Mercurial Hosting > traffic-intelligence
view python/storage.py @ 398:3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
Méthode de capture des trames vidéos plus résistante aux erreur
Utilisation d'un dictionnaire pour les fichier de configuration afin de garder le nom des sections
author | Jean-Philippe Jodoin <jpjodoin@gmail.com> |
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date | Mon, 29 Jul 2013 13:46:07 -0400 |
parents | 6567fee37c16 |
children | a2ff03a52b73 |
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#! /usr/bin/env python # -*- coding: utf-8 -*- '''Various utilities to save and load data''' import utils, moving, events, indicators import sqlite3 __metaclass__ = type ngsimUserTypes = {'twowheels':1, 'car':2, 'truck':3} ######################### # Sqlite ######################### def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1): """ This function writers trajectories to a specified sqlite file @param[in] objects -> a list of trajectories @param[in] trajectoryType - @param[out] outFile -> the .sqlite file containting the written objects @param[in] objectNumber : number of objects loaded """ connection = sqlite3.connect(outFilename) cursor = connection.cursor() 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))" cursor.execute(schema) trajectory_id = 0 frame_number = 0 if trajectoryType == 'feature': if type(objectNumbers) == int and objectNumbers == -1: for trajectory in objects: trajectory_id += 1 frame_number = 0 for position in trajectory.getPositions(): frame_number += 1 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) connection.commit() connection.close() def setRoadUserTypes(filename, objects): '''Saves the user types of the objects in the sqlite database stored in filename The objects should exist in the objects table''' connection = sqlite3.connect(filename) cursor = connection.cursor() for obj in objects: cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum())) connection.commit() connection.close() def loadPrototypeMatchIndexesFromSqlite(filename): """ This function loads the prototypes table in the database of name <filename>. It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] """ matched_indexes = [] connection = sqlite3.connect(filename) cursor = connection.cursor() try: cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') except sqlite3.OperationalError as error: utils.printDBError(error) return [] for row in cursor: matched_indexes.append((row[0],row[1])) connection.close() return matched_indexes def getTrajectoryIdQuery(objectNumbers, trajectoryType): if trajectoryType == 'feature': statementBeginning = 'where trajectory_id ' elif trajectoryType == 'object': statementBeginning = 'and OF.object_id ' else: print('no trajectory type was chosen') if type(objectNumbers) == int: if objectNumbers == -1: query = '' else: query = statementBeginning+'between 0 and {0} '.format(objectNumbers) elif type(objectNumbers) == list: query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') ' return query def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1): '''Loads trajectories (in the general sense) from the given table can be positions or velocities returns a moving object''' cursor = connection.cursor() try: if trajectoryType == 'feature': trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) cursor.execute('SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number') elif trajectoryType == 'object': objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by OF.object_id, P.frame_number order by OF.object_id, P.frame_number') else: print('no trajectory type was chosen') except sqlite3.OperationalError as error: utils.printDBError(error) return [] objId = -1 obj = None objects = [] for row in cursor: if row[0] != objId: objId = row[0] if obj: objects.append(obj) obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) else: obj.timeInterval.last = row[1] obj.positions.addPositionXY(row[2],row[3]) if obj: objects.append(obj) return objects def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1): '''Loads nObjects or the indices in objectNumbers from the database TODO: load feature numbers and not average feature trajectories TODO: other ways of averaging trajectories (load all points, sorted by frame_number and leave the agregation to be done in python) ''' connection = sqlite3.connect(filename) # add test if it open objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) if len(objectVelocities) > 0: for o,v in zip(objects, objectVelocities): if o.getNum() == v.getNum(): o.velocities = v.positions o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions else: print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) if trajectoryType == 'object': cursor = connection.cursor() try: # attribute feature numbers to objects objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) cursor.execute('SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by P.trajectory_id order by OF.object_id') # order is important to group all features per object featureNumbers = {} for row in cursor: objId = row[1] if objId not in featureNumbers: featureNumbers[objId] = [row[0]] else: featureNumbers[objId].append(row[0]) for obj in objects: obj.featureNumbers = featureNumbers[obj.getNum()] # load userType if objectIdQuery == '': cursor.execute('SELECT object_id, road_user_type from objects') else: cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:]) userTypes = {} for row in cursor: userTypes[row[0]] = row[1] for obj in objects: obj.userType = userTypes[obj.getNum()] except sqlite3.OperationalError as error: utils.printDBError(error) return [] connection.close() return objects def removeFromSqlite(filename, dataType): 'Removes some tables in the filename depending on type of data' connection = sqlite3.connect(filename) if dataType == 'object': utils.dropTables(connection, ['objects', 'objects_features']) elif dataType == 'interaction': utils.dropTables(connection, ['interactions', 'indicators']) elif dataType == 'bb': utils.dropTables(connection, ['bounding_boxes']) else: print('Unknown data type {} to delete from database'.format(dataType)) connection.close() def createInteractionTable(cursor): 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))') def createIndicatorTables(cursor): # 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))') # 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))') 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))') def saveInteraction(cursor, interaction): roadUserNumbers = list(interaction.getRoadUserNumbers()) cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant())) def saveInteractions(filename, interactions): 'Saves the interactions in the table' connection = sqlite3.connect(filename) cursor = connection.cursor() try: createInteractionTable(cursor) for inter in interactions: saveInteraction(cursor, inter) except sqlite3.OperationalError as error: utils.printDBError(error) connection.commit() connection.close() def saveIndicator(cursor, interactionNum, indicator): for instant in indicator.getTimeInterval(): if indicator[instant]: cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant])) def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames): 'Saves the indicator values in the table' connection = sqlite3.connect(filename) cursor = connection.cursor() try: createInteractionTable(cursor) createIndicatorTables(cursor) for inter in interactions: saveInteraction(cursor, inter) for indicatorName in indicatorNames: indicator = inter.getIndicator(indicatorName) if indicator != None: saveIndicator(cursor, inter.getNum(), indicator) except sqlite3.OperationalError as error: utils.printDBError(error) connection.commit() connection.close() def loadIndicators(filename): '''Loads interaction indicators TODO choose the interactions to load''' interactions = [] connection = sqlite3.connect(filename) cursor = connection.cursor() try: 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') interactionNum = -1 indicatorTypeNum = -1 tmpIndicators = {} for row in cursor: if row[0] != interactionNum: # save interaction and create new interaction if interactionNum >= 0: interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) interactions[-1].indicators = tmpIndicators tmpIndicators = {} interactionNum = row[0] roadUserNumbers = row[1:3] if indicatorTypeNum != row[5]: if indicatorTypeNum >= 0: indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) indicatorTypeNum = row[5] indicatorValues = {row[6]:row[7]} else: indicatorValues[row[6]] = row[7] if interactionNum >= 0: if indicatorTypeNum >= 0: indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) interactions[-1].indicators = tmpIndicators except sqlite3.OperationalError as error: utils.printDBError(error) return [] connection.close() return interactions # load first and last object instants # 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 def createBoundingBoxTable(filename, invHomography = None): '''Create the table to store the object bounding boxes ''' connection = sqlite3.connect(filename) cursor = connection.cursor() try: 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))') cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from ' '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' '(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])+ 'GROUP BY object_id, frame_number') except sqlite3.OperationalError as error: utils.printDBError(error) connection.commit() connection.close() def loadBoundingBoxTable(filename): connection = sqlite3.connect(filename) cursor = connection.cursor() boundingBoxes = {} # list of bounding boxes for each instant try: cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') result = [row for row in cursor] if len(result) > 0: cursor.execute('SELECT * FROM bounding_boxes') #objId = -1 for row in cursor: #if row[0] != objId: boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])]) except sqlite3.OperationalError as error: utils.printDBError(error) return boundingBoxes connection.close() return boundingBoxes ######################### # txt files ######################### def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): '''Reads data from the trajectory data provided by NGSIM project and returns the list of Feature objects''' objects = [] input = utils.openCheck(filename) if not input: import sys sys.exit() def createObject(numbers): firstFrameNum = int(numbers[1]) # do the geometry and usertype firstFrameNum = int(numbers[1]) lastFrameNum = firstFrameNum+int(numbers[2])-1 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) obj = moving.MovingObject(num = int(numbers[0]), timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), userType = int(numbers[10])) obj.userType = int(numbers[10]) obj.laneNums = [int(numbers[13])] obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) obj.followingVehicles = [int(numbers[15])] # following vehicle (after) obj.spaceHeadways = [float(numbers[16])] # feet obj.timeHeadways = [float(numbers[17])] # seconds obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate obj.speeds = [float(numbers[11])] obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object return obj numbers = input.readline().strip().split() if (len(numbers) > 0): obj = createObject(numbers) for line in input: numbers = line.strip().split() if obj.getNum() != int(numbers[0]): # check and adapt the length to deal with issues in NGSIM data if (obj.length() != obj.positions.length()): print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length()) obj.last = obj.getFirstInstant()+obj.positions.length()-1 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? objects.append(obj) if (nObjects>0) and (len(objects)>=nObjects): break obj = createObject(numbers) else: obj.laneNums.append(int(numbers[13])) obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) obj.speeds.append(float(numbers[11])) obj.precedingVehicles.append(int(numbers[14])) obj.followingVehicles.append(int(numbers[15])) obj.spaceHeadways.append(float(numbers[16])) obj.timeHeadways.append(float(numbers[17])) if (obj.size[0] != float(numbers[8])): print 'changed length obj %d' % (obj.getNum()) if (obj.size[1] != float(numbers[9])): print 'changed width obj %d' % (obj.getNum()) input.close() return objects def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0): '''Reads data from the trajectory data provided by NGSIM project and converts to our current format.''' if append: out = utils.openCheck(outFile,'a') else: out = utils.openCheck(outFile,'w') nObjectsPerType = [0,0,0] features = loadNgsimFile(inFile, sequenceNum) for f in features: nObjectsPerType[f.userType-1] += 1 f.write(out) print nObjectsPerType out.close() def writePositionsToCsv(f, obj): timeInterval = obj.getTimeInterval() positions = obj.getPositions() curvilinearPositions = obj.getCurvilinearPositions() for i in xrange(int(obj.length())): p1 = positions[i] s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) if curvilinearPositions != None: p2 = curvilinearPositions[i] s += ',{},{}'.format(p2[0],p2[1]) f.write(s+'\n') def writeTrajectoriesToCsv(filename, objects): f = utils.openCheck(filename, 'w') for i,obj in enumerate(objects): writePositionsToCsv(f, obj) f.close() def writeList(filename, l): f = utils.openCheck(filename, 'w') for x in l: f.write('{}\n'.format(x)) f.close() def loadListStrings(filename): f = utils.openCheck(filename, 'r') result = [l.strip() for l in f] f.close() return result if __name__ == "__main__": import doctest import unittest suite = doctest.DocFileSuite('tests/storage.txt') unittest.TextTestRunner().run(suite) # #doctest.testmod() # #doctest.testfile("example.txt")