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annotate python/metadata.py @ 821:26daf35180ad

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finished modification and demo script to replay synchronized video (with same frame rate)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 22 Jun 2016 16:36:12 -0400
parents fc8b3ce629d1
children 6e4357e9116d
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1 # from moving import Point
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2
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3 from datetime import datetime, timedelta
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4 from os import path
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5 from math import floor
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6
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7 from sqlalchemy import orm, create_engine, Column, Integer, Float, DateTime, String, ForeignKey, Boolean, Interval
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8 from sqlalchemy.orm import relationship, backref, sessionmaker
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9 from sqlalchemy.ext.declarative import declarative_base
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10
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11 from utils import datetimeFormat, removeExtension
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12
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13 Base = declarative_base()
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14
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15 class Site(Base):
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16 __tablename__ = 'sites'
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17 idx = Column(Integer, primary_key=True)
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18 name = Column(String) # same as path, relative to the database position
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19 description = Column(String) # longer names, eg intersection of road1 and road2
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20 xcoordinate = Column(Float) # ideally moving.Point, but needs to be
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21 ycoordinate = Column(Float)
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22 mapImageFilename = Column(String) # path to filename, relative to site name, ie sitename/mapImageFilename
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23 nUnitsPerPixel = Column(Float) # number of units of distance per pixel in map image
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24 worldDistanceUnit = Column(String, default = 'm') # make sure it is default in the database
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26 def __init__(self, name, description = "", xcoordinate = None, ycoordinate = None, mapImageFilename = None, nUnitsPerPixel = 1., worldDistanceUnit = 'm'):
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27 self.name = name
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28 self.description = description
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29 self.xcoordinate = xcoordinate
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30 self.ycoordinate = ycoordinate
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31 self.mapImageFilename = mapImageFilename
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32 self.nUnitsPerPixel = nUnitsPerPixel
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33 self.worldDistanceUnit = worldDistanceUnit
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34
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35 def getFilename(self):
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36 return self.name
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37
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38 class EnvironementalFactors(Base):
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39 '''Represents any environmental factors that may affect the results, in particular
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40 * changing weather conditions
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41 * changing road configuration, geometry, signalization, etc.
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42 ex: sunny, rainy, before counter-measure, after counter-measure'''
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43 __tablename__ = 'environmental_factors'
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44 idx = Column(Integer, primary_key=True)
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45 startTime = Column(DateTime)
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46 endTime = Column(DateTime)
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47 description = Column(String) # eg sunny, before, after
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48 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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50 site = relationship("Site", backref=backref('environmental_factors', order_by = idx))
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51
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52 def __init__(self, startTime, endTime, description, site):
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53 'startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39'
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54 self.startTime = datetime.strptime(startTime, datetimeFormat)
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55 self.endTime = datetime.strptime(endTime, datetimeFormat)
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56 self.description = description
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57 self.site = site
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58
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59 class CameraType(Base):
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60 ''' Represents parameters of the specific camera used.
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61
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62 Taken and adapted from tvalib'''
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63 __tablename__ = 'camera_types'
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64 idx = Column(Integer, primary_key=True)
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65 name = Column(String)
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66 resX = Column(Integer)
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67 resY = Column(Integer)
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68 frameRate = Column(Float)
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69 frameRateTimeUnit = Column(String, default = 's')
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70 undistort = Column(Boolean)
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71 intrinsicCameraMatrixStr = Column(String)
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72 distortionCoefficientsStr = Column(String)
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73 undistortedImageMultiplication = Column(Float)
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74
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75 def __init__(self, name, resX, resY, frameRate, frameRateTimeUnit = 's', trackingConfigurationFilename = None, undistort = None, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = None):
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76 self.name = name
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77 self.resX = resX
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78 self.resY = resY
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79 self.frameRate = frameRate
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80 self.frameRateTimeUnit = frameRateTimeUnit
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81 self.undistort = False
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82
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83 if trackingConfigurationFilename is not None:
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84 from storage import ProcessParameters
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85 params = ProcessParameters(trackingConfigurationFilename)
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86 if params.undistort:
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87 self.undistort = params.undistort
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88 self.intrinsicCameraMatrix = params.intrinsicCameraMatrix
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89 self.distortionCoefficients = params.distortionCoefficients
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90 self.undistortedImageMultiplication = params.undistortedImageMultiplication
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91 elif undistort is not None:
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92 self.undistort = undistort
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93 self.intrinsicCameraMatrix = intrinsicCameraMatrix
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94 self.distortionCoefficients = distortionCoefficients
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95 self.undistortedImageMultiplication = undistortedImageMultiplication
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96
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97 # populate the db
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98 if hasattr(self, 'intrinsicCameraMatrix') and self.intrinsicCameraMatrix is not None\
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99 and hasattr(self, 'distortionCoefficients') and self.distortionCoefficients is not None:
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100 self.intrinsicCameraMatrixStr = ' '.join('{}'.format(x) for x in self.intrinsicCameraMatrix.flatten('C'))
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101 self.distortionCoefficientsStr = ' '.join('{}'.format(x)for x in self.distortionCoefficients)
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102
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103 @orm.reconstructor
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104 def initOnLoad(self):
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105 from numpy import array
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106 if len(self.intrinsicCameraMatrixStr) > 0:
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107 self.intrinsicCameraMatrix = array([float(x) for x in self.intrinsicCameraMatrixStr.split(" ")]).reshape(3,3)
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108 if len(self.distortionCoefficientsStr) > 0:
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109 self.distortionCoefficients = [float(x) for x in self.distortionCoefficientsStr.split(" ")]
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110
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111 class CameraView(Base):
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112 __tablename__ = 'camera_views'
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113 idx = Column(Integer, primary_key=True)
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114 description = Column(String)
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115 homographyFilename = Column(String) # path to homograph filename, relative to the site name
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116 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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117 cameraTypeIdx = Column(Integer, ForeignKey('camera_types.idx'))
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118 homographyDistanceUnit = Column(String, default = 'm') # make sure it is default in the database
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119 trackingConfigurationFilename = Column(String) # path to configuration .cfg file, relative to site name
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120
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121 site = relationship("Site", backref=backref('sites', order_by = idx))
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122 cameraType = relationship('CameraType', backref=backref('camera_views', order_by = idx))
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123
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124 def __init__(self, description, homographyFilename, site, cameraType, trackingConfigurationFilename):
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125 self.description = description
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126 self.homographyFilename = homographyFilename
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127 self.site = site
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128 self.cameraType = cameraType
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129 self.trackingConfigurationFilename = trackingConfigurationFilename
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130
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131 def getHomographyFilename(self, relativeToSiteFilename = True):
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132 if relativeToSiteFilename:
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133 return self.site.getFilename()+path.sep+self.homographyFilename
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134 else:
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135 return self.homographyFilename
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136
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137 def getTrackingConfigurationFilename(self, relativeToSiteFilename = True):
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138 if relativeToSiteFilename:
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139 return self.site.getFilename()+path.sep+self.trackingConfigurationFilename
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140 else:
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141 return self.trackingConfigurationFilename
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142
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143 def getTrackingParameters(self):
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144 return ProcessParameters(getTrackingConfigurationFilename())
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145
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146 class Alignment(Base):
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147 __tablename__ = 'alignments'
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148 idx = Column(Integer, primary_key=True)
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149 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
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150
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151 cameraView = relationship("CameraView", backref=backref('alignments', order_by = idx))
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152
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153 def __init__(self, cameraView):
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154 self.cameraView = cameraView
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155
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156 class Point(Base):
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157 __tablename__ = 'points'
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158 alignmentIdx = Column(Integer, ForeignKey('alignments.idx'), primary_key=True)
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159 index = Column(Integer, primary_key=True) # order of points in this alignment
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160 x = Column(Float)
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161 y = Column(Float)
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162
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163 alignment = relationship("Alignment", backref=backref('points', order_by = index))
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164
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165 def __init__(self, alignmentIdx, index, x, y):
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166 self.alignmentIdx = alignmentIdx
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167 self.index = index
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168 self.x = x
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169 self.y = y
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170
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171 class VideoSequence(Base):
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172 __tablename__ = 'video_sequences'
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173 idx = Column(Integer, primary_key=True)
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174 name = Column(String) # path relative to the the site name
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175 startTime = Column(DateTime)
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176 duration = Column(Interval) # video sequence duration
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177 databaseFilename = Column(String) # path relative to the the site name
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178 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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179 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
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180
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181 site = relationship("Site", backref=backref('video_sequences', order_by = idx))
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182 cameraView = relationship("CameraView", backref=backref('video_sequences', order_by = idx))
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183
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184 def __init__(self, name, startTime, duration, site, cameraView, databaseFilename = None):
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185 '''startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39
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186 duration is a timedelta object'''
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187 self.name = name
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188 self.startTime = datetime.strptime(startTime, datetimeFormat)
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189 self.duration = duration
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190 self.site = site
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191 self.cameraView = cameraView
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192 if databaseFilename is None and len(self.name) > 0:
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193 self.databaseFilename = removeExtension(self.name)+'.sqlite'
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194
422
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195 def getVideoSequenceFilename(self, relativeToSiteFilename = True):
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196 if relativeToSiteFilename:
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197 return self.site.getFilename()+path.sep+self.name
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198 else:
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199 return self.name
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200
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201 def containsInstant(self, instant):
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202 'instant is a datetime'
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203 return self.startTime <= instant and self.startTime+self.duration
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204
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205 def getFrameNum(self, instant):
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206 'Warning, there is no check of correct time units'
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207 if self.containsInstant(instant):
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208 return int(floor((instant-self.startTime).seconds*self.cameraView.cameraType.frameRate))
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209 else:
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210 return None
424
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211
422
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212 # add class for Analysis: foreign key VideoSequenceId, dataFilename, configFilename (get the one from camera view by default), mask? (no, can be referenced in the tracking cfg file)
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213
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214 # class SiteDescription(Base): # list of lines and polygons describing the site, eg for sidewalks, center lines
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215
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216 # class Analysis(Base): # parameters necessary for processing the data: free form
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217 # eg bounding box depends on camera view, tracking configuration depends on camera view
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218 # results: sqlite
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219
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220 def createDatabase(filename):
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221 'creates a session to query the filename'
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222 engine = create_engine('sqlite:///'+filename)
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223 Base.metadata.create_all(engine)
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224 Session = sessionmaker(bind=engine)
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225 return Session()
425
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226
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227 def connectDatabase(filename):
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228 'creates a session to query the filename'
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229 engine = create_engine('sqlite:///'+filename)
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230 Session = sessionmaker(bind=engine)
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231 return Session()
426
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232
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233 def initializeSites(session, directoryName):
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234 '''Initializes default site objects and Camera Views
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235
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236 eg somedirectory/montreal/ contains intersection1, intersection2, etc.
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237 The site names would be somedirectory/montreal/intersection1, somedirectory/montreal/intersection2, etc.'''
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238 from os import listdir, path
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239 sites = []
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240 cameraViews = []
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241 names = listdir(directoryName)
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242 for name in names:
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243 if path.isdir(directoryName+'/'+name):
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244 sites.append(Site(directoryName+'/'+name, None))
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245 cameraViews.append(CameraView(-1, None, None, sites[-1], None))
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246 session.add_all(sites)
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247 session.add_all(cameraViews)
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248 session.commit()
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249 # TODO crawler for video files?