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comparison trafficintelligence/storage.py @ 1251:2b1c8fe8f7e4

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added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 15 Mar 2024 17:05:54 -0400
parents 77fbd0e2ba7d
children ef68d4ba7dae
comparison
equal deleted inserted replaced
1250:77fbd0e2ba7d 1251:2b1c8fe8f7e4
1345 interval = moving.TimeInterval(int(tmp.frame.min()), int(tmp.frame.max())) 1345 interval = moving.TimeInterval(int(tmp.frame.min()), int(tmp.frame.max()))
1346 userType = tmp.iloc[0].usertype 1346 userType = tmp.iloc[0].usertype
1347 if len(tmp) != interval.length(): #interpolate 1347 if len(tmp) != interval.length(): #interpolate
1348 print(objNum, len(tmp), interval.length()) 1348 print(objNum, len(tmp), interval.length())
1349 instants = set(interval).difference(tmp.frame) 1349 instants = set(interval).difference(tmp.frame)
1350 tmp = concat([tmp, DataFrame([[t, objNum, userType]+[NaN]*(len(header)-3) for t in instants], columns = header)], ignore_index=True).sort_values('frame') 1350 missing = concat([tmp[header[10:]], DataFrame([[t]+[NaN]*(len(header)-10) for t in instants], columns = ['frame']+header[10:])], ignore_index=True).sort_values('frame')
1351 tmp.interpolate(inplace=True) 1351 tmp = missing.interpolate()
1352 featureTrajectories = [moving.Trajectory() for i in range(4)] 1352 featureTrajectories = [moving.Trajectory() for i in range(4)]
1353 for i, r in tmp.iterrows(): 1353 for i, r in tmp.iterrows():
1354 _, Tr_imu_to_world = oxts[r.frame] 1354 _, Tr_imu_to_world = oxts[r.frame]
1355 # transfer_matrix = {'P2': reshape(kittiCalibration['P2'], (3, 4)), 1355 # transfer_matrix = {'P2': reshape(kittiCalibration['P2'], (3, 4)),
1356 # 'R_rect': kittiCalibration['R_rect'], 1356 # 'R_rect': kittiCalibration['R_rect'],
1437 newObj = moving.MovingObject(num = objNum+1, timeInterval = interval, positions = t, velocities = t.differentiate(True), userType = 'Car', features = [moving.MovingObject(num = featureNum+i, timeInterval = copy(interval), positions = featureTrajectories[i], velocities = featureTrajectories[i].differentiate(True)) for i in range(4)]) 1437 newObj = moving.MovingObject(num = objNum+1, timeInterval = interval, positions = t, velocities = t.differentiate(True), userType = 'Car', features = [moving.MovingObject(num = featureNum+i, timeInterval = copy(interval), positions = featureTrajectories[i], velocities = featureTrajectories[i].differentiate(True)) for i in range(4)])
1438 objects.append(newObj) 1438 objects.append(newObj)
1439 1439
1440 return objects 1440 return objects
1441 1441
1442 def loadTrajectoriesFromKITTI2D(filename):
1443 '''Loads x,y coordinate series
1444 e.g. obtained by projecting from image to ground world plane using a homography
1445 Format: frame_id,track_id,usertype,x,y,score '''
1446
1447 header = ['frame','trackingid','usertype','x','y','score']
1448 data = read_csv(filename, delimiter=' ', names = header)
1449 objects = []
1450 for objNum in data.trackingid.unique():
1451 tmp = data[data.trackingid == objNum].sort_values('frame')
1452 interval = moving.TimeInterval(int(tmp.frame.min()), int(tmp.frame.max()))
1453 userType = tmp.iloc[0].usertype
1454 if len(tmp) != interval.length(): #interpolate
1455 print(objNum, len(tmp), interval.length())
1456 instants = set(interval).difference(tmp.frame)
1457 missing = concat([tmp[['frame', 'x', 'y']], DataFrame([[t, NaN, NaN] for t in instants], columns = ['frame', 'x', 'y'])], ignore_index=True).sort_values('frame')
1458 tmp = missing.interpolate()
1459 #print(tmp.info())
1460 if interval.length()>1:
1461 t = moving.Trajectory([tmp.x.to_list(), tmp.y.to_list()])
1462 newObj = moving.MovingObject(num = objNum, timeInterval = interval, positions = t, velocities = t.differentiate(True), userType = userType)
1463 objects.append(newObj)
1464
1465 return objects
1466
1442 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0): 1467 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0):
1443 '''Reads data from the trajectory data provided by NGSIM project 1468 '''Reads data from the trajectory data provided by NGSIM project
1444 and converts to our current format.''' 1469 and converts to our current format.'''
1445 if append: 1470 if append:
1446 out = utils.openCheck(outputfile,'a') 1471 out = utils.openCheck(outputfile,'a')