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annotate python/metadata.py @ 865:5afa1d30edd8

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minor improvement to path description and path accessors
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 08 Dec 2016 11:07:14 -0500
parents 2d6249fe905a
children 8fba46899e74
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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, loadtxt, array
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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) # path to directory containing all site information (in subdirectories), 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 map image file, 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 getPath(self):
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40 return self.name
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41
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42 def getMapImageFilename(self, relativeToSiteFilename = True):
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43 if relativeToSiteFilename:
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44 return path.join(self.getPath(), self.mapImageFilename)
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45 else:
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46 return self.mapImageFilename
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47
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48 @staticmethod
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49 def getSite(session, siteId):
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50 'Returns the site(s) matching the index or the name'
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51 if str.isdigit(siteId):
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52 return session.query(Site).filter(Site.idx == int(siteId)).all()
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53 else:
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54 return session.query(Site).filter(Site.description.like('%'+siteId+'%')).all()
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55
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56
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57 class EnvironementalFactors(Base):
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58 '''Represents any environmental factors that may affect the results, in particular
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59 * changing weather conditions
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60 * changing road configuration, geometry, signalization, etc.
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61 ex: sunny, rainy, before counter-measure, after counter-measure'''
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62 __tablename__ = 'environmental_factors'
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63 idx = Column(Integer, primary_key=True)
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64 startTime = Column(DateTime)
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65 endTime = Column(DateTime)
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66 description = Column(String) # eg sunny, before, after
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67 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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69 site = relationship("Site", backref=backref('environmental_factors', order_by = idx))
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70
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71 def __init__(self, startTime, endTime, description, site):
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72 'startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39'
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73 self.startTime = datetime.strptime(startTime, datetimeFormat)
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74 self.endTime = datetime.strptime(endTime, datetimeFormat)
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75 self.description = description
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76 self.site = site
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77
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78 class CameraType(Base):
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79 ''' Represents parameters of the specific camera used.
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80
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81 Taken and adapted from tvalib'''
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82 __tablename__ = 'camera_types'
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83 idx = Column(Integer, primary_key=True)
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84 name = Column(String)
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85 resX = Column(Integer)
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86 resY = Column(Integer)
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87 frameRate = Column(Float)
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88 frameRateTimeUnit = Column(String, default = 's')
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89 intrinsicCameraMatrixStr = Column(String)
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90 distortionCoefficientsStr = Column(String)
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91 undistortedImageMultiplication = Column(Float)
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92
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93 def __init__(self, name, resX, resY, frameRate, frameRateTimeUnit = 's', trackingConfigurationFilename = None, intrinsicCameraFilename = None, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = None):
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94 self.name = name
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95 self.resX = resX
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96 self.resY = resY
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97 self.frameRate = frameRate
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98 self.frameRateTimeUnit = frameRateTimeUnit
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99 self.intrinsicCameraMatrix = None # should be np.array
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100 self.distortionCoefficients = None # list
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101
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102 if trackingConfigurationFilename is not None:
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103 from storage import ProcessParameters
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104 params = ProcessParameters(trackingConfigurationFilename)
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105 self.intrinsicCameraMatrix = params.intrinsicCameraMatrix
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106 self.distortionCoefficients = params.distortionCoefficients
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107 self.undistortedImageMultiplication = params.undistortedImageMultiplication
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108 elif intrinsicCameraFilename is not None:
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109 self.intrinsicCameraMatrix = loadtxt(intrinsicCameraFilename)
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110 self.distortionCoefficients = distortionCoefficients
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111 self.undistortedImageMultiplication = 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:
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118 self.intrinsicCameraMatrixStr = '{}'.format(self.intrinsicCameraMatrix.tolist())
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119 if self.distortionCoefficients is not None and len(self.distortionCoefficients) == 5:
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120 self.distortionCoefficientsStr = '{}'.format(self.distortionCoefficients)
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121
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122 @orm.reconstructor
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123 def initOnLoad(self):
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124 if self.intrinsicCameraMatrixStr is not None:
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125 from ast import literal_eval
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126 self.intrinsicCameraMatrix = array(literal_eval(self.intrinsicCameraMatrixStr))
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127 else:
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128 self.intrinsicCameraMatrix = None
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129 if self.distortionCoefficientsStr is not None:
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130 self.distortionCoefficients = literal_eval(self.distortionCoefficientsStr)
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131 else:
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132 self.distortionCoefficients = None
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133
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134 def computeUndistortMaps(self):
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135 if self.undistortedImageMultiplication is not None and self.intrinsicCameraMatrix is not None and self.distortionCoefficients is not None:
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136 self.map1, self.map2 = computeUndistortMaps(self.resX, self.resY, self.undistortedImageMultiplication, self.intrinsicCameraMatrix, self.distortionCoefficients)
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137 else:
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138 self.map1 = None
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139 self.map2 = None
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140
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141 @staticmethod
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142 def getCameraType(session, cameraTypeId, resX = None):
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143 'Returns the site(s) matching the index or the name'
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144 if str.isdigit(cameraTypeId):
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145 return session.query(CameraType).filter(CameraType.idx == int(cameraTypeId)).all()
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146 else:
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147 if resX is not None:
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148 return session.query(CameraType).filter(CameraType.name.like('%'+cameraTypeId+'%')).filter(CameraType.resX == resX).all()
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149 else:
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150 return session.query(CameraType).filter(CameraType.name.like('%'+cameraTypeId+'%')).all()
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151
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152 class CameraView(Base):
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153 __tablename__ = 'camera_views'
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154 idx = Column(Integer, primary_key=True)
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155 description = Column(String)
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156 homographyFilename = Column(String) # path to homograph file, relative to the site name
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157 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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158 cameraTypeIdx = Column(Integer, ForeignKey('camera_types.idx'))
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159 trackingConfigurationFilename = Column(String) # path to configuration .cfg file, relative to site name
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160 maskFilename = Column(String) # path to mask file, relative to site name
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161 virtual = Column(Boolean) # indicates it is not a real camera view, eg merged
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162
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163 site = relationship("Site", backref=backref('sites', order_by = idx))
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164 cameraType = relationship('CameraType', backref=backref('camera_views', order_by = idx))
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165
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166 def __init__(self, description, homographyFilename, site, cameraType, trackingConfigurationFilename, maskFilename, virtual = False):
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167 self.description = description
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168 self.homographyFilename = homographyFilename
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169 self.site = site
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170 self.cameraType = cameraType
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171 self.trackingConfigurationFilename = trackingConfigurationFilename
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172 self.maskFilename = maskFilename
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173 self.virtual = virtual
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174
422
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diff changeset
175 def getHomographyFilename(self, relativeToSiteFilename = True):
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diff changeset
176 if relativeToSiteFilename:
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177 return path.join(self.site.getPath(), self.homographyFilename)
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178 else:
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179 return self.homographyFilename
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diff changeset
180
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181 def getTrackingConfigurationFilename(self, relativeToSiteFilename = True):
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182 if relativeToSiteFilename:
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183 return path.join(self.site.getPath(), self.trackingConfigurationFilename)
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184 else:
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185 return self.trackingConfigurationFilename
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186
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187 def getMaskFilename(self, relativeToSiteFilename = True):
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188 if relativeToSiteFilename:
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189 return path.join(self.site.getPath(), self.maskFilename)
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190 else:
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191 return self.maskFilename
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192
819
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193 def getTrackingParameters(self):
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diff changeset
194 return ProcessParameters(self.getTrackingConfigurationFilename())
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195
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196 def getHomographyDistanceUnit(self):
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diff changeset
197 return self.site.worldDistanceUnit
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diff changeset
198
580
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199 class Alignment(Base):
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200 __tablename__ = 'alignments'
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diff changeset
201 idx = Column(Integer, primary_key=True)
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diff changeset
202 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
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diff changeset
203
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diff changeset
204 cameraView = relationship("CameraView", backref=backref('alignments', order_by = idx))
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diff changeset
205
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206 def __init__(self, cameraView):
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diff changeset
207 self.cameraView = cameraView
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diff changeset
208
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209 class Point(Base):
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diff changeset
210 __tablename__ = 'points'
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diff changeset
211 alignmentIdx = Column(Integer, ForeignKey('alignments.idx'), primary_key=True)
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diff changeset
212 index = Column(Integer, primary_key=True) # order of points in this alignment
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diff changeset
213 x = Column(Float)
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diff changeset
214 y = Column(Float)
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diff changeset
215
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diff changeset
216 alignment = relationship("Alignment", backref=backref('points', order_by = index))
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diff changeset
217
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diff changeset
218 def __init__(self, alignmentIdx, index, x, y):
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diff changeset
219 self.alignmentIdx = alignmentIdx
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diff changeset
220 self.index = index
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diff changeset
221 self.x = x
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diff changeset
222 self.y = y
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diff changeset
223
420
def795d1120f first work on video metadata
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diff changeset
224 class VideoSequence(Base):
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225 __tablename__ = 'video_sequences'
580
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diff changeset
226 idx = Column(Integer, primary_key=True)
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227 name = Column(String) # path to the video file relative to the the site name
420
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diff changeset
228 startTime = Column(DateTime)
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diff changeset
229 duration = Column(Interval) # video sequence duration
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diff changeset
230 databaseFilename = Column(String) # path to the database file relative to the the site name
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diff changeset
231 virtual = Column(Boolean) # indicates it is not a real video sequence (no video file), eg merged
580
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diff changeset
232 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
420
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parents:
diff changeset
233
580
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diff changeset
234 cameraView = relationship("CameraView", backref=backref('video_sequences', order_by = idx))
420
def795d1120f first work on video metadata
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diff changeset
235
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diff changeset
236 def __init__(self, name, startTime, duration, cameraView, databaseFilename = None, virtual = False):
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diff changeset
237 '''startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39
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diff changeset
238 duration is a timedelta object'''
421
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diff changeset
239 self.name = name
828
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diff changeset
240 if isinstance(startTime, str):
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diff changeset
241 self.startTime = datetime.strptime(startTime, datetimeFormat)
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diff changeset
242 else:
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diff changeset
243 self.startTime = startTime
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diff changeset
244 self.duration = duration
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diff changeset
245 self.cameraView = cameraView
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diff changeset
246 if databaseFilename is None and len(self.name) > 0:
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diff changeset
247 self.databaseFilename = removeExtension(self.name)+'.sqlite'
846
37d14818db89 minor bug
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diff changeset
248 else:
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diff changeset
249 self.databaseFilename = databaseFilename
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diff changeset
250 self.virtual = virtual
421
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diff changeset
251
422
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diff changeset
252 def getVideoSequenceFilename(self, relativeToSiteFilename = True):
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diff changeset
253 if relativeToSiteFilename:
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diff changeset
254 return path.join(self.cameraView.site.getPath(), self.name)
422
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diff changeset
255 else:
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diff changeset
256 return self.name
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diff changeset
257
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258 def getDatabaseFilename(self, relativeToSiteFilename = True):
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259 if relativeToSiteFilename:
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260 return path.join(self.cameraView.site.getPath(), self.databaseFilename)
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261 else:
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262 return self.databaseFilename
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263
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264 def getTimeInterval(self):
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265 return TimeInterval(self.startTime, self.startTime+self.duration)
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266
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267 def containsInstant(self, instant):
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268 'instant is a datetime'
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269 return self.startTime <= instant and self.startTime+self.duration
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270
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271 def intersection(self, startTime, endTime):
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272 'returns the moving.TimeInterval intersection with [startTime, endTime]'
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273 return TimeInterval.intersection(self.getTimeInterval(), TimeInterval(startTime, endTime))
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274
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275 def getFrameNum(self, instant):
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276 'Warning, there is no check of correct time units'
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277 if self.containsInstant(instant):
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278 return int(floor((instant-self.startTime).seconds*self.cameraView.cameraType.frameRate))
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279 else:
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280 return None
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281
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282 class TrackingAnnotation(Base):
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283 __tablename__ = 'tracking_annotations'
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284 idx = Column(Integer, primary_key=True)
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285 description = Column(String) # description
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286
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287 # 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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288
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289 # class SiteDescription(Base): # list of lines and polygons describing the site, eg for sidewalks, center lines
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290
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291 # class Analysis(Base): # parameters necessary for processing the data: free form
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292 # eg bounding box depends on camera view, tracking configuration depends on camera view
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293 # results: sqlite
421
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294
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295 def createDatabase(filename):
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296 'creates a session to query the filename'
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297 engine = create_engine('sqlite:///'+filename)
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298 Base.metadata.create_all(engine)
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299 Session = sessionmaker(bind=engine)
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300 return Session()
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301
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302 def connectDatabase(filename):
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303 'creates a session to query the filename'
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304 engine = create_engine('sqlite:///'+filename)
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305 Session = sessionmaker(bind=engine)
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306 return Session()
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307
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308 def initializeSites(session, directoryName):
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309 '''Initializes default site objects and Camera Views
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310
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311 eg somedirectory/montreal/ contains intersection1, intersection2, etc.
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312 The site names would be somedirectory/montreal/intersection1, somedirectory/montreal/intersection2, etc.'''
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313 from os import listdir, path
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314 sites = []
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315 cameraViews = []
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316 names = listdir(directoryName)
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317 for name in names:
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318 if path.isdir(directoryName+'/'+name):
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319 sites.append(Site(directoryName+'/'+name, None))
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320 cameraViews.append(CameraView(-1, None, None, sites[-1], None))
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321 session.add_all(sites)
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322 session.add_all(cameraViews)
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323 session.commit()
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324 # TODO crawler for video files?