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annotate python/metadata.py @ 846:37d14818db89

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minor bug
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 15 Jul 2016 16:31:37 -0400
parents 2918de3d40fc
children f9c9457b60c2
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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 numpy import zeros
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8
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9 from sqlalchemy import orm, create_engine, Column, Integer, Float, DateTime, String, ForeignKey, Boolean, Interval
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10 from sqlalchemy.orm import relationship, backref, sessionmaker
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11 from sqlalchemy.ext.declarative import declarative_base
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12
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13 from utils import datetimeFormat, removeExtension
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14 from cvutils import computeUndistortMaps
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15 from moving import TimeInterval
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16
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17 Base = declarative_base()
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18
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19 class Site(Base):
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20 __tablename__ = 'sites'
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21 idx = Column(Integer, primary_key=True)
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22 name = Column(String) # same as path, relative to the database position
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23 description = Column(String) # longer names, eg intersection of road1 and road2
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24 xcoordinate = Column(Float) # ideally moving.Point, but needs to be
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25 ycoordinate = Column(Float)
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26 mapImageFilename = Column(String) # path to filename, relative to site name, ie sitename/mapImageFilename
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27 nUnitsPerPixel = Column(Float) # number of units of distance per pixel in map image
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28 worldDistanceUnit = Column(String, default = 'm') # make sure it is default in the database
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29
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30 def __init__(self, name, description = "", xcoordinate = None, ycoordinate = None, mapImageFilename = None, nUnitsPerPixel = 1., worldDistanceUnit = 'm'):
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31 self.name = name
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32 self.description = description
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33 self.xcoordinate = xcoordinate
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34 self.ycoordinate = ycoordinate
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35 self.mapImageFilename = mapImageFilename
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36 self.nUnitsPerPixel = nUnitsPerPixel
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37 self.worldDistanceUnit = worldDistanceUnit
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38
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39 def getFilename(self):
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40 return self.name
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41
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42 @staticmethod
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43 def getSite(session, siteId):
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44 'Returns the site(s) matching the index or the name'
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45 if str.isdigit(siteId):
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46 return session.query(Site).filter(Site.idx == int(siteId)).all()
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47 else:
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48 return session.query(Site).filter(Site.description.like('%'+siteId+'%')).all()
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49
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50
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51 class EnvironementalFactors(Base):
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52 '''Represents any environmental factors that may affect the results, in particular
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53 * changing weather conditions
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54 * changing road configuration, geometry, signalization, etc.
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55 ex: sunny, rainy, before counter-measure, after counter-measure'''
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56 __tablename__ = 'environmental_factors'
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57 idx = Column(Integer, primary_key=True)
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58 startTime = Column(DateTime)
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59 endTime = Column(DateTime)
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60 description = Column(String) # eg sunny, before, after
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61 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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63 site = relationship("Site", backref=backref('environmental_factors', order_by = idx))
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64
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65 def __init__(self, startTime, endTime, description, site):
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66 'startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39'
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67 self.startTime = datetime.strptime(startTime, datetimeFormat)
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68 self.endTime = datetime.strptime(endTime, datetimeFormat)
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69 self.description = description
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70 self.site = site
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71
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72 class CameraType(Base):
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73 ''' Represents parameters of the specific camera used.
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74
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75 Taken and adapted from tvalib'''
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76 __tablename__ = 'camera_types'
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77 idx = Column(Integer, primary_key=True)
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78 name = Column(String)
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79 resX = Column(Integer)
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80 resY = Column(Integer)
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81 frameRate = Column(Float)
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82 frameRateTimeUnit = Column(String, default = 's')
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83 intrinsicCameraMatrix00 = Column(Float)
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84 intrinsicCameraMatrix01 = Column(Float)
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85 intrinsicCameraMatrix02 = Column(Float)
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86 intrinsicCameraMatrix10 = Column(Float)
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87 intrinsicCameraMatrix11 = Column(Float)
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88 intrinsicCameraMatrix12 = Column(Float)
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89 intrinsicCameraMatrix20 = Column(Float)
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90 intrinsicCameraMatrix21 = Column(Float)
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91 intrinsicCameraMatrix22 = Column(Float)
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92 distortionCoefficients0 = Column(Float)
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93 distortionCoefficients1 = Column(Float)
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94 distortionCoefficients2 = Column(Float)
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95 distortionCoefficients3 = Column(Float)
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96 distortionCoefficients4 = Column(Float)
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97 undistortedImageMultiplication = Column(Float)
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98
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99 def __init__(self, name, resX, resY, frameRate, frameRateTimeUnit = 's', trackingConfigurationFilename = None, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = None):
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100 self.name = name
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101 self.resX = resX
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102 self.resY = resY
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103 self.frameRate = frameRate
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104 self.frameRateTimeUnit = frameRateTimeUnit
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105
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106 if trackingConfigurationFilename is not None:
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107 from storage import ProcessParameters
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108 params = ProcessParameters(trackingConfigurationFilename)
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109 self.intrinsicCameraMatrix = params.intrinsicCameraMatrix
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110 self.distortionCoefficients = params.distortionCoefficients
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111 self.undistortedImageMultiplication = params.undistortedImageMultiplication
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112 else:
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113 self.intrinsicCameraMatrix = intrinsicCameraMatrix
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114 self.distortionCoefficients = distortionCoefficients
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115 self.undistortedImageMultiplication = undistortedImageMultiplication
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116
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117 if self.intrinsicCameraMatrix is not None and self.intrinsicCameraMatrix.size == 9:
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118 self.intrinsicCameraMatrix00 = self.intrinsicCameraMatrix[0,0]
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119 self.intrinsicCameraMatrix01 = self.intrinsicCameraMatrix[0,1]
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120 self.intrinsicCameraMatrix02 = self.intrinsicCameraMatrix[0,2]
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121 self.intrinsicCameraMatrix10 = self.intrinsicCameraMatrix[1,0]
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122 self.intrinsicCameraMatrix11 = self.intrinsicCameraMatrix[1,1]
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123 self.intrinsicCameraMatrix12 = self.intrinsicCameraMatrix[1,2]
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124 self.intrinsicCameraMatrix20 = self.intrinsicCameraMatrix[2,0]
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125 self.intrinsicCameraMatrix21 = self.intrinsicCameraMatrix[2,1]
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126 self.intrinsicCameraMatrix22 = self.intrinsicCameraMatrix[2,2]
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127 if self.distortionCoefficients is not None and len(self.distortionCoefficients) == 5:
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128 self.distortionCoefficients0 = self.distortionCoefficients[0]
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129 self.distortionCoefficients1 = self.distortionCoefficients[1]
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130 self.distortionCoefficients2 = self.distortionCoefficients[2]
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131 self.distortionCoefficients3 = self.distortionCoefficients[3]
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132 self.distortionCoefficients4 = self.distortionCoefficients[4]
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133
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134 @orm.reconstructor
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135 def initOnLoad(self):
825
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136 if self.intrinsicCameraMatrix00 is not None:
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137 self.intrinsicCameraMatrix = zeros((3,3))
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138 self.intrinsicCameraMatrix[0,0] = self.intrinsicCameraMatrix00
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139 self.intrinsicCameraMatrix[0,1] = self.intrinsicCameraMatrix01
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140 self.intrinsicCameraMatrix[0,2] = self.intrinsicCameraMatrix02
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141 self.intrinsicCameraMatrix[1,0] = self.intrinsicCameraMatrix10
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142 self.intrinsicCameraMatrix[1,1] = self.intrinsicCameraMatrix11
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143 self.intrinsicCameraMatrix[1,2] = self.intrinsicCameraMatrix12
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144 self.intrinsicCameraMatrix[2,0] = self.intrinsicCameraMatrix20
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145 self.intrinsicCameraMatrix[2,1] = self.intrinsicCameraMatrix21
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146 self.intrinsicCameraMatrix[2,2] = self.intrinsicCameraMatrix22
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147 else:
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148 self.intrinsicCameraMatrix = None
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149 if self.distortionCoefficients0 is not None:
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150 self.distortionCoefficients = [0]*5
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151 self.distortionCoefficients[0] = self.distortionCoefficients0
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152 self.distortionCoefficients[1] = self.distortionCoefficients1
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153 self.distortionCoefficients[2] = self.distortionCoefficients2
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154 self.distortionCoefficients[3] = self.distortionCoefficients3
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155 self.distortionCoefficients[4] = self.distortionCoefficients4
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156 else:
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157 self.distortionCoefficients = None
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158
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159 def computeUndistortMaps(self):
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160 if self.undistortedImageMultiplication is not None and self.intrinsicCameraMatrix is not None and self.distortionCoefficients is not None:
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161 self.map1, self.map2 = computeUndistortMaps(self.resX, self.resY, self.undistortedImageMultiplication, self.intrinsicCameraMatrix, self.distortionCoefficients)
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162 else:
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163 self.map1 = None
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164 self.map2 = None
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165
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166 class CameraView(Base):
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167 __tablename__ = 'camera_views'
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168 idx = Column(Integer, primary_key=True)
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169 description = Column(String)
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diff changeset
170 homographyFilename = Column(String) # path to homograph filename, relative to the site name
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171 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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172 cameraTypeIdx = Column(Integer, ForeignKey('camera_types.idx'))
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diff changeset
173 trackingConfigurationFilename = Column(String) # path to configuration .cfg file, relative to site name
825
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174 maskFilename = Column(String) # path to mask file, relative to site name
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175 virtual = Column(Boolean) # indicates it is not a real camera view, eg merged
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176
819
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diff changeset
177 site = relationship("Site", backref=backref('sites', order_by = idx))
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178 cameraType = relationship('CameraType', backref=backref('camera_views', order_by = idx))
420
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179
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180 def __init__(self, description, homographyFilename, site, cameraType, trackingConfigurationFilename, maskFilename, virtual = False):
821
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diff changeset
181 self.description = description
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diff changeset
182 self.homographyFilename = homographyFilename
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diff changeset
183 self.site = site
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184 self.cameraType = cameraType
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185 self.trackingConfigurationFilename = trackingConfigurationFilename
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186 self.maskFilename = maskFilename
836
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diff changeset
187 self.virtual = virtual
421
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diff changeset
188
422
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diff changeset
189 def getHomographyFilename(self, relativeToSiteFilename = True):
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diff changeset
190 if relativeToSiteFilename:
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diff changeset
191 return self.site.getFilename()+path.sep+self.homographyFilename
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diff changeset
192 else:
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diff changeset
193 return self.homographyFilename
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diff changeset
194
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195 def getTrackingConfigurationFilename(self, relativeToSiteFilename = True):
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196 if relativeToSiteFilename:
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197 return self.site.getFilename()+path.sep+self.trackingConfigurationFilename
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198 else:
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199 return self.trackingConfigurationFilename
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200
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diff changeset
201 def getMaskFilename(self, relativeToSiteFilename = True):
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diff changeset
202 if relativeToSiteFilename:
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diff changeset
203 return self.site.getFilename()+path.sep+self.maskFilename
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diff changeset
204 else:
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205 return self.maskFilename
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206
819
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diff changeset
207 def getTrackingParameters(self):
825
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diff changeset
208 return ProcessParameters(self.getTrackingConfigurationFilename())
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diff changeset
209
825
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diff changeset
210 def getHomographyDistanceUnit(self):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
211 return self.site.worldDistanceUnit
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diff changeset
212
580
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213 class Alignment(Base):
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diff changeset
214 __tablename__ = 'alignments'
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diff changeset
215 idx = Column(Integer, primary_key=True)
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diff changeset
216 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
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diff changeset
217
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diff changeset
218 cameraView = relationship("CameraView", backref=backref('alignments', order_by = idx))
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diff changeset
219
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diff changeset
220 def __init__(self, cameraView):
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diff changeset
221 self.cameraView = cameraView
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diff changeset
222
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diff changeset
223 class Point(Base):
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diff changeset
224 __tablename__ = 'points'
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diff changeset
225 alignmentIdx = Column(Integer, ForeignKey('alignments.idx'), primary_key=True)
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diff changeset
226 index = Column(Integer, primary_key=True) # order of points in this alignment
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diff changeset
227 x = Column(Float)
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diff changeset
228 y = Column(Float)
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diff changeset
229
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diff changeset
230 alignment = relationship("Alignment", backref=backref('points', order_by = index))
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diff changeset
231
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diff changeset
232 def __init__(self, alignmentIdx, index, x, y):
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diff changeset
233 self.alignmentIdx = alignmentIdx
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diff changeset
234 self.index = index
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diff changeset
235 self.x = x
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diff changeset
236 self.y = y
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diff changeset
237
420
def795d1120f first work on video metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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238 class VideoSequence(Base):
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parents:
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239 __tablename__ = 'video_sequences'
580
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diff changeset
240 idx = Column(Integer, primary_key=True)
422
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diff changeset
241 name = Column(String) # path relative to the the site name
420
def795d1120f first work on video metadata
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parents:
diff changeset
242 startTime = Column(DateTime)
821
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diff changeset
243 duration = Column(Interval) # video sequence duration
819
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diff changeset
244 databaseFilename = Column(String) # path relative to the the site name
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diff changeset
245 virtual = Column(Boolean) # indicates it is not a real video sequence (no video file), eg merged
580
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diff changeset
246 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
420
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parents:
diff changeset
247
580
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diff changeset
248 cameraView = relationship("CameraView", backref=backref('video_sequences', order_by = idx))
420
def795d1120f first work on video metadata
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parents:
diff changeset
249
836
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diff changeset
250 def __init__(self, name, startTime, duration, cameraView, databaseFilename = None, virtual = False):
821
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diff changeset
251 '''startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39
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diff changeset
252 duration is a timedelta object'''
421
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diff changeset
253 self.name = name
828
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diff changeset
254 if isinstance(startTime, str):
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diff changeset
255 self.startTime = datetime.strptime(startTime, datetimeFormat)
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diff changeset
256 else:
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diff changeset
257 self.startTime = startTime
421
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258 self.duration = duration
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259 self.cameraView = cameraView
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260 if databaseFilename is None and len(self.name) > 0:
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261 self.databaseFilename = removeExtension(self.name)+'.sqlite'
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262 else:
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263 self.databaseFilename = databaseFilename
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264 self.virtual = virtual
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265
422
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266 def getVideoSequenceFilename(self, relativeToSiteFilename = True):
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267 if relativeToSiteFilename:
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268 return self.cameraView.site.getFilename()+path.sep+self.name
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269 else:
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270 return self.name
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271
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272 def getDatabaseFilename(self, relativeToSiteFilename = True):
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273 if relativeToSiteFilename:
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274 return self.cameraView.site.getFilename()+path.sep+self.databaseFilename
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275 else:
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276 return self.databaseFilename
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277
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278 def getTimeInterval(self):
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279 return TimeInterval(self.startTime, self.startTime+self.duration)
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280
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281 def containsInstant(self, instant):
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282 'instant is a datetime'
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283 return self.startTime <= instant and self.startTime+self.duration
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284
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285 def intersection(self, startTime, endTime):
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286 'returns the moving.TimeInterval intersection with [startTime, endTime]'
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287 return TimeInterval.intersection(self.getTimeInterval(), TimeInterval(startTime, endTime))
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288
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289 def getFrameNum(self, instant):
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290 'Warning, there is no check of correct time units'
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291 if self.containsInstant(instant):
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292 return int(floor((instant-self.startTime).seconds*self.cameraView.cameraType.frameRate))
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293 else:
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294 return None
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295
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296 # 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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297
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298 # class SiteDescription(Base): # list of lines and polygons describing the site, eg for sidewalks, center lines
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299
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300 # class Analysis(Base): # parameters necessary for processing the data: free form
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301 # eg bounding box depends on camera view, tracking configuration depends on camera view
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302 # results: sqlite
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303
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304 def createDatabase(filename):
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305 'creates a session to query the filename'
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306 engine = create_engine('sqlite:///'+filename)
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307 Base.metadata.create_all(engine)
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308 Session = sessionmaker(bind=engine)
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309 return Session()
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310
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311 def connectDatabase(filename):
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312 'creates a session to query the filename'
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313 engine = create_engine('sqlite:///'+filename)
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314 Session = sessionmaker(bind=engine)
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315 return Session()
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316
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317 def initializeSites(session, directoryName):
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318 '''Initializes default site objects and Camera Views
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319
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320 eg somedirectory/montreal/ contains intersection1, intersection2, etc.
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321 The site names would be somedirectory/montreal/intersection1, somedirectory/montreal/intersection2, etc.'''
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322 from os import listdir, path
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323 sites = []
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324 cameraViews = []
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325 names = listdir(directoryName)
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326 for name in names:
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327 if path.isdir(directoryName+'/'+name):
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328 sites.append(Site(directoryName+'/'+name, None))
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329 cameraViews.append(CameraView(-1, None, None, sites[-1], None))
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330 session.add_all(sites)
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331 session.add_all(cameraViews)
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332 session.commit()
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333 # TODO crawler for video files?