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modification of storage of intrinsic camera and distortion parameters
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 04 Nov 2016 11:47:42 -0400
parents 37d14818db89
children 2d6249fe905a
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1 # from moving import Point
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2
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3 from datetime import datetime, timedelta
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4 from os import path
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5 from math import floor
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6
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7 from numpy import zeros, loadtxt, array
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8
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9 from sqlalchemy import orm, create_engine, Column, Integer, Float, DateTime, String, ForeignKey, Boolean, Interval
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10 from sqlalchemy.orm import relationship, backref, sessionmaker
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11 from sqlalchemy.ext.declarative import declarative_base
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12
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13 from utils import datetimeFormat, removeExtension
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14 from cvutils import computeUndistortMaps
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15 from moving import TimeInterval
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16
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17 Base = declarative_base()
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18
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19 class Site(Base):
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20 __tablename__ = 'sites'
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21 idx = Column(Integer, primary_key=True)
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22 name = Column(String) # same as path, relative to the database position
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23 description = Column(String) # longer names, eg intersection of road1 and road2
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24 xcoordinate = Column(Float) # ideally moving.Point, but needs to be
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25 ycoordinate = Column(Float)
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26 mapImageFilename = Column(String) # path to filename, relative to site name, ie sitename/mapImageFilename
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27 nUnitsPerPixel = Column(Float) # number of units of distance per pixel in map image
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28 worldDistanceUnit = Column(String, default = 'm') # make sure it is default in the database
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29
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30 def __init__(self, name, description = "", xcoordinate = None, ycoordinate = None, mapImageFilename = None, nUnitsPerPixel = 1., worldDistanceUnit = 'm'):
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31 self.name = name
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32 self.description = description
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33 self.xcoordinate = xcoordinate
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34 self.ycoordinate = ycoordinate
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35 self.mapImageFilename = mapImageFilename
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36 self.nUnitsPerPixel = nUnitsPerPixel
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37 self.worldDistanceUnit = worldDistanceUnit
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38
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39 def getFilename(self):
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40 return self.name
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41
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42 @staticmethod
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43 def getSite(session, siteId):
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44 'Returns the site(s) matching the index or the name'
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45 if str.isdigit(siteId):
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46 return session.query(Site).filter(Site.idx == int(siteId)).all()
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47 else:
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48 return session.query(Site).filter(Site.description.like('%'+siteId+'%')).all()
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49
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50
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51 class EnvironementalFactors(Base):
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52 '''Represents any environmental factors that may affect the results, in particular
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53 * changing weather conditions
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54 * changing road configuration, geometry, signalization, etc.
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55 ex: sunny, rainy, before counter-measure, after counter-measure'''
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56 __tablename__ = 'environmental_factors'
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57 idx = Column(Integer, primary_key=True)
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58 startTime = Column(DateTime)
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59 endTime = Column(DateTime)
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60 description = Column(String) # eg sunny, before, after
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61 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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63 site = relationship("Site", backref=backref('environmental_factors', order_by = idx))
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64
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65 def __init__(self, startTime, endTime, description, site):
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66 'startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39'
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67 self.startTime = datetime.strptime(startTime, datetimeFormat)
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68 self.endTime = datetime.strptime(endTime, datetimeFormat)
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69 self.description = description
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70 self.site = site
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71
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72 class CameraType(Base):
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73 ''' Represents parameters of the specific camera used.
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74
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75 Taken and adapted from tvalib'''
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76 __tablename__ = 'camera_types'
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77 idx = Column(Integer, primary_key=True)
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78 name = Column(String)
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79 resX = Column(Integer)
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80 resY = Column(Integer)
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81 frameRate = Column(Float)
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82 frameRateTimeUnit = Column(String, default = 's')
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83 intrinsicCameraMatrixStr = Column(String)
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84 distortionCoefficientsStr = Column(String)
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85 undistortedImageMultiplication = Column(Float)
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86
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87 def __init__(self, name, resX, resY, frameRate, frameRateTimeUnit = 's', trackingConfigurationFilename = None, intrinsicCameraFilename = None, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = None):
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88 self.name = name
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89 self.resX = resX
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90 self.resY = resY
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91 self.frameRate = frameRate
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92 self.frameRateTimeUnit = frameRateTimeUnit
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93 self.intrinsicCameraMatrix = None # should be np.array
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94 self.distortionCoefficients = None # list
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95
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96 if trackingConfigurationFilename is not None:
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97 from storage import ProcessParameters
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98 params = ProcessParameters(trackingConfigurationFilename)
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99 self.intrinsicCameraMatrix = params.intrinsicCameraMatrix
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100 self.distortionCoefficients = params.distortionCoefficients
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101 self.undistortedImageMultiplication = params.undistortedImageMultiplication
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102 elif intrinsicCameraFilename is not None:
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103 self.intrinsicCameraMatrix = loadtxt(intrinsicCameraFilename)
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104 self.distortionCoefficients = distortionCoefficients
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105 self.undistortedImageMultiplication = undistortedImageMultiplication
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106 else:
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107 self.intrinsicCameraMatrix = intrinsicCameraMatrix
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108 self.distortionCoefficients = distortionCoefficients
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109 self.undistortedImageMultiplication = undistortedImageMultiplication
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110
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111 if self.intrinsicCameraMatrix is not None:
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112 self.intrinsicCameraMatrixStr = '{}'.format(self.intrinsicCameraMatrix.tolist())
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113 if self.distortionCoefficients is not None and len(self.distortionCoefficients) == 5:
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114 self.distortionCoefficientsStr = '{}'.format(self.distortionCoefficients)
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115
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116 @orm.reconstructor
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117 def initOnLoad(self):
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118 if self.intrinsicCameraMatrixStr is not None:
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119 from ast import literal_eval
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120 self.intrinsicCameraMatrix = array(literal_eval(self.intrinsicCameraMatrixStr))
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121 else:
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122 self.intrinsicCameraMatrix = None
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123 if self.distortionCoefficientsStr is not None:
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124 self.distortionCoefficients = literal_eval(self.distortionCoefficientsStr)
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125 else:
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126 self.distortionCoefficients = None
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127
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128 def computeUndistortMaps(self):
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129 if self.undistortedImageMultiplication is not None and self.intrinsicCameraMatrix is not None and self.distortionCoefficients is not None:
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130 self.map1, self.map2 = computeUndistortMaps(self.resX, self.resY, self.undistortedImageMultiplication, self.intrinsicCameraMatrix, self.distortionCoefficients)
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131 else:
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132 self.map1 = None
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133 self.map2 = None
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134
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135 @staticmethod
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136 def getCameraType(session, cameraTypeId):
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137 'Returns the site(s) matching the index or the name'
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138 if str.isdigit(cameraTypeId):
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139 return session.query(CameraType).filter(CameraType.idx == int(cameraTypeId)).all()
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140 else:
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141 return session.query(CameraType).filter(CameraType.name.like('%'+cameraTypeId+'%')).all()
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142
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143 class CameraView(Base):
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144 __tablename__ = 'camera_views'
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145 idx = Column(Integer, primary_key=True)
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146 description = Column(String)
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147 homographyFilename = Column(String) # path to homograph filename, relative to the site name
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148 siteIdx = Column(Integer, ForeignKey('sites.idx'))
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149 cameraTypeIdx = Column(Integer, ForeignKey('camera_types.idx'))
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150 trackingConfigurationFilename = Column(String) # path to configuration .cfg file, relative to site name
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151 maskFilename = Column(String) # path to mask file, relative to site name
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152 virtual = Column(Boolean) # indicates it is not a real camera view, eg merged
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153
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154 site = relationship("Site", backref=backref('sites', order_by = idx))
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155 cameraType = relationship('CameraType', backref=backref('camera_views', order_by = idx))
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156
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157 def __init__(self, description, homographyFilename, site, cameraType, trackingConfigurationFilename, maskFilename, virtual = False):
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158 self.description = description
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159 self.homographyFilename = homographyFilename
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160 self.site = site
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161 self.cameraType = cameraType
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162 self.trackingConfigurationFilename = trackingConfigurationFilename
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163 self.maskFilename = maskFilename
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164 self.virtual = virtual
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165
422
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166 def getHomographyFilename(self, relativeToSiteFilename = True):
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167 if relativeToSiteFilename:
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168 return self.site.getFilename()+path.sep+self.homographyFilename
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169 else:
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170 return self.homographyFilename
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171
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172 def getTrackingConfigurationFilename(self, relativeToSiteFilename = True):
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173 if relativeToSiteFilename:
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174 return self.site.getFilename()+path.sep+self.trackingConfigurationFilename
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175 else:
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176 return self.trackingConfigurationFilename
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177
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178 def getMaskFilename(self, relativeToSiteFilename = True):
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179 if relativeToSiteFilename:
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180 return self.site.getFilename()+path.sep+self.maskFilename
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181 else:
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182 return self.maskFilename
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183
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184 def getTrackingParameters(self):
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185 return ProcessParameters(self.getTrackingConfigurationFilename())
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186
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187 def getHomographyDistanceUnit(self):
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188 return self.site.worldDistanceUnit
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189
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190 class Alignment(Base):
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191 __tablename__ = 'alignments'
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192 idx = Column(Integer, primary_key=True)
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193 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
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194
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195 cameraView = relationship("CameraView", backref=backref('alignments', order_by = idx))
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196
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197 def __init__(self, cameraView):
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198 self.cameraView = cameraView
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199
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200 class Point(Base):
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201 __tablename__ = 'points'
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202 alignmentIdx = Column(Integer, ForeignKey('alignments.idx'), primary_key=True)
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203 index = Column(Integer, primary_key=True) # order of points in this alignment
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204 x = Column(Float)
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205 y = Column(Float)
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206
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207 alignment = relationship("Alignment", backref=backref('points', order_by = index))
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208
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209 def __init__(self, alignmentIdx, index, x, y):
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210 self.alignmentIdx = alignmentIdx
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211 self.index = index
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212 self.x = x
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213 self.y = y
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214
420
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215 class VideoSequence(Base):
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216 __tablename__ = 'video_sequences'
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217 idx = Column(Integer, primary_key=True)
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218 name = Column(String) # path relative to the the site name
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219 startTime = Column(DateTime)
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220 duration = Column(Interval) # video sequence duration
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221 databaseFilename = Column(String) # path relative to the the site name
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222 virtual = Column(Boolean) # indicates it is not a real video sequence (no video file), eg merged
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223 cameraViewIdx = Column(Integer, ForeignKey('camera_views.idx'))
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224
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225 cameraView = relationship("CameraView", backref=backref('video_sequences', order_by = idx))
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226
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227 def __init__(self, name, startTime, duration, cameraView, databaseFilename = None, virtual = False):
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228 '''startTime is passed as string in utils.datetimeFormat, eg 2011-06-22 10:00:39
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229 duration is a timedelta object'''
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230 self.name = name
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231 if isinstance(startTime, str):
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232 self.startTime = datetime.strptime(startTime, datetimeFormat)
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233 else:
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234 self.startTime = startTime
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235 self.duration = duration
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236 self.cameraView = cameraView
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237 if databaseFilename is None and len(self.name) > 0:
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238 self.databaseFilename = removeExtension(self.name)+'.sqlite'
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239 else:
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240 self.databaseFilename = databaseFilename
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241 self.virtual = virtual
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242
422
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243 def getVideoSequenceFilename(self, relativeToSiteFilename = True):
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244 if relativeToSiteFilename:
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245 return self.cameraView.site.getFilename()+path.sep+self.name
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246 else:
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247 return self.name
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248
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249 def getDatabaseFilename(self, relativeToSiteFilename = True):
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250 if relativeToSiteFilename:
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251 return self.cameraView.site.getFilename()+path.sep+self.databaseFilename
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252 else:
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253 return self.databaseFilename
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254
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255 def getTimeInterval(self):
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256 return TimeInterval(self.startTime, self.startTime+self.duration)
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257
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258 def containsInstant(self, instant):
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259 'instant is a datetime'
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260 return self.startTime <= instant and self.startTime+self.duration
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261
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262 def intersection(self, startTime, endTime):
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263 'returns the moving.TimeInterval intersection with [startTime, endTime]'
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264 return TimeInterval.intersection(self.getTimeInterval(), TimeInterval(startTime, endTime))
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265
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266 def getFrameNum(self, instant):
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267 'Warning, there is no check of correct time units'
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268 if self.containsInstant(instant):
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269 return int(floor((instant-self.startTime).seconds*self.cameraView.cameraType.frameRate))
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270 else:
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271 return None
424
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272
422
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273 # 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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274
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275 # class SiteDescription(Base): # list of lines and polygons describing the site, eg for sidewalks, center lines
421
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276
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277 # class Analysis(Base): # parameters necessary for processing the data: free form
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278 # eg bounding box depends on camera view, tracking configuration depends on camera view
424
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279 # results: sqlite
421
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280
426
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281 def createDatabase(filename):
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282 'creates a session to query the filename'
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283 engine = create_engine('sqlite:///'+filename)
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284 Base.metadata.create_all(engine)
426
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285 Session = sessionmaker(bind=engine)
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286 return Session()
425
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287
426
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288 def connectDatabase(filename):
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289 'creates a session to query the filename'
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290 engine = create_engine('sqlite:///'+filename)
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291 Session = sessionmaker(bind=engine)
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292 return Session()
426
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293
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294 def initializeSites(session, directoryName):
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295 '''Initializes default site objects and Camera Views
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296
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297 eg somedirectory/montreal/ contains intersection1, intersection2, etc.
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298 The site names would be somedirectory/montreal/intersection1, somedirectory/montreal/intersection2, etc.'''
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299 from os import listdir, path
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300 sites = []
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301 cameraViews = []
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302 names = listdir(directoryName)
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303 for name in names:
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304 if path.isdir(directoryName+'/'+name):
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305 sites.append(Site(directoryName+'/'+name, None))
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306 cameraViews.append(CameraView(-1, None, None, sites[-1], None))
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307 session.add_all(sites)
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308 session.add_all(cameraViews)
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309 session.commit()
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310 # TODO crawler for video files?