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annotate python/metadata.py @ 836:7058a40a4bbc

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updated metadata and code to merge features from different cameras
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 06 Jul 2016 10:18:35 -0400
parents 2a5856961933
children 2918de3d40fc
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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 moving import TimeInterval
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15
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16 Base = declarative_base()
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17
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18 class Site(Base):
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19 __tablename__ = 'sites'
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20 idx = Column(Integer, primary_key=True)
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21 name = Column(String) # same as path, relative to the database position
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22 description = Column(String) # longer names, eg intersection of road1 and road2
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23 xcoordinate = Column(Float) # ideally moving.Point, but needs to be
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24 ycoordinate = Column(Float)
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25 mapImageFilename = Column(String) # path to filename, relative to site name, ie sitename/mapImageFilename
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26 nUnitsPerPixel = Column(Float) # number of units of distance per pixel in map image
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27 worldDistanceUnit = Column(String, default = 'm') # make sure it is default in the database
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29 def __init__(self, name, description = "", xcoordinate = None, ycoordinate = None, mapImageFilename = None, nUnitsPerPixel = 1., worldDistanceUnit = 'm'):
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30 self.name = name
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31 self.description = description
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32 self.xcoordinate = xcoordinate
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33 self.ycoordinate = ycoordinate
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34 self.mapImageFilename = mapImageFilename
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35 self.nUnitsPerPixel = nUnitsPerPixel
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36 self.worldDistanceUnit = worldDistanceUnit
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37
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38 def getFilename(self):
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39 return self.name
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40
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41 @staticmethod
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42 def getSite(session, siteId):
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43 'Returns the site(s) matching the index or the name'
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44 if str.isdigit(siteId):
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45 return session.query(Site).filter(Site.idx == int(siteId)).all()
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46 else:
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47 return session.query(Site).filter(Site.description.like('%'+siteId+'%')).all()
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48
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49
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50 class EnvironementalFactors(Base):
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51 '''Represents any environmental factors that may affect the results, in particular
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52 * changing weather conditions
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53 * changing road configuration, geometry, signalization, etc.
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54 ex: sunny, rainy, before counter-measure, after counter-measure'''
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55 __tablename__ = 'environmental_factors'
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56 idx = Column(Integer, primary_key=True)
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57 startTime = Column(DateTime)
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58 endTime = Column(DateTime)
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59 description = Column(String) # eg sunny, before, after
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60 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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61
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62 site = relationship("Site", backref=backref('environmental_factors', order_by = idx))
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63
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64 def __init__(self, startTime, endTime, description, site):
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65 'startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39'
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66 self.startTime = datetime.strptime(startTime, datetimeFormat)
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67 self.endTime = datetime.strptime(endTime, datetimeFormat)
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68 self.description = description
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69 self.site = site
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70
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71 class CameraType(Base):
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72 ''' Represents parameters of the specific camera used.
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73
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74 Taken and adapted from tvalib'''
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75 __tablename__ = 'camera_types'
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76 idx = Column(Integer, primary_key=True)
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77 name = Column(String)
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78 resX = Column(Integer)
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79 resY = Column(Integer)
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80 frameRate = Column(Float)
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81 frameRateTimeUnit = Column(String, default = 's')
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82 intrinsicCameraMatrix00 = Column(Float)
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83 intrinsicCameraMatrix01 = Column(Float)
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84 intrinsicCameraMatrix02 = Column(Float)
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85 intrinsicCameraMatrix10 = Column(Float)
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86 intrinsicCameraMatrix11 = Column(Float)
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87 intrinsicCameraMatrix12 = Column(Float)
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88 intrinsicCameraMatrix20 = Column(Float)
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89 intrinsicCameraMatrix21 = Column(Float)
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90 intrinsicCameraMatrix22 = Column(Float)
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91 distortionCoefficients0 = Column(Float)
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92 distortionCoefficients1 = Column(Float)
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93 distortionCoefficients2 = Column(Float)
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94 distortionCoefficients3 = Column(Float)
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95 distortionCoefficients4 = Column(Float)
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96 undistortedImageMultiplication = Column(Float)
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97
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98 def __init__(self, name, resX, resY, frameRate, frameRateTimeUnit = 's', trackingConfigurationFilename = None, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = None):
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99 self.name = name
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100 self.resX = resX
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101 self.resY = resY
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102 self.frameRate = frameRate
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103 self.frameRateTimeUnit = frameRateTimeUnit
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104
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105 if trackingConfigurationFilename is not None:
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106 from storage import ProcessParameters
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107 params = ProcessParameters(trackingConfigurationFilename)
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108 self.intrinsicCameraMatrix = params.intrinsicCameraMatrix
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109 self.distortionCoefficients = params.distortionCoefficients
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110 self.undistortedImageMultiplication = params.undistortedImageMultiplication
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111 else:
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112 self.intrinsicCameraMatrix = intrinsicCameraMatrix
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113 self.distortionCoefficients = distortionCoefficients
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114 self.undistortedImageMultiplication = undistortedImageMultiplication
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115
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116 if self.intrinsicCameraMatrix is not None and self.intrinsicCameraMatrix.size == 9:
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117 self.intrinsicCameraMatrix00 = self.intrinsicCameraMatrix[0,0]
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118 self.intrinsicCameraMatrix01 = self.intrinsicCameraMatrix[0,1]
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119 self.intrinsicCameraMatrix02 = self.intrinsicCameraMatrix[0,2]
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120 self.intrinsicCameraMatrix10 = self.intrinsicCameraMatrix[1,0]
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121 self.intrinsicCameraMatrix11 = self.intrinsicCameraMatrix[1,1]
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122 self.intrinsicCameraMatrix12 = self.intrinsicCameraMatrix[1,2]
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123 self.intrinsicCameraMatrix20 = self.intrinsicCameraMatrix[2,0]
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124 self.intrinsicCameraMatrix21 = self.intrinsicCameraMatrix[2,1]
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125 self.intrinsicCameraMatrix22 = self.intrinsicCameraMatrix[2,2]
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126 if self.distortionCoefficients is not None and len(self.distortionCoefficients) == 5:
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127 self.distortionCoefficients0 = self.distortionCoefficients[0]
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128 self.distortionCoefficients1 = self.distortionCoefficients[1]
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129 self.distortionCoefficients2 = self.distortionCoefficients[2]
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130 self.distortionCoefficients3 = self.distortionCoefficients[3]
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131 self.distortionCoefficients4 = self.distortionCoefficients[4]
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132
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133 @orm.reconstructor
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134 def initOnLoad(self):
825
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135 if self.intrinsicCameraMatrix00 is not None:
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diff changeset
136 self.intrinsicCameraMatrix = zeros((3,3))
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diff changeset
137 self.intrinsicCameraMatrix[0,0] = self.intrinsicCameraMatrix00
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138 self.intrinsicCameraMatrix[0,1] = self.intrinsicCameraMatrix01
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diff changeset
139 self.intrinsicCameraMatrix[0,2] = self.intrinsicCameraMatrix02
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diff changeset
140 self.intrinsicCameraMatrix[1,0] = self.intrinsicCameraMatrix10
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141 self.intrinsicCameraMatrix[1,1] = self.intrinsicCameraMatrix11
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142 self.intrinsicCameraMatrix[1,2] = self.intrinsicCameraMatrix12
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diff changeset
143 self.intrinsicCameraMatrix[2,0] = self.intrinsicCameraMatrix20
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144 self.intrinsicCameraMatrix[2,1] = self.intrinsicCameraMatrix21
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145 self.intrinsicCameraMatrix[2,2] = self.intrinsicCameraMatrix22
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146 else:
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147 self.intrinsicCameraMatrix = None
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148 if self.distortionCoefficients0 is not None:
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149 self.distortionCoefficients = [0]*5
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diff changeset
150 self.distortionCoefficients[0] = self.distortionCoefficients0
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diff changeset
151 self.distortionCoefficients[1] = self.distortionCoefficients1
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152 self.distortionCoefficients[2] = self.distortionCoefficients2
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153 self.distortionCoefficients[3] = self.distortionCoefficients3
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154 self.distortionCoefficients[4] = self.distortionCoefficients4
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155 else:
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156 self.distortionCoefficients = None
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157
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158 class CameraView(Base):
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159 __tablename__ = 'camera_views'
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160 idx = Column(Integer, primary_key=True)
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161 description = Column(String)
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162 homographyFilename = Column(String) # path to homograph filename, relative to the site name
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163 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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164 cameraTypeIdx = Column(Integer, ForeignKey('camera_types.idx'))
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165 trackingConfigurationFilename = Column(String) # path to configuration .cfg file, relative to site name
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166 maskFilename = Column(String) # path to mask file, relative to site name
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167 virtual = Column(Boolean) # indicates it is not a real camera view, eg merged
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168
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169 site = relationship("Site", backref=backref('sites', order_by = idx))
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170 cameraType = relationship('CameraType', backref=backref('camera_views', order_by = idx))
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171
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172 def __init__(self, description, homographyFilename, site, cameraType, trackingConfigurationFilename, maskFilename, virtual = False):
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173 self.description = description
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174 self.homographyFilename = homographyFilename
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175 self.site = site
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176 self.cameraType = cameraType
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177 self.trackingConfigurationFilename = trackingConfigurationFilename
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178 self.maskFilename = maskFilename
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179 self.virtual = virtual
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diff changeset
180
422
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diff changeset
181 def getHomographyFilename(self, relativeToSiteFilename = True):
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diff changeset
182 if relativeToSiteFilename:
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diff changeset
183 return self.site.getFilename()+path.sep+self.homographyFilename
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184 else:
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185 return self.homographyFilename
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186
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187 def getTrackingConfigurationFilename(self, relativeToSiteFilename = True):
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188 if relativeToSiteFilename:
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189 return self.site.getFilename()+path.sep+self.trackingConfigurationFilename
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190 else:
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191 return self.trackingConfigurationFilename
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192
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193 def getMaskFilename(self, relativeToSiteFilename = True):
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194 if relativeToSiteFilename:
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195 return self.site.getFilename()+path.sep+self.maskFilename
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196 else:
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197 return self.maskFilename
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198
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199 def getTrackingParameters(self):
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200 return ProcessParameters(self.getTrackingConfigurationFilename())
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201
825
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202 def getHomographyDistanceUnit(self):
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diff changeset
203 return self.site.worldDistanceUnit
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diff changeset
204
580
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205 class Alignment(Base):
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206 __tablename__ = 'alignments'
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diff changeset
207 idx = Column(Integer, primary_key=True)
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diff changeset
208 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
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diff changeset
209
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diff changeset
210 cameraView = relationship("CameraView", backref=backref('alignments', order_by = idx))
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diff changeset
211
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diff changeset
212 def __init__(self, cameraView):
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213 self.cameraView = cameraView
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diff changeset
214
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215 class Point(Base):
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diff changeset
216 __tablename__ = 'points'
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diff changeset
217 alignmentIdx = Column(Integer, ForeignKey('alignments.idx'), primary_key=True)
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diff changeset
218 index = Column(Integer, primary_key=True) # order of points in this alignment
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diff changeset
219 x = Column(Float)
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diff changeset
220 y = Column(Float)
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diff changeset
221
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diff changeset
222 alignment = relationship("Alignment", backref=backref('points', order_by = index))
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diff changeset
223
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diff changeset
224 def __init__(self, alignmentIdx, index, x, y):
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diff changeset
225 self.alignmentIdx = alignmentIdx
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diff changeset
226 self.index = index
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227 self.x = x
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228 self.y = y
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diff changeset
229
420
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230 class VideoSequence(Base):
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231 __tablename__ = 'video_sequences'
580
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diff changeset
232 idx = Column(Integer, primary_key=True)
422
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233 name = Column(String) # path relative to the the site name
420
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234 startTime = Column(DateTime)
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235 duration = Column(Interval) # video sequence duration
819
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diff changeset
236 databaseFilename = Column(String) # path relative to the the site name
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diff changeset
237 virtual = Column(Boolean) # indicates it is not a real video sequence (no video file), eg merged
580
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diff changeset
238 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
420
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diff changeset
239
580
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240 cameraView = relationship("CameraView", backref=backref('video_sequences', order_by = idx))
420
def795d1120f first work on video metadata
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diff changeset
241
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242 def __init__(self, name, startTime, duration, cameraView, databaseFilename = None, virtual = False):
821
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diff changeset
243 '''startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39
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diff changeset
244 duration is a timedelta object'''
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diff changeset
245 self.name = name
828
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diff changeset
246 if isinstance(startTime, str):
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diff changeset
247 self.startTime = datetime.strptime(startTime, datetimeFormat)
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248 else:
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diff changeset
249 self.startTime = startTime
421
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diff changeset
250 self.duration = duration
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diff changeset
251 self.cameraView = cameraView
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252 if databaseFilename is None and len(self.name) > 0:
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253 self.databaseFilename = removeExtension(self.name)+'.sqlite'
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diff changeset
254 self.virtual = virtual
421
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diff changeset
255
422
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diff changeset
256 def getVideoSequenceFilename(self, relativeToSiteFilename = True):
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diff changeset
257 if relativeToSiteFilename:
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258 return self.cameraView.site.getFilename()+path.sep+self.name
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259 else:
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260 return self.name
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261
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262 def getDatabaseFilename(self, relativeToSiteFilename = True):
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263 if relativeToSiteFilename:
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264 return self.cameraView.site.getFilename()+path.sep+self.databaseFilename
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265 else:
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266 return self.databaseFilename
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267
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268 def getTimeInterval(self):
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269 return TimeInterval(self.startTime, self.startTime+self.duration)
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270
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271 def containsInstant(self, instant):
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272 'instant is a datetime'
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273 return self.startTime <= instant and self.startTime+self.duration
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274
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275 def intersection(self, startTime, endTime):
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276 'returns the moving.TimeInterval intersection with [startTime, endTime]'
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277 return TimeInterval.intersection(self.getTimeInterval(), TimeInterval(startTime, endTime))
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278
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279 def getFrameNum(self, instant):
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280 'Warning, there is no check of correct time units'
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281 if self.containsInstant(instant):
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282 return int(floor((instant-self.startTime).seconds*self.cameraView.cameraType.frameRate))
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283 else:
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284 return None
424
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285
422
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286 # 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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287
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288 # class SiteDescription(Base): # list of lines and polygons describing the site, eg for sidewalks, center lines
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289
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290 # class Analysis(Base): # parameters necessary for processing the data: free form
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291 # eg bounding box depends on camera view, tracking configuration depends on camera view
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292 # results: sqlite
421
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293
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294 def createDatabase(filename):
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295 'creates a session to query the filename'
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296 engine = create_engine('sqlite:///'+filename)
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297 Base.metadata.create_all(engine)
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298 Session = sessionmaker(bind=engine)
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299 return Session()
425
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300
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301 def connectDatabase(filename):
425
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302 'creates a session to query the filename'
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303 engine = create_engine('sqlite:///'+filename)
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304 Session = sessionmaker(bind=engine)
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305 return Session()
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306
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307 def initializeSites(session, directoryName):
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308 '''Initializes default site objects and Camera Views
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309
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310 eg somedirectory/montreal/ contains intersection1, intersection2, etc.
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311 The site names would be somedirectory/montreal/intersection1, somedirectory/montreal/intersection2, etc.'''
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312 from os import listdir, path
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313 sites = []
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314 cameraViews = []
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315 names = listdir(directoryName)
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316 for name in names:
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317 if path.isdir(directoryName+'/'+name):
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318 sites.append(Site(directoryName+'/'+name, None))
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319 cameraViews.append(CameraView(-1, None, None, sites[-1], None))
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320 session.add_all(sites)
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321 session.add_all(cameraViews)
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322 session.commit()
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323 # TODO crawler for video files?