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comparison python/storage.py @ 834:119c4efe6398

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added option to load subsampled trajectories
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 30 Jun 2016 14:19:59 -0400
parents a8ff35e6fb43
children 5a68779d7777
comparison
equal deleted inserted replaced
833:8d1dd771aeb3 834:119c4efe6398
5 import utils, moving, events, indicators, shutil 5 import utils, moving, events, indicators, shutil
6 from base import VideoFilenameAddable 6 from base import VideoFilenameAddable
7 7
8 from os import path 8 from os import path
9 import sqlite3, logging 9 import sqlite3, logging
10 from numpy import log, min as npmin, max as npmax, round as npround, array, sum as npsum, loadtxt 10 from numpy import log, min as npmin, max as npmax, round as npround, array, sum as npsum, loadtxt, floor as npfloor, ceil as npceil
11 from pandas import read_csv, merge 11 from pandas import read_csv, merge
12 12
13 13
14 commentChar = '#' 14 commentChar = '#'
15 15
143 else: 143 else:
144 print('objectNumbers {} are not a known type ({})'.format(objectNumbers, type(objectNumbers))) 144 print('objectNumbers {} are not a known type ({})'.format(objectNumbers, type(objectNumbers)))
145 query = '' 145 query = ''
146 return query 146 return query
147 147
148 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None): 148 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None, timeStep = None):
149 '''Loads trajectories (in the general sense) from the given table 149 '''Loads trajectories (in the general sense) from the given table
150 can be positions or velocities 150 can be positions or velocities
151 151
152 returns a moving object''' 152 returns a moving object'''
153 cursor = connection.cursor() 153 cursor = connection.cursor()
155 try: 155 try:
156 objectCriteria = getObjectCriteria(objectNumbers) 156 objectCriteria = getObjectCriteria(objectNumbers)
157 queryStatement = None 157 queryStatement = None
158 if trajectoryType == 'feature': 158 if trajectoryType == 'feature':
159 queryStatement = 'SELECT * from '+tableName 159 queryStatement = 'SELECT * from '+tableName
160 if objectNumbers is not None: 160 if objectNumbers is not None and timeStep is not None:
161 queryStatement += ' WHERE trajectory_id '+objectCriteria+' AND frame_number%{} = 0'.format(timeStep)
162 elif objectNumbers is not None:
161 queryStatement += ' WHERE trajectory_id '+objectCriteria 163 queryStatement += ' WHERE trajectory_id '+objectCriteria
164 elif timeStep is not None:
165 queryStatement += ' WHERE frame_number%{} = 0'.format(timeStep)
162 queryStatement += ' ORDER BY trajectory_id, frame_number' 166 queryStatement += ' ORDER BY trajectory_id, frame_number'
163 elif trajectoryType == 'object': 167 elif trajectoryType == 'object':
164 queryStatement = 'SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF WHERE P.trajectory_id = OF.trajectory_id' 168 queryStatement = 'SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF WHERE P.trajectory_id = OF.trajectory_id'
165 if objectNumbers is not None: 169 if objectNumbers is not None:
166 queryStatement += ' and OF.object_id '+objectCriteria 170 queryStatement += ' AND OF.object_id '+objectCriteria
171 if timeStep is not None:
172 queryStatement += ' AND P.frame_number%{} = 0'.format(timeStep)
167 queryStatement += ' GROUP BY OF.object_id, P.frame_number ORDER BY OF.object_id, P.frame_number' 173 queryStatement += ' GROUP BY OF.object_id, P.frame_number ORDER BY OF.object_id, P.frame_number'
168 elif trajectoryType in ['bbtop', 'bbbottom']: 174 elif trajectoryType in ['bbtop', 'bbbottom']:
169 if trajectoryType == 'bbtop': 175 if trajectoryType == 'bbtop':
170 corner = 'top_left' 176 corner = 'top_left'
171 elif trajectoryType == 'bbbottom': 177 elif trajectoryType == 'bbbottom':
172 corner = 'bottom_right' 178 corner = 'bottom_right'
173 queryStatement = 'SELECT object_id, frame_number, x_'+corner+', y_'+corner+' FROM '+tableName 179 queryStatement = 'SELECT object_id, frame_number, x_'+corner+', y_'+corner+' FROM '+tableName
174 if objectNumbers is not None: 180 if objectNumbers is not None and timeStep is not None:
181 queryStatement += ' WHERE object_id '+objectCriteria+' AND frame_number%{} = 0'.format(timeStep)
182 elif objectNumbers is not None:
175 queryStatement += ' WHERE object_id '+objectCriteria 183 queryStatement += ' WHERE object_id '+objectCriteria
184 elif timeStep is not None:
185 queryStatement += ' WHERE frame_number%{} = 0'.format(timeStep)
176 queryStatement += ' ORDER BY object_id, frame_number' 186 queryStatement += ' ORDER BY object_id, frame_number'
177 else: 187 else:
178 print('Unknown trajectory type {}'.format(trajectoryType)) 188 print('Unknown trajectory type {}'.format(trajectoryType))
179 if queryStatement is not None: 189 if queryStatement is not None:
180 cursor.execute(queryStatement) 190 cursor.execute(queryStatement)
187 obj = None 197 obj = None
188 objects = [] 198 objects = []
189 for row in cursor: 199 for row in cursor:
190 if row[0] != objId: 200 if row[0] != objId:
191 objId = row[0] 201 objId = row[0]
192 if obj is not None and obj.length() == obj.positions.length(): 202 if obj is not None and (obj.length() == obj.positions.length() or (timeStep is not None and npceil(obj.length()/timeStep) == obj.positions.length())):
193 objects.append(obj) 203 objects.append(obj)
194 elif obj is not None: 204 elif obj is not None:
195 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) 205 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length()))
196 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) 206 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
197 else: 207 else:
198 obj.timeInterval.last = row[1] 208 obj.timeInterval.last = row[1]
199 obj.positions.addPositionXY(row[2],row[3]) 209 obj.positions.addPositionXY(row[2],row[3])
200 210
201 if obj is not None and obj.length() == obj.positions.length(): 211 if obj is not None and (obj.length() == obj.positions.length() or (timeStep is not None and npceil(obj.length()/timeStep) == obj.positions.length())):
202 objects.append(obj) 212 objects.append(obj)
203 elif obj is not None: 213 elif obj is not None:
204 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) 214 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length()))
205 215
206 return objects 216 return objects
214 userTypes = {} 224 userTypes = {}
215 for row in cursor: 225 for row in cursor:
216 userTypes[row[0]] = row[1] 226 userTypes[row[0]] = row[1]
217 return userTypes 227 return userTypes
218 228
219 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None, withFeatures = False): 229 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None, withFeatures = False, timeStep = None):
220 '''Loads the trajectories (in the general sense, 230 '''Loads the trajectories (in the general sense,
221 either features, objects (feature groups) or bounding box series) 231 either features, objects (feature groups) or bounding box series)
222 The number loaded is either the first objectNumbers objects, 232 The number loaded is either the first objectNumbers objects,
223 or the indices in objectNumbers from the database''' 233 or the indices in objectNumbers from the database'''
224 connection = sqlite3.connect(filename) 234 connection = sqlite3.connect(filename)
225 235
226 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) 236 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers, timeStep)
227 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) 237 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers, timeStep)
228 238
229 if len(objectVelocities) > 0: 239 if len(objectVelocities) > 0:
230 for o,v in zip(objects, objectVelocities): 240 for o,v in zip(objects, objectVelocities):
231 if o.getNum() == v.getNum(): 241 if o.getNum() == v.getNum():
232 o.velocities = v.positions 242 o.velocities = v.positions
264 274
265 if withFeatures: 275 if withFeatures:
266 nFeatures = 0 276 nFeatures = 0
267 for obj in objects: 277 for obj in objects:
268 nFeatures = max(nFeatures, max(obj.featureNumbers)) 278 nFeatures = max(nFeatures, max(obj.featureNumbers))
269 features = loadTrajectoriesFromSqlite(filename, 'feature', nFeatures+1) 279 features = loadTrajectoriesFromSqlite(filename, 'feature', nFeatures+1, timeStep = timeStep)
270 for obj in objects: 280 for obj in objects:
271 obj.setFeatures(features) 281 obj.setFeatures(features)
272 282
273 except sqlite3.OperationalError as error: 283 except sqlite3.OperationalError as error:
274 printDBError(error) 284 printDBError(error)
368 connection.close() 378 connection.close()
369 379
370 def loadPrototypesFromSqlite(filename): 380 def loadPrototypesFromSqlite(filename):
371 pass 381 pass
372 382
373 def loadBBMovingObjectsFromSqlite(filename, objectType = 'bb', objectNumbers = None): 383 def loadBBMovingObjectsFromSqlite(filename, objectType = 'bb', objectNumbers = None, timeStep = None):
374 '''Loads bounding box moving object from an SQLite 384 '''Loads bounding box moving object from an SQLite
375 (format of SQLite output by the ground truth annotation tool 385 (format of SQLite output by the ground truth annotation tool
376 or Urban Tracker 386 or Urban Tracker
377 387
378 Load descriptions?''' 388 Load descriptions?'''
379 connection = sqlite3.connect(filename) 389 connection = sqlite3.connect(filename)
380 objects = [] 390 objects = []
381 391
382 if objectType == 'bb': 392 if objectType == 'bb':
383 topCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbtop', objectNumbers) 393 topCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbtop', objectNumbers, timeStep)
384 bottomCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbbottom', objectNumbers) 394 bottomCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbbottom', objectNumbers, timeStep)
385 userTypes = loadUserTypesFromTable(connection.cursor(), 'object', objectNumbers) # string format is same as object 395 userTypes = loadUserTypesFromTable(connection.cursor(), 'object', objectNumbers) # string format is same as object
386 396
387 for t, b in zip(topCorners, bottomCorners): 397 for t, b in zip(topCorners, bottomCorners):
388 num = t.getNum() 398 num = t.getNum()
389 if t.getNum() == b.getNum(): 399 if t.getNum() == b.getNum():