 'min-speed-equiprobable') |
|
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
1077 self.minNPixels = config.getint(self.sectionHeader, 'min-npixels-crop') |
|
680
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classification is working
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parents:
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diff
changeset
|
1078 self.pedBikeCarSVMFilename = config.get(self.sectionHeader, 'pbv-svm-filename') |
|
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parents:
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diff
changeset
|
1079 self.bikeCarSVMFilename = config.get(self.sectionHeader, 'bv-svm-filename') |
|
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diff
changeset
|
1080 self.maxPedestrianSpeed = config.getfloat(self.sectionHeader, 'max-ped-speed') |
|
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parents:
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diff
changeset
|
1081 self.maxCyclistSpeed = config.getfloat(self.sectionHeader, 'max-cyc-speed') |
|
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parents:
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diff
changeset
|
1082 self.meanPedestrianSpeed = config.getfloat(self.sectionHeader, 'mean-ped-speed') |
|
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parents:
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diff
changeset
|
1083 self.stdPedestrianSpeed = config.getfloat(self.sectionHeader, 'std-ped-speed') |
|
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parents:
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diff
changeset
|
1084 self.locationCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-loc') |
|
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parents:
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diff
changeset
|
1085 self.scaleCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-scale') |
|
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parents:
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diff
changeset
|
1086 self.meanVehicleSpeed = config.getfloat(self.sectionHeader, 'mean-veh-speed') |
|
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classification is working
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parents:
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diff
changeset
|
1087 self.stdVehicleSpeed = config.getfloat(self.sectionHeader, 'std-veh-speed') |
|
537
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diff
changeset
|
1088 |
|
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parents:
536
diff
changeset
|
1089 # Safety parameters |
|
509
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1090 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate |
|
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
1091 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate |
|
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parents:
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diff
changeset
|
1092 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance') |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1093 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones') |
|
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1094 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method') |
|
935430b1d408
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parents:
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diff
changeset
|
1095 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories') |
|
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1096 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2 |
|
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parents:
491
diff
changeset
|
1097 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate |
|
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parents:
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diff
changeset
|
1098 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2 |
|
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parents:
491
diff
changeset
|
1099 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2 |
|
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parents:
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diff
changeset
|
1100 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate |
|
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diff
changeset
|
1101 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction') |
|
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parents:
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diff
changeset
|
1102 |
|
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diff
changeset
|
1103 def __init__(self, filename = None): |
|
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
|
1104 if filename is not None: |
|
509
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diff
changeset
|
1105 self.loadConfigFile(filename) |
|
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changeset
|
1106 |
|
680
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changeset
|
1107 def convertToFrames(self, speedRatio = 3.6): |
|
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changeset
|
1108 '''Converts parameters with a relationship to time in 'native' frame time |
|
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diff
changeset
|
1109 speedRatio is the conversion from the speed unit in the config file |
|
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diff
changeset
|
1110 to the distance per second |
|
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diff
changeset
|
1111 |
|
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diff
changeset
|
1112 ie param(config file) = speedRatio x fps x param(used in program) |
|
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parents:
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diff
changeset
|
1113 eg km/h = 3.6 (m/s to km/h) x frame/s x m/frame''' |
|
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diff
changeset
|
1114 denominator = self.videoFrameRate*speedRatio |
|
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diff
changeset
|
1115 denominator2 = denominator**2 |
|
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changeset
|
1116 self.minSpeedEquiprobable = self.minSpeedEquiprobable/denominator |
|
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changeset
|
1117 self.maxPedestrianSpeed = self.maxPedestrianSpeed/denominator |
|
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changeset
|
1118 self.maxCyclistSpeed = self.maxCyclistSpeed/denominator |
|
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changeset
|
1119 self.meanPedestrianSpeed = self.meanPedestrianSpeed/denominator |
|
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changeset
|
1120 self.stdPedestrianSpeed = self.stdPedestrianSpeed/denominator |
|
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changeset
|
1121 self.meanVehicleSpeed = self.meanVehicleSpeed/denominator |
|
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diff
changeset
|
1122 self.stdVehicleSpeed = self.stdVehicleSpeed/denominator |
|
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changeset
|
1123 # special case for the lognormal distribution |
|
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diff
changeset
|
1124 self.locationCyclistSpeed = self.locationCyclistSpeed-log(denominator) |
|
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diff
changeset
|
1125 #self.scaleCyclistSpeed = self.scaleCyclistSpeed |
|
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diff
changeset
|
1126 |
|
665
15e244d2a1b5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
664
diff
changeset
|
1127 class SceneParameters(object): |
|
509
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changeset
|
1128 def __init__(self, config, sectionName): |
|
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changeset
|
1129 from ConfigParser import NoOptionError |
|
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changeset
|
1130 from ast import literal_eval |
|
935430b1d408
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changeset
|
1131 try: |
|
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changeset
|
1132 self.sitename = config.get(sectionName, 'sitename') |
|
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changeset
|
1133 self.databaseFilename = config.get(sectionName, 'data-filename') |
|
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1134 self.homographyFilename = config.get(sectionName, 'homography-filename') |
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1135 self.calibrationFilename = config.get(sectionName, 'calibration-filename') |
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1136 self.videoFilename = config.get(sectionName, 'video-filename') |
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1137 self.frameRate = config.getfloat(sectionName, 'framerate') |
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1138 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39 |
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1139 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0] |
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1140 self.rotation = config.getfloat(sectionName, 'rotation') |
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1141 self.duration = config.getint(sectionName, 'duration') |
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1142 except NoOptionError as e: |
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1143 print(e) |
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1144 print('Not a section for scene meta-data') |
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1145 |
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1146 @staticmethod |
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1147 def loadConfigFile(filename): |
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1148 from ConfigParser import ConfigParser |
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1149 config = ConfigParser() |
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1150 config.readfp(openCheck(filename)) |
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1151 configDict = dict() |
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1152 for sectionName in config.sections(): |
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1153 configDict[sectionName] = SceneParameters(config, sectionName) |
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1154 return configDict |
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1155 |
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1156 |
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1157 if __name__ == "__main__": |
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1158 import doctest |
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1159 import unittest |
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1160 suite = doctest.DocFileSuite('tests/storage.txt') |
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1161 unittest.TextTestRunner().run(suite) |
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1162 # #doctest.testmod() |
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1163 # #doctest.testfile("example.txt") |