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annotate scripts/polytracktopdtv.py @ 636:3058e00887bc

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removed all issues because of tests with None, using is instead of == or !=
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 24 Mar 2015 18:11:28 +0100
parents 4dd68b0765b1
children 933670761a57
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1 #! /usr/bin/env python
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2
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3 from pdtv import TsaiCamera, ZipVideo, SyncedVideos, TrackSet, Track, State
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4 import sys, os, datetime, argparse
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5 import shutil
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6 import sqlite3
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7 import zipfile
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8 import utils
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9 import cvutils
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10 import cv2
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11
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12
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13 def zipFolder(inputFolder, outputFile):
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14 '''Method to compress the content of the inputFolder in the outputFile'''
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15 zip = zipfile.ZipFile(outputFile, 'w')
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16 for root, dirs, files in os.walk(inputFolder):
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17 for file in files:
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18 zip.write(root+file, file)
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19 zip.close()
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24 def getTypeDict(cursor):
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25 '''Return a dictionnary with integer key and associated type string
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26 i.e.: "0" -> "unknown"
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27 "1" -> "car"
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28 "2" -> "pedestrians"
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29 "3" -> "motorcycle"
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30 "4" -> "bicycle"
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31 "5" -> "bus"
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32 "6" -> "truck"
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33 ... and other type if the objects_type table is defined in SQLite'''
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34 typeDict = dict()
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35 cursor.execute("SELECT name FROM sqlite_master WHERE type='table' AND name='objects_type'")
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36 data = cursor.fetchone()
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37
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38 if(data is None):
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39 typeDict["0"] = "unknown"
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40 typeDict["1"] = "car"
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41 typeDict["2"] = "pedestrians"
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42 typeDict["3"] = "motorcycle"
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43 typeDict["4"] = "bicycle"
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44 typeDict["5"] = "bus"
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45 typeDict["6"] = "truck"
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46
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47 else:
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48 cursor.execute("SELECT road_user_type, type_string FROM objects_type")
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49 for row in cursor:
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50 typeDict[row[0]]= row[1]
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51
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52 return typeDict
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53
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54 def extractFrames(videoFile, framePath, fps, time, firstFrameNum = 0, lastFrameNum = None):
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55 '''Method to extract all the frames of the video'''
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56 print('Extracting frame')
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57 deltaTimestamp = 1000.0/float(fps);
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58 time+=datetime.timedelta(microseconds=firstFrameNum*deltaTimestamp*1000)
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59
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60 inc = 1000 #How many frame we fetch in the video at a time
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61
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62 if lastFrameNum is not None:
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63 delta = lastFrameNum-firstFrameNum
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64 if delta < inc:
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65 inc = delta
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66
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67 currentIdx = firstFrameNum
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68 frameList = cvutils.getImagesFromVideo(videoFile, firstFrameNum = currentIdx, nFrames = inc)
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69
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70 while len(frameList) == inc and inc > 0:
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71
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72 for f in frameList:
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73 cv2.imwrite(os.path.join(framePath,time.strftime("%Y%m%d-%H%M%S.%f")[:-3]+'.jpg'), f)
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74 time += datetime.timedelta(microseconds=deltaTimestamp*1000)
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75 currentIdx = currentIdx + inc
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76
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77 if lastFrameNum is not None:
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78 delta = lastFrameNum-currentIdx
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79 if delta < inc:
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80 inc = delta
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81 if inc:
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82 frameList = cvutils.getImagesFromVideo(videoFile, firstFrameNum = currentIdx, nFrames = inc)
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83 print('Extracting frame ' + str(currentIdx))
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84 return len(frameList) > 0
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85
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87
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88 def convertDatabase(workDirname, sectionName, sceneFilename = None, databaseFilename = None, videoFilename = None, videoFolderExist = False, firstFrameNum = 0, lastFrameNum = None, cameraCalibrationFilename = None, outputFileName = 'roaduser.json'):
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89 '''
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90 Method to convert database from polytrack to PDTV:
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91 workDirname is the current working directory
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92 sceneFilename is the path to the .cfg file
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93 sectionName is the name of the section we want to process in this file
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94 videoFolderExist specifiy if we want to reextract the video frame or if they already exist at workdir/videoframes/
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95 firstFrameNum is the first frame we want to extract
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96 lastFrameNum is the last frame we want to extract (or None if we want to extract everything)
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97 '''
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98 error = False
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99 if sceneFilename is not None:
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100 scene = utils.SceneParameters.loadConfigFile(os.path.join(workDirname, sceneFilename))
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101 time = scene[sectionName].date
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102 inputDb = os.path.join(workDirname, scene[sectionName].databaseFilename)
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103 videoFile = os.path.join(workDirname, scene[sectionName].videoFilename)
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104
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105 if databaseFilename is not None:
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106 inputDb = os.path.join(workDirname, databaseFilename)
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107 if videoFilename is not None:
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108 videoFile = os.path.join(workDirname, videoFilename)
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109 # elif videoFolderExist == False:
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110 # print('No video path specified')
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111 # error = True
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113 videoFolderPath = os.path.join(workDirname, "videoframes/")
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114 fileName = sectionName
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f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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115
636
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116 if videoFile is not None:
403
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117 fps = cvutils.getFPS(videoFile)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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118 print('Video should run at ' + str(fps) + ' fps')
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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119 deltaTimestamp = 1000.0/float(fps);
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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parents: 402
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120 if videoFolderExist == False:
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parents: 402
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121 if os.path.exists(videoFolderPath):
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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parents: 402
diff changeset
122 shutil.rmtree(videoFolderPath)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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parents: 402
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123 utils.mkdir(videoFolderPath)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
124 if extractFrames(videoFile, videoFolderPath, fps, time, firstFrameNum, lastFrameNum) == 0:
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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parents: 402
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125 print("Error. Frame were not extracted")
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126 error = True
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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127
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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128
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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129 if not error:
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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130 masterTimestamp = 0.0
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131 masterTimestampList = list()
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132 video_timestringsList = list()
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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133 frameNumberToMasterTimestamp = dict()
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134 for r,d,f in os.walk(videoFolderPath):
403
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135 i = firstFrameNum
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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136 for files in f:
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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137 name, ext = os.path.splitext(files)
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138 video_timestringsList.append(name)
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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139 masterTimestampList.append(masterTimestamp)
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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140 frameNumberToMasterTimestamp[i] = masterTimestamp
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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141 i = i +1
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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142 masterTimestamp = masterTimestamp+deltaTimestamp
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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143
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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144 inputZipVideoName = fileName+".zip"
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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145 print('Zipping files...')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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146 if not os.path.exists(inputZipVideoName) or not videoFolderExist:
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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diff changeset
147 zipFolder(videoFolderPath, inputZipVideoName)
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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148 print('Zipping files...Done.')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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149 #We generate the structure for ZipVideo
636
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diff changeset
150 if cameraCalibrationFilename is not None:
403
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parents: 402
diff changeset
151 calibrationFile = cameraCalibrationFilename
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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parents: 402
diff changeset
152 else:
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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diff changeset
153 calibrationFile = 'calib.json'
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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diff changeset
154 zipVideo = ZipVideo(video_zip_file=inputZipVideoName,
403
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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diff changeset
155 time_offset=0.0, time_scale=1.0, master_timestamps=masterTimestampList, calibration_file=calibrationFile)
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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156 zipVideo.save(os.path.join(workDirname, 'video.json'))
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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157
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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158 print('ZipVideo saved')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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159 obj = SyncedVideos(master_timestamps = [masterTimestamp],
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
160 video_timestrings = [video_timestringsList],
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
161 video_files = ['video.json'],
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
162 fps=fps)
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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163 obj.save(os.path.join(workDirname, 'syncedvideo.json'))
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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164
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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165 print('SyncedVideos saved')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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166
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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167 print('Opening db')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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168 connection = sqlite3.connect(inputDb)
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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diff changeset
169 cursor = connection.cursor()
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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170
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
171
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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diff changeset
172 #Tracket database
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parents:
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173 trackset = TrackSet(synced_file = ['syncedvideo.json'])
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parents:
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174
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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175
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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176 #1) We build the type index dictionnary
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177 typeDict = getTypeDict(cursor)
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178
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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179 idToTrackDict = dict()
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180 #2) We read the object database
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181 cursor.execute("SELECT object_id, road_user_type FROM objects")
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parents:
diff changeset
182 for row in cursor:
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parents:
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183 objectId = row[0]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
184 objectType = row[1]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
185 t = Track(type=typeDict.get(objectType, "unknown"))
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
186 idToTrackDict[objectId] = t;
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
187 trackset.append(t)
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parents:
diff changeset
188 print('Reading boundingbox table')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
189 #3) We read the bounding box table
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
190 cursor.execute("SELECT name FROM sqlite_master WHERE type='table' AND name='bounding_boxes'")
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
191 data = cursor.fetchone()
636
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parents: 404
diff changeset
192 if data is None:
402
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parents:
diff changeset
193 print('No bounding box table. Maybe it was not generated ?')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
194 else:
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
195 cursor.execute("SELECT object_id, frame_number, x_top_left, y_top_left, x_bottom_right, y_bottom_right FROM bounding_boxes")
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
196 for row in cursor:
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
197 objectId = row[0]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
198 frameNumber = row[1]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
199 x_top_left = row[2]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
200 y_top_left = row[3]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
201 x_bottom_right = row[4]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
202 y_bottom_right = row[5]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
203
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
204 idToTrackDict[objectId].append(State(frame=int(frameNumber), world_position = [0.,0.],
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
205 master_timestamp=frameNumberToMasterTimestamp[int(frameNumber)],
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
206 bounding_boxes=[[(x_top_left, x_bottom_right), (y_top_left, y_bottom_right)]]))
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
207 print('Saving db in json')
403
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
208 trackset.save(os.path.join(workDirname, outputFileName))
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
209 connection.close()
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
210 print('Done.')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
211
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
212
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
213
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
214
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
215 if __name__ == "__main__":
403
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
216 parser = argparse.ArgumentParser(description='The program convert polytrack.sqlite database to pdtv bounding boxes', epilog = 'Either the configuration filename or the other parameters (at least video and database filenames) need to be provided.')
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
217 parser.add_argument('-w', dest = 'workDirname', help = 'use a different work directory', default = "./",type = str)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
218 parser.add_argument('--scene', dest = 'sceneFilename', help = 'name of the configuration file', type = str, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
219 parser.add_argument('--section', dest = 'sectionName', help = 'name of the section', type = str, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
220 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file', type = str, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
221 parser.add_argument('-i', dest = 'videoFilename', help = 'name of the video file', type = str, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
222 parser.add_argument('-c', dest = 'cameraCalibrationFilename', help = 'name of the camera json file', type = str, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
223 parser.add_argument('-o', dest = 'outputFilename', help = 'name of the output json file', type = str, default = 'roaduser.json')
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
224 parser.add_argument('-s', dest = 'firstFrameNum', help = 'forced start frame', type = int, default = 0)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
225 parser.add_argument('-e', dest = 'lastFrameNum', help = 'forced end frame', type = int, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
226 #parser.add_argument('-t', dest = 'useDatabaseTimestamp', help = 'use the timestamp of the database', default= False, type = bool)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
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227 parser.add_argument('-u', dest = 'useCurrentVideoFile', help = 'use the previously generated video file', action = 'store_true')
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
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228 args = parser.parse_args()
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
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229 #convertDatabase(args)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
230
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
231 convertDatabase(args.workDirname, args.sectionName, args.sceneFilename, videoFilename = args.videoFilename, databaseFilename = args.databaseFilename, videoFolderExist = args.useCurrentVideoFile, firstFrameNum = args.firstFrameNum, lastFrameNum = args.lastFrameNum, cameraCalibrationFilename = args.cameraCalibrationFilename, outputFileName=args.outputFilename )