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annotate scripts/polytracktopdtv.py @ 998:933670761a57

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updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 27 May 2018 23:22:48 -0400
parents 3058e00887bc
children cc5cb04b04b0
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rev   line source
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
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1 #! /usr/bin/env python3
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2
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3 from pdtv import TsaiCamera, ZipVideo, SyncedVideos, TrackSet, Track, State
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4 import sys, os, datetime, argparse
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5 import shutil
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6 import sqlite3
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7 import zipfile
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8 import utils
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9 import cvutils
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10 import cv2
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11
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12
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13 def zipFolder(inputFolder, outputFile):
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14 '''Method to compress the content of the inputFolder in the outputFile'''
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15 zip = zipfile.ZipFile(outputFile, 'w')
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16 for root, dirs, files in os.walk(inputFolder):
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17 for file in files:
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18 zip.write(root+file, file)
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19 zip.close()
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24 def getTypeDict(cursor):
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25 '''Return a dictionnary with integer key and associated type string
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26 i.e.: "0" -> "unknown"
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27 "1" -> "car"
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28 "2" -> "pedestrians"
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29 "3" -> "motorcycle"
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30 "4" -> "bicycle"
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31 "5" -> "bus"
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32 "6" -> "truck"
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33 ... and other type if the objects_type table is defined in SQLite'''
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34 typeDict = dict()
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35 cursor.execute("SELECT name FROM sqlite_master WHERE type='table' AND name='objects_type'")
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36 data = cursor.fetchone()
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37
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38 if(data is None):
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39 typeDict["0"] = "unknown"
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40 typeDict["1"] = "car"
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41 typeDict["2"] = "pedestrians"
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42 typeDict["3"] = "motorcycle"
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43 typeDict["4"] = "bicycle"
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44 typeDict["5"] = "bus"
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45 typeDict["6"] = "truck"
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46
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47 else:
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48 cursor.execute("SELECT road_user_type, type_string FROM objects_type")
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49 for row in cursor:
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50 typeDict[row[0]]= row[1]
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51
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52 return typeDict
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53
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54 def extractFrames(videoFile, framePath, fps, time, firstFrameNum = 0, lastFrameNum = None):
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55 '''Method to extract all the frames of the video'''
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56 print('Extracting frame')
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57 deltaTimestamp = 1000.0/float(fps);
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58 time+=datetime.timedelta(microseconds=firstFrameNum*deltaTimestamp*1000)
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59
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60 inc = 1000 #How many frame we fetch in the video at a time
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61
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62 if lastFrameNum is not None:
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63 delta = lastFrameNum-firstFrameNum
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64 if delta < inc:
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65 inc = delta
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66
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67 currentIdx = firstFrameNum
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68 frameList = cvutils.getImagesFromVideo(videoFile, firstFrameNum = currentIdx, nFrames = inc)
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69
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70 while len(frameList) == inc and inc > 0:
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71 for f in frameList:
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72 cv2.imwrite(os.path.join(framePath,time.strftime("%Y%m%d-%H%M%S.%f")[:-3]+'.jpg'), f)
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73 time += datetime.timedelta(microseconds=deltaTimestamp*1000)
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74 currentIdx = currentIdx + inc
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75
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76 if lastFrameNum is not None:
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77 delta = lastFrameNum-currentIdx
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78 if delta < inc:
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79 inc = delta
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80 if inc:
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81 frameList = cvutils.getImagesFromVideo(videoFile, firstFrameNum = currentIdx, nFrames = inc)
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82 print('Extracting frame {}'.format(currentIdx))
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83 return len(frameList) > 0
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84
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85
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86
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87 def convertDatabase(workDirname, sectionName, sceneFilename = None, databaseFilename = None, videoFilename = None, videoFolderExist = False, firstFrameNum = 0, lastFrameNum = None, cameraCalibrationFilename = None, outputFileName = 'roaduser.json'):
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88 '''
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89 Method to convert database from polytrack to PDTV:
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90 workDirname is the current working directory
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91 sceneFilename is the path to the .cfg file
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92 sectionName is the name of the section we want to process in this file
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93 videoFolderExist specifiy if we want to reextract the video frame or if they already exist at workdir/videoframes/
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94 firstFrameNum is the first frame we want to extract
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95 lastFrameNum is the last frame we want to extract (or None if we want to extract everything)
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96 '''
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97 error = False
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98 if sceneFilename is not None:
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99 scene = utils.SceneParameters.loadConfigFile(os.path.join(workDirname, sceneFilename))
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100 time = scene[sectionName].date
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101 inputDb = os.path.join(workDirname, scene[sectionName].databaseFilename)
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102 videoFile = os.path.join(workDirname, scene[sectionName].videoFilename)
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103
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104 if databaseFilename is not None:
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105 inputDb = os.path.join(workDirname, databaseFilename)
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106 if videoFilename is not None:
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107 videoFile = os.path.join(workDirname, videoFilename)
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108 # elif videoFolderExist == False:
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109 # print('No video path specified')
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110 # error = True
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112 videoFolderPath = os.path.join(workDirname, "videoframes/")
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113 fileName = sectionName
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114
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115 if videoFile is not None:
403
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116 fps = cvutils.getFPS(videoFile)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
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parents: 636
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117 print('Video should run at {} fps'.format(fps))
403
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118 deltaTimestamp = 1000.0/float(fps);
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parents: 402
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119 if videoFolderExist == False:
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120 if os.path.exists(videoFolderPath):
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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diff changeset
121 shutil.rmtree(videoFolderPath)
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122 utils.mkdir(videoFolderPath)
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parents: 402
diff changeset
123 if extractFrames(videoFile, videoFolderPath, fps, time, firstFrameNum, lastFrameNum) == 0:
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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parents: 402
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124 print("Error. Frame were not extracted")
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125 error = True
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126
402
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127
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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128 if not error:
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129 masterTimestamp = 0.0
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130 masterTimestampList = list()
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131 video_timestringsList = list()
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132 frameNumberToMasterTimestamp = dict()
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133 for r,d,f in os.walk(videoFolderPath):
403
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diff changeset
134 i = firstFrameNum
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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135 for files in f:
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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136 name, ext = os.path.splitext(files)
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137 video_timestringsList.append(name)
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138 masterTimestampList.append(masterTimestamp)
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139 frameNumberToMasterTimestamp[i] = masterTimestamp
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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140 i = i +1
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141 masterTimestamp = masterTimestamp+deltaTimestamp
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142
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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143 inputZipVideoName = fileName+".zip"
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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144 print('Zipping files...')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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145 if not os.path.exists(inputZipVideoName) or not videoFolderExist:
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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146 zipFolder(videoFolderPath, inputZipVideoName)
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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147 print('Zipping files...Done.')
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148 #We generate the structure for ZipVideo
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diff changeset
149 if cameraCalibrationFilename is not None:
403
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diff changeset
150 calibrationFile = cameraCalibrationFilename
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parents: 402
diff changeset
151 else:
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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diff changeset
152 calibrationFile = 'calib.json'
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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153 zipVideo = ZipVideo(video_zip_file=inputZipVideoName,
403
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diff changeset
154 time_offset=0.0, time_scale=1.0, master_timestamps=masterTimestampList, calibration_file=calibrationFile)
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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155 zipVideo.save(os.path.join(workDirname, 'video.json'))
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156
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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157 print('ZipVideo saved')
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158 obj = SyncedVideos(master_timestamps = [masterTimestamp],
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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159 video_timestrings = [video_timestringsList],
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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diff changeset
160 video_files = ['video.json'],
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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diff changeset
161 fps=fps)
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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162 obj.save(os.path.join(workDirname, 'syncedvideo.json'))
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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163
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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164 print('SyncedVideos saved')
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165
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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166 print('Opening db')
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167 connection = sqlite3.connect(inputDb)
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168 cursor = connection.cursor()
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169
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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170
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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171 #Tracket database
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172 trackset = TrackSet(synced_file = ['syncedvideo.json'])
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173
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
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174
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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175 #1) We build the type index dictionnary
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176 typeDict = getTypeDict(cursor)
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177
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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178 idToTrackDict = dict()
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179 #2) We read the object database
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180 cursor.execute("SELECT object_id, road_user_type FROM objects")
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parents:
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181 for row in cursor:
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182 objectId = row[0]
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parents:
diff changeset
183 objectType = row[1]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
184 t = Track(type=typeDict.get(objectType, "unknown"))
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
185 idToTrackDict[objectId] = t;
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
186 trackset.append(t)
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parents:
diff changeset
187 print('Reading boundingbox table')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
188 #3) We read the bounding box table
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
189 cursor.execute("SELECT name FROM sqlite_master WHERE type='table' AND name='bounding_boxes'")
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
190 data = cursor.fetchone()
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diff changeset
191 if data is None:
402
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parents:
diff changeset
192 print('No bounding box table. Maybe it was not generated ?')
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parents:
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193 else:
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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diff changeset
194 cursor.execute("SELECT object_id, frame_number, x_top_left, y_top_left, x_bottom_right, y_bottom_right FROM bounding_boxes")
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parents:
diff changeset
195 for row in cursor:
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parents:
diff changeset
196 objectId = row[0]
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diff changeset
197 frameNumber = row[1]
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198 x_top_left = row[2]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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199 y_top_left = row[3]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
200 x_bottom_right = row[4]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
201 y_bottom_right = row[5]
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
202
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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diff changeset
203 idToTrackDict[objectId].append(State(frame=int(frameNumber), world_position = [0.,0.],
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
204 master_timestamp=frameNumberToMasterTimestamp[int(frameNumber)],
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
205 bounding_boxes=[[(x_top_left, x_bottom_right), (y_top_left, y_bottom_right)]]))
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
206 print('Saving db in json')
403
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
207 trackset.save(os.path.join(workDirname, outputFileName))
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
208 connection.close()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
209 print('Done.')
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
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parents:
diff changeset
210
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
211
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
212
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
213
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
214 if __name__ == "__main__":
403
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
215 parser = argparse.ArgumentParser(description='The program convert polytrack.sqlite database to pdtv bounding boxes', epilog = 'Either the configuration filename or the other parameters (at least video and database filenames) need to be provided.')
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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parents: 402
diff changeset
216 parser.add_argument('-w', dest = 'workDirname', help = 'use a different work directory', default = "./",type = str)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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parents: 402
diff changeset
217 parser.add_argument('--scene', dest = 'sceneFilename', help = 'name of the configuration file', type = str, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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parents: 402
diff changeset
218 parser.add_argument('--section', dest = 'sectionName', help = 'name of the section', type = str, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
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parents: 402
diff changeset
219 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file', type = str, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
220 parser.add_argument('-i', dest = 'videoFilename', help = 'name of the video file', type = str, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
221 parser.add_argument('-c', dest = 'cameraCalibrationFilename', help = 'name of the camera json file', type = str, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
222 parser.add_argument('-o', dest = 'outputFilename', help = 'name of the output json file', type = str, default = 'roaduser.json')
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
223 parser.add_argument('-s', dest = 'firstFrameNum', help = 'forced start frame', type = int, default = 0)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
224 parser.add_argument('-e', dest = 'lastFrameNum', help = 'forced end frame', type = int, default = None)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
225 #parser.add_argument('-t', dest = 'useDatabaseTimestamp', help = 'use the timestamp of the database', default= False, type = bool)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
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226 parser.add_argument('-u', dest = 'useCurrentVideoFile', help = 'use the previously generated video file', action = 'store_true')
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
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227 args = parser.parse_args()
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
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228 #convertDatabase(args)
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
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229
f3938bb6da7f added commande line options to script to convert polytrack annotation data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 402
diff changeset
230 convertDatabase(args.workDirname, args.sectionName, args.sceneFilename, videoFilename = args.videoFilename, databaseFilename = args.databaseFilename, videoFolderExist = args.useCurrentVideoFile, firstFrameNum = args.firstFrameNum, lastFrameNum = args.lastFrameNum, cameraCalibrationFilename = args.cameraCalibrationFilename, outputFileName=args.outputFilename )