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annotate python/metadata.py @ 825:6e4357e9116d

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corrected and changed matrix to individual columns
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 28 Jun 2016 15:55:32 -0400
parents 26daf35180ad
children 14e4ad7c7420
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1 # from moving import Point
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2
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3 from datetime import datetime, timedelta
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4 from os import path
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5 from math import floor
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6
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7 from sqlalchemy import orm, create_engine, Column, Integer, Float, DateTime, String, ForeignKey, Boolean, Interval
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8 from sqlalchemy.orm import relationship, backref, sessionmaker
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9 from sqlalchemy.ext.declarative import declarative_base
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10
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11 from utils import datetimeFormat, removeExtension
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12
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13 Base = declarative_base()
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14
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15 class Site(Base):
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16 __tablename__ = 'sites'
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17 idx = Column(Integer, primary_key=True)
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18 name = Column(String) # same as path, relative to the database position
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19 description = Column(String) # longer names, eg intersection of road1 and road2
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20 xcoordinate = Column(Float) # ideally moving.Point, but needs to be
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21 ycoordinate = Column(Float)
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22 mapImageFilename = Column(String) # path to filename, relative to site name, ie sitename/mapImageFilename
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23 nUnitsPerPixel = Column(Float) # number of units of distance per pixel in map image
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24 worldDistanceUnit = Column(String, default = 'm') # make sure it is default in the database
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26 def __init__(self, name, description = "", xcoordinate = None, ycoordinate = None, mapImageFilename = None, nUnitsPerPixel = 1., worldDistanceUnit = 'm'):
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27 self.name = name
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28 self.description = description
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29 self.xcoordinate = xcoordinate
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30 self.ycoordinate = ycoordinate
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31 self.mapImageFilename = mapImageFilename
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32 self.nUnitsPerPixel = nUnitsPerPixel
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33 self.worldDistanceUnit = worldDistanceUnit
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34
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35 def getFilename(self):
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36 return self.name
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37
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38 class EnvironementalFactors(Base):
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39 '''Represents any environmental factors that may affect the results, in particular
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40 * changing weather conditions
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41 * changing road configuration, geometry, signalization, etc.
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42 ex: sunny, rainy, before counter-measure, after counter-measure'''
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43 __tablename__ = 'environmental_factors'
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44 idx = Column(Integer, primary_key=True)
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45 startTime = Column(DateTime)
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46 endTime = Column(DateTime)
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47 description = Column(String) # eg sunny, before, after
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48 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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50 site = relationship("Site", backref=backref('environmental_factors', order_by = idx))
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51
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52 def __init__(self, startTime, endTime, description, site):
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53 'startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39'
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54 self.startTime = datetime.strptime(startTime, datetimeFormat)
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55 self.endTime = datetime.strptime(endTime, datetimeFormat)
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56 self.description = description
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57 self.site = site
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58
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59 class CameraType(Base):
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60 ''' Represents parameters of the specific camera used.
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61
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62 Taken and adapted from tvalib'''
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63 __tablename__ = 'camera_types'
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64 idx = Column(Integer, primary_key=True)
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65 name = Column(String)
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66 resX = Column(Integer)
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67 resY = Column(Integer)
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68 frameRate = Column(Float)
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69 frameRateTimeUnit = Column(String, default = 's')
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70 intrinsicCameraMatrix00 = Column(Float)
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71 intrinsicCameraMatrix01 = Column(Float)
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72 intrinsicCameraMatrix02 = Column(Float)
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73 intrinsicCameraMatrix10 = Column(Float)
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74 intrinsicCameraMatrix11 = Column(Float)
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75 intrinsicCameraMatrix12 = Column(Float)
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76 intrinsicCameraMatrix20 = Column(Float)
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77 intrinsicCameraMatrix21 = Column(Float)
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78 intrinsicCameraMatrix22 = Column(Float)
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79 distortionCoefficients0 = Column(Float)
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80 distortionCoefficients1 = Column(Float)
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81 distortionCoefficients2 = Column(Float)
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82 distortionCoefficients3 = Column(Float)
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83 distortionCoefficients4 = Column(Float)
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84 undistortedImageMultiplication = Column(Float)
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85
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86 def __init__(self, name, resX, resY, frameRate, frameRateTimeUnit = 's', trackingConfigurationFilename = None, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = None):
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87 self.name = name
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88 self.resX = resX
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89 self.resY = resY
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90 self.frameRate = frameRate
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91 self.frameRateTimeUnit = frameRateTimeUnit
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92
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93 if trackingConfigurationFilename is not None:
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94 from storage import ProcessParameters
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95 params = ProcessParameters(trackingConfigurationFilename)
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96 self.intrinsicCameraMatrix = params.intrinsicCameraMatrix
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97 self.distortionCoefficients = params.distortionCoefficients
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98 self.undistortedImageMultiplication = params.undistortedImageMultiplication
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99 else:
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100 self.intrinsicCameraMatrix = intrinsicCameraMatrix
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101 self.distortionCoefficients = distortionCoefficients
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102 self.undistortedImageMultiplication = undistortedImageMultiplication
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103
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104 if self.intrinsicCameraMatrix is not None and self.intrinsicCameraMatrix.size == 9:
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105 self.intrinsicCameraMatrix00 = self.intrinsicCameraMatrix[0,0]
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106 self.intrinsicCameraMatrix01 = self.intrinsicCameraMatrix[0,1]
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107 self.intrinsicCameraMatrix02 = self.intrinsicCameraMatrix[0,2]
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108 self.intrinsicCameraMatrix10 = self.intrinsicCameraMatrix[1,0]
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109 self.intrinsicCameraMatrix11 = self.intrinsicCameraMatrix[1,1]
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110 self.intrinsicCameraMatrix12 = self.intrinsicCameraMatrix[1,2]
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111 self.intrinsicCameraMatrix20 = self.intrinsicCameraMatrix[2,0]
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112 self.intrinsicCameraMatrix21 = self.intrinsicCameraMatrix[2,1]
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113 self.intrinsicCameraMatrix22 = self.intrinsicCameraMatrix[2,2]
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114 if self.distortionCoefficients is not None and len(self.distortionCoefficients) == 5:
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115 self.distortionCoefficients0 = self.distortionCoefficients[0]
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116 self.distortionCoefficients1 = self.distortionCoefficients[1]
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117 self.distortionCoefficients2 = self.distortionCoefficients[2]
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118 self.distortionCoefficients3 = self.distortionCoefficients[3]
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119 self.distortionCoefficients4 = self.distortionCoefficients[4]
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120
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121 @orm.reconstructor
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122 def initOnLoad(self):
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123 from numpy import zeros
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124 if self.intrinsicCameraMatrix00 is not None:
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125 self.intrinsicCameraMatrix = zeros((3,3))
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126 self.intrinsicCameraMatrix[0,0] = self.intrinsicCameraMatrix00
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127 self.intrinsicCameraMatrix[0,1] = self.intrinsicCameraMatrix01
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128 self.intrinsicCameraMatrix[0,2] = self.intrinsicCameraMatrix02
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129 self.intrinsicCameraMatrix[1,0] = self.intrinsicCameraMatrix10
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130 self.intrinsicCameraMatrix[1,1] = self.intrinsicCameraMatrix11
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131 self.intrinsicCameraMatrix[1,2] = self.intrinsicCameraMatrix12
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132 self.intrinsicCameraMatrix[2,0] = self.intrinsicCameraMatrix20
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133 self.intrinsicCameraMatrix[2,1] = self.intrinsicCameraMatrix21
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134 self.intrinsicCameraMatrix[2,2] = self.intrinsicCameraMatrix22
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135 else:
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136 self.intrinsicCameraMatrix = None
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137 if self.distortionCoefficients0 is not None:
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138 self.distortionCoefficients = [0]*5
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139 self.distortionCoefficients[0] = self.distortionCoefficients0
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140 self.distortionCoefficients[1] = self.distortionCoefficients1
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141 self.distortionCoefficients[2] = self.distortionCoefficients2
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142 self.distortionCoefficients[3] = self.distortionCoefficients3
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143 self.distortionCoefficients[4] = self.distortionCoefficients4
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144 else:
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145 self.distortionCoefficients = None
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146
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147 class CameraView(Base):
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148 __tablename__ = 'camera_views'
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149 idx = Column(Integer, primary_key=True)
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150 description = Column(String)
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151 homographyFilename = Column(String) # path to homograph filename, relative to the site name
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152 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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153 cameraTypeIdx = Column(Integer, ForeignKey('camera_types.idx'))
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154 trackingConfigurationFilename = Column(String) # path to configuration .cfg file, relative to site name
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155 maskFilename = Column(String) # path to mask file, relative to site name
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156
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157 site = relationship("Site", backref=backref('sites', order_by = idx))
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158 cameraType = relationship('CameraType', backref=backref('camera_views', order_by = idx))
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159
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160 def __init__(self, description, homographyFilename, site, cameraType, trackingConfigurationFilename, maskFilename):
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161 self.description = description
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162 self.homographyFilename = homographyFilename
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163 self.site = site
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164 self.cameraType = cameraType
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165 self.trackingConfigurationFilename = trackingConfigurationFilename
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166 self.maskFilename = maskFilename
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167
422
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168 def getHomographyFilename(self, relativeToSiteFilename = True):
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169 if relativeToSiteFilename:
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170 return self.site.getFilename()+path.sep+self.homographyFilename
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171 else:
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172 return self.homographyFilename
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173
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174 def getTrackingConfigurationFilename(self, relativeToSiteFilename = True):
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175 if relativeToSiteFilename:
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176 return self.site.getFilename()+path.sep+self.trackingConfigurationFilename
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177 else:
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178 return self.trackingConfigurationFilename
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179
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180 def getMaskFilename(self, relativeToSiteFilename = True):
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181 if relativeToSiteFilename:
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182 return self.site.getFilename()+path.sep+self.maskFilename
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183 else:
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184 return self.maskFilename
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185
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186 def getTrackingParameters(self):
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187 return ProcessParameters(self.getTrackingConfigurationFilename())
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188
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189 def getHomographyDistanceUnit(self):
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190 return self.site.worldDistanceUnit
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191
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192 class Alignment(Base):
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193 __tablename__ = 'alignments'
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194 idx = Column(Integer, primary_key=True)
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195 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
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196
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197 cameraView = relationship("CameraView", backref=backref('alignments', order_by = idx))
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198
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199 def __init__(self, cameraView):
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200 self.cameraView = cameraView
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201
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202 class Point(Base):
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203 __tablename__ = 'points'
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204 alignmentIdx = Column(Integer, ForeignKey('alignments.idx'), primary_key=True)
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205 index = Column(Integer, primary_key=True) # order of points in this alignment
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206 x = Column(Float)
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207 y = Column(Float)
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208
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209 alignment = relationship("Alignment", backref=backref('points', order_by = index))
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210
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211 def __init__(self, alignmentIdx, index, x, y):
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212 self.alignmentIdx = alignmentIdx
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213 self.index = index
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214 self.x = x
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215 self.y = y
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216
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217 class VideoSequence(Base):
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218 __tablename__ = 'video_sequences'
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219 idx = Column(Integer, primary_key=True)
422
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220 name = Column(String) # path relative to the the site name
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221 startTime = Column(DateTime)
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222 duration = Column(Interval) # video sequence duration
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223 databaseFilename = Column(String) # path relative to the the site name
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224 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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225 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
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226
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227 site = relationship("Site", backref=backref('video_sequences', order_by = idx))
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228 cameraView = relationship("CameraView", backref=backref('video_sequences', order_by = idx))
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229
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230 def __init__(self, name, startTime, duration, site, cameraView, databaseFilename = None):
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231 '''startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39
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232 duration is a timedelta object'''
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233 self.name = name
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234 self.startTime = datetime.strptime(startTime, datetimeFormat)
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235 self.duration = duration
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236 self.site = site
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237 self.cameraView = cameraView
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238 if databaseFilename is None and len(self.name) > 0:
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239 self.databaseFilename = removeExtension(self.name)+'.sqlite'
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240
422
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241 def getVideoSequenceFilename(self, relativeToSiteFilename = True):
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242 if relativeToSiteFilename:
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243 return self.site.getFilename()+path.sep+self.name
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244 else:
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245 return self.name
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246
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247 def containsInstant(self, instant):
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248 'instant is a datetime'
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249 return self.startTime <= instant and self.startTime+self.duration
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250
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251 def getFrameNum(self, instant):
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252 'Warning, there is no check of correct time units'
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253 if self.containsInstant(instant):
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254 return int(floor((instant-self.startTime).seconds*self.cameraView.cameraType.frameRate))
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255 else:
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256 return None
424
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257
422
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258 # 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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259
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260 # class SiteDescription(Base): # list of lines and polygons describing the site, eg for sidewalks, center lines
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261
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262 # class Analysis(Base): # parameters necessary for processing the data: free form
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263 # eg bounding box depends on camera view, tracking configuration depends on camera view
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264 # results: sqlite
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265
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266 def createDatabase(filename):
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267 'creates a session to query the filename'
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268 engine = create_engine('sqlite:///'+filename)
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269 Base.metadata.create_all(engine)
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270 Session = sessionmaker(bind=engine)
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271 return Session()
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272
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273 def connectDatabase(filename):
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274 'creates a session to query the filename'
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275 engine = create_engine('sqlite:///'+filename)
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276 Session = sessionmaker(bind=engine)
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277 return Session()
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278
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279 def initializeSites(session, directoryName):
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280 '''Initializes default site objects and Camera Views
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281
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282 eg somedirectory/montreal/ contains intersection1, intersection2, etc.
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283 The site names would be somedirectory/montreal/intersection1, somedirectory/montreal/intersection2, etc.'''
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284 from os import listdir, path
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285 sites = []
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286 cameraViews = []
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287 names = listdir(directoryName)
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288 for name in names:
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289 if path.isdir(directoryName+'/'+name):
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290 sites.append(Site(directoryName+'/'+name, None))
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291 cameraViews.append(CameraView(-1, None, None, sites[-1], None))
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292 session.add_all(sites)
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293 session.add_all(cameraViews)
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294 session.commit()
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295 # TODO crawler for video files?