Mercurial Hosting > traffic-intelligence
changeset 918:3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Wed, 05 Jul 2017 12:19:59 -0400 |
| parents | 89cc05867c4c |
| children | 7b3f2e0a2652 |
| files | python/moving.py python/storage.py python/tests/events.txt python/tests/moving.txt python/tests/storage.txt |
| diffstat | 5 files changed, 87 insertions(+), 76 deletions(-) [+] |
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--- a/python/moving.py Tue Jul 04 18:00:01 2017 -0400 +++ b/python/moving.py Wed Jul 05 12:19:59 2017 -0400 @@ -682,9 +682,10 @@ def __getitem__(self, i): if isinstance(i, int): return Point(self.positions[0][i], self.positions[1][i]) + elif isinstance(i, slice): + return Trajectory([self.positions[0][i],self.positions[1][i]]) else: raise TypeError, "Invalid argument type." - #elif isinstance( key, slice ): def __str__(self): return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) @@ -1091,9 +1092,9 @@ # compute bounding polygon from trajectory @staticmethod - def generate(p, v, timeInterval): + def generate(num, p, v, timeInterval): positions, velocities = Trajectory.generate(p, v, int(timeInterval.length())) - return MovingObject(timeInterval = timeInterval, positions = positions, velocities = velocities) + return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = velocities) @staticmethod def concatenate(obj1, obj2, num = None):
--- a/python/storage.py Tue Jul 04 18:00:01 2017 -0400 +++ b/python/storage.py Wed Jul 05 12:19:59 2017 -0400 @@ -375,7 +375,70 @@ if len(missingObjectNumbers) > 0: print('List of missing objects to attach corresponding curvilinear trajectories: {}'.format(missingObjectNumbers)) -def saveTrajectoriesToSqlite(outputFilename, objects, trajectoryType, withFeatures = False): +def saveTrajectoriesToTable(connection, objects, trajectoryType, tablePrefix = None): + 'Saves trajectories in table tableName' + cursor = connection.cursor() + # Parse feature and/or object structure and commit to DB + if(trajectoryType == 'feature' or trajectoryType == 'object'): + # Extract features from objects + if trajectoryType == 'object': + features = [] + for obj in objects: + if obj.hasFeatures(): + features += obj.getFeatures() + if len(features) == 0: + print('Warning, objects have no features') # todo save centroid trajectories? + elif trajectoryType == 'feature': + features = objects + # Setup feature queries + if tablePrefix is None: + prefix = '' + else: + prefix = tablePrefix+'_' + createTrajectoryTable(cursor, prefix+"positions") + createTrajectoryTable(cursor, prefix+"velocities") + positionQuery = insertTrajectoryQuery(prefix+"positions") + velocityQuery = insertTrajectoryQuery(prefix+"velocities") + # Setup object queries + if trajectoryType == 'object': + createObjectsTable(cursor) + createObjectsFeaturesTable(cursor) + objectQuery = insertObjectQuery() + objectFeatureQuery = insertObjectFeatureQuery() + for feature in features: + num = feature.getNum() + frameNum = feature.getFirstInstant() + for p in feature.getPositions(): + cursor.execute(positionQuery, (num, frameNum, p.x, p.y)) + frameNum += 1 + velocities = feature.getVelocities() + if velocities is not None: + frameNum = feature.getFirstInstant() + for v in velocities[:-1]: + cursor.execute(velocityQuery, (num, frameNum, v.x, v.y)) + frameNum += 1 + if trajectoryType == 'object': + for obj in objects: + if obj.hasFeatures(): + for feature in obj.getFeatures(): + featureNum = feature.getNum() + cursor.execute(objectFeatureQuery, (obj.getNum(), featureNum)) + cursor.execute(objectQuery, (obj.getNum(), obj.getUserType(), 1)) + # Parse curvilinear position structure + elif(trajectoryType == 'curvilinear'): + createCurvilinearTrajectoryTable(cursor) + curvilinearQuery = "insert into curvilinear_positions (trajectory_id, frame_number, s_coordinate, y_coordinate, lane) values (?,?,?,?,?)" + for obj in objects: + num = obj.getNum() + frameNum = obj.getFirstInstant() + for p in obj.getCurvilinearPositions(): + cursor.execute(curvilinearQuery, (num, frameNum, p[0], p[1], p[2])) + frameNum += 1 + else: + print('Unknown trajectory type {}'.format(trajectoryType)) + connection.commit() + +def saveTrajectoriesToSqlite(outputFilename, objects, trajectoryType): '''Writes features, ie the trajectory positions (and velocities if exist) with their instants to a specified sqlite file Either feature positions (and velocities if they exist) @@ -383,60 +446,7 @@ connection = sqlite3.connect(outputFilename) try: - cursor = connection.cursor() - # Parse feature and/or object structure and commit to DB - if(trajectoryType == 'feature' or trajectoryType == 'object'): - # Extract features from objects - if(trajectoryType == 'object'): - features = [] - for obj in objects: - if(obj.hasFeatures()): - features += obj.getFeatures() - elif(trajectoryType == 'feature'): - features = objects - # Setup feature queries - createTrajectoryTable(cursor, "positions") - createTrajectoryTable(cursor, "velocities") - positionQuery = insertTrajectoryQuery("positions") - velocityQuery = insertTrajectoryQuery("velocities") - # Setup object queries - if(trajectoryType == 'object'): - createObjectsTable(cursor) - createObjectsFeaturesTable(cursor) - objectQuery = insertObjectQuery() - objectFeatureQuery = insertObjectFeatureQuery() - for feature in features: - num = feature.getNum() - frameNum = feature.getFirstInstant() - for position in feature.getPositions(): - cursor.execute(positionQuery, (num, frameNum, position.x, position.y)) - frameNum += 1 - velocities = feature.getVelocities() - if velocities is not None: - frameNum = feature.getFirstInstant() - for i in xrange(velocities.length()-1): - v = velocities[i] - cursor.execute(velocityQuery, (num, frameNum, v.x, v.y)) - frameNum += 1 - if(trajectoryType == 'object'): - for obj in objects: - for feature in obj.getFeatures(): - featureNum = feature.getNum() - cursor.execute(objectFeatureQuery, (obj.getNum(), featureNum)) - cursor.execute(objectQuery, (obj.getNum(), obj.getUserType(), 1)) - # Parse curvilinear position structure - elif(trajectoryType == 'curvilinear'): - createCurvilinearTrajectoryTable(cursor) - curvilinearQuery = "insert into curvilinear_positions (trajectory_id, frame_number, s_coordinate, y_coordinate, lane) values (?,?,?,?,?)" - for obj in objects: - num = obj.getNum() - frameNum = obj.getFirstInstant() - for position in obj.getCurvilinearPositions(): - cursor.execute(curvilinearQuery, (num, frameNum, position[0], position[1], position[2])) - frameNum += 1 - else: - print('Unknown trajectory type {}'.format(trajectoryType)) - connection.commit() + saveTrajectoriesToTable(connection, objects, trajectoryType, None) except sqlite3.OperationalError as error: printDBError(error) connection.close() @@ -598,7 +608,7 @@ dbfn = filename cursor.execute('INSERT INTO prototypes (id, dbfilename, trajectory_type, nmatchings, positions_id) VALUES ({},\"{}\",\"{}\",{}, {})'.format(protoId, dbfn, trajectoryType, n, i)) #cursor.execute('SELECT * from sqlite_master WHERE type = \"table\" and name = \"{}\"'.format(tableNames[trajectoryType])) - if objects is not None: + if objects is not None: # save positions and velocities pass except sqlite3.OperationalError as error: printDBError(error)
--- a/python/tests/events.txt Tue Jul 04 18:00:01 2017 -0400 +++ b/python/tests/events.txt Wed Jul 05 12:19:59 2017 -0400 @@ -11,8 +11,8 @@ >>> len([i for i in interactions if len(i.roadUserNumbers) == 1]) 0 ->>> o1 = MovingObject.generate(Point(-5.,0.), Point(1.,0.), TimeInterval(0,10)) ->>> o2 = MovingObject.generate(Point(0.,-5.), Point(0.,1.), TimeInterval(0,10)) +>>> o1 = MovingObject.generate(1, Point(-5.,0.), Point(1.,0.), TimeInterval(0,10)) +>>> o2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,1.), TimeInterval(0,10)) >>> inter = Interaction(roadUser1 = o1, roadUser2 = o2) >>> inter.computeIndicators() >>> predictionParams = ConstantPredictionParameters(10.)
--- a/python/tests/moving.txt Tue Jul 04 18:00:01 2017 -0400 +++ b/python/tests/moving.txt Wed Jul 05 12:19:59 2017 -0400 @@ -171,14 +171,14 @@ >>> objects[0].hasFeatures() True ->>> o1 = MovingObject.generate(Point(-5.,0.), Point(1.,0.), TimeInterval(0,10)) ->>> o2 = MovingObject.generate(Point(0.,-5.), Point(0.,1.), TimeInterval(0,10)) +>>> o1 = MovingObject.generate(1, Point(-5.,0.), Point(1.,0.), TimeInterval(0,10)) +>>> o2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,1.), TimeInterval(0,10)) >>> MovingObject.computePET(o1, o2, 0.1) (0.0, 5, 5) ->>> o2 = MovingObject.generate(Point(0.,-5.), Point(0.,1.), TimeInterval(5,15)) +>>> o2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,1.), TimeInterval(5,15)) >>> MovingObject.computePET(o1, o2, 0.1) (5.0, 5, 10) ->>> o2 = MovingObject.generate(Point(0.,-5.), Point(0.,1.), TimeInterval(15,30)) +>>> o2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,1.), TimeInterval(15,30)) >>> MovingObject.computePET(o1, o2, 0.1) (15.0, 5, 20) @@ -191,7 +191,7 @@ >>> t.differentiate().empty() True ->>> o1 = MovingObject.generate(Point(0., 2.), Point(0., 1.), TimeInterval(0,2)) +>>> o1 = MovingObject.generate(1, Point(0., 2.), Point(0., 1.), TimeInterval(0,2)) >>> o1.classifyUserTypeSpeedMotorized(0.5, np.median) >>> userTypeNames[o1.getUserType()] 'car' @@ -199,8 +199,8 @@ >>> userTypeNames[o1.getUserType()] 'pedestrian' ->>> o1 = MovingObject.generate(Point(0.,0.), Point(1.,0.), TimeInterval(0,10)) ->>> gt1 = BBMovingObject(1, TimeInterval(0,10), MovingObject.generate(Point(0.2,0.6), Point(1.,0.), TimeInterval(0,10)), MovingObject.generate(Point(-0.2,-0.4), Point(1.,0.), TimeInterval(0,10))) +>>> o1 = MovingObject.generate(1, Point(0.,0.), Point(1.,0.), TimeInterval(0,10)) +>>> gt1 = BBMovingObject(1, TimeInterval(0,10), MovingObject.generate(1, Point(0.2,0.6), Point(1.,0.), TimeInterval(0,10)), MovingObject.generate(2, Point(-0.2,-0.4), Point(1.,0.), TimeInterval(0,10))) >>> gt1.computeCentroidTrajectory() >>> computeClearMOT([gt1], [], 0.2, 0, 10) (None, 0.0, 11, 0, 0, 11)
--- a/python/tests/storage.txt Tue Jul 04 18:00:01 2017 -0400 +++ b/python/tests/storage.txt Wed Jul 05 12:19:59 2017 -0400 @@ -16,10 +16,8 @@ >>> from os import remove >>> remove(nonexistentFilename) ->>> o1 = MovingObject.generate(Point(0.,0.), Point(1.,0.), TimeInterval(0,10)) ->>> o1.num = 2 ->>> o2 = MovingObject.generate(Point(1.,1.), Point(-0.5,-0.2), TimeInterval(0,9)) ->>> o2.num = 3 +>>> o1 = MovingObject.generate(2, Point(0.,0.), Point(1.,0.), TimeInterval(0,10)) +>>> o2 = MovingObject.generate(3, Point(1.,1.), Point(-0.5,-0.2), TimeInterval(0,9)) >>> saveTrajectoriesToSqlite('test.sqlite', [o1, o2], 'feature') >>> objects = loadTrajectoriesFromSqlite('test.sqlite', 'feature') >>> objects[0].getNum() == o1.num @@ -30,6 +28,10 @@ True >>> o2.getTimeInterval() == objects[1].getTimeInterval() True +>>> o1.getVelocities().length() == objects[0].getVelocities().length() +True +>>> o2.getVelocities().length() == objects[1].getVelocities().length() +True >>> o1.getVelocities() == objects[0].getVelocities() True >>> o2.getVelocities() == objects[1].getVelocities() @@ -71,10 +73,8 @@ True >>> remove('test.sqlite') ->>> f1 = MovingObject.generate(Point(0.,0.), Point(1.,0.), TimeInterval(0,10)) ->>> f1.num = 3 ->>> f2 = MovingObject.generate(Point(1.,1.), Point(-0.5,-0.2), TimeInterval(0,9)) ->>> f2.num = 4 +>>> f1 = MovingObject.generate(3, Point(0.,0.), Point(1.,0.), TimeInterval(0,10)) +>>> f2 = MovingObject.generate(4, Point(1.,1.), Point(-0.5,-0.2), TimeInterval(0,9)) >>> o1 = MovingObject(num = 1, userType = 1) >>> o1.features = [f1, f2] >>> saveTrajectoriesToSqlite('test.sqlite', [o1], 'object')