Merge Detection Estimation module

.github/workflows/clean-up-and-format.yml

@@ -24,7 +24,8 @@ jobs:
           pip install --upgrade pip
           pip install nbconvert
           python -m jupyter nbconvert --clear-output --inplace benchmarks/**/*.ipynb benchmarks/*.ipynb
-          python -m jupyter nbconvert --clear-output --inplace nb-scripts/**/*.ipynb nb-scripts/*.ipynb
+          python -m jupyter nbconvert --clear-output --inplace scripts/**/*.ipynb scripts/*.ipynb
+          python -m jupyter nbconvert --clear-output --inplace playground/**/*.ipynb playground/*.ipynb
 
       - name: Commit clean up changes
         run: ./scripts/commit-and-push.sh "[CI] cleanup python notebooks"

.gitignore

@@ -27,4 +27,6 @@ models
 
 weights
 
-outputs
+outputs
+
+yolov5s.pt

README.md

@@ -6,31 +6,45 @@ Apperception ingests video data from many perspectives and makes them queryable
 
 ## Require
 ```
-python >= 3.7
+python >= 3.8
 ```
 
 ## How to Setup Apperception Repo
 ### Install dependencies:
 #### Debian based Linux
 ```sh
-apt-get update && apt-get install -y postgresql python3-opencv
-```
-#### macOS
-```sh
-brew install postgresql
+apt-get update && apt-get install -y python3-opencv
 ```
 ### Clone the Apperception repo
 For ssh:
 ```sh
 git clone git@github.com:apperception-db/apperception.git
 cd apperception
+git checkout optimized_ingestion
 ```
-For HTTPS:
+
+### We use Conda/Mamba to manage our python environment
+Install Mamba: https://mamba.readthedocs.io/en/latest/installation.html
+or install Conda: https://docs.conda.io/en/latest/miniconda.html
+
+### Setup Environment and Dependencies
 ```sh
-git clone https://github.com/apperception-db/apperception.git
-cd apperception
+# clone submodules
+git submodule update --init --recursive
+
+# setup virtual environment
+# with conda
+conda env create -f environment.yml
+conda activate apperception
+# OR with mamba
+mamba env create -f environment.yml
+mamba activate apperception
+
+# install python dependencies
+poetry install
 ```
-### Downloading Official YOLOv4 Pre-trained in the repo
+
+### [Deprecated] Downloading Official YOLOv4 Pre-trained in the repo
 
 Copy and paste yolov4.weights from your downloads folder into this repository. For the Demo, we use yolov4-tiny.weights,
 

apperception/data_types/box.py

@@ -94,7 +94,6 @@ def view_points(self, points: np.ndarray, view: np.ndarray, normalize=True) -> n
         return points
 
     def map_2d(self, view: np.ndarray = np.eye(3), normalize: bool = True) -> np.ndarray:
-
         corners = self.view_points(self.corners(), view, normalize)[:2, :]
 
         return corners

apperception/database.py

@@ -61,11 +61,11 @@
     ("itemId", "TEXT"),
     ("cameraId", "TEXT"),
     ("objectType", "TEXT"),
-    ("color", "TEXT"),
+    ("roadTypes", "ttext"),
     ("trajCentroids", "tgeompoint"),
     ("translations", "tgeompoint"),  # [(x,y,z)@today, (x2, y2,z2)@tomorrow, (x2, y2,z2)@nextweek]
-    ("largestBbox", "stbox"),
     ("itemHeadings", "tfloat"),
+    # ("roadPolygons", "tgeompoint"),
     # ("period", "period") [today, nextweek]
 ]
 
@@ -196,7 +196,7 @@ def _commit(self, commit=True):
             self.connection.commit()
 
     def execute(
-        self, query: "str | psycopg2.sql.SQL", vars: "tuple | list | None" = None
+        self, query: "str | psycopg2.sql.Composable", vars: "tuple | list | None" = None
     ) -> List[tuple]:
         try:
             self.cursor.execute(query, vars)
@@ -210,7 +210,7 @@ def execute(
             self.connection.rollback()
             raise error
 
-    def update(self, query: str, commit: bool = True) -> None:
+    def update(self, query: "str | psycopg2.sql.Composable", commit: bool = True) -> None:
         try:
             self.cursor.execute(query)
             self._commit(commit)

apperception/legacy/world_executor.py

@@ -22,7 +22,6 @@ def __init__(self, world=None):
     def connect_db(
         self, host="localhost", user=None, password=None, port=25432, database_name=None
     ):
-
         self.conn = psycopg2.connect(
             database=database_name, user=user, password=password, host=host, port=port
         )

apperception/trackers/object_tracker_yolov5_deepsort.py

@@ -142,7 +142,6 @@ def detect(opt: YoloV5Opt):
 
         # Process detections
         for det in pred:  # detections per image
-
             if det is None or not len(det):
                 deepsort.increment_ages()
                 continue
@@ -166,7 +165,6 @@ def detect(opt: YoloV5Opt):
 
             # collect result bounding boxes
             for output in outputs:
-
                 y1, x1, y2, x2, id, c = [int(o) for o in output]
                 bboxes = BoundingBox(x1, y1, x2, y2)
                 item_id = f"{names[c]}-{str(id)}"

apperception/utils/__init__.py

@@ -11,10 +11,11 @@
 from .get_video_box import get_video_box
 from .get_video_roi import get_video_roi
 from .import_tables import import_tables
+from .import_pickle import import_pickle
 from .ingest_road import ingest_road
 from .join import join
 from .overlay_bboxes import overlay_bboxes
-from .overlay_trajectory import fetch_camera_config, overlay_trajectory
+from .overlay_trajectory import fetch_camera_config, fetch_camera_trajectory, overlay_trajectory
 from .query_to_str import query_to_str
 from .recognize import recognize
 from .reformat_bbox_trajectories import reformat_bbox_trajectories
@@ -35,11 +36,13 @@
     "create_transform_matrix",
     "world_to_pixel",
     "import_tables",
+    "import_pickle",
     "export_tables",
     "datetimes_to_framenums",
     "get_video_roi",
     "get_video_box",
     "fetch_camera_config",
+    "fetch_camera_trajectory",
     "join",
     "transformation",
     "fetch_camera",

apperception/utils/add_recognized_objects.py

@@ -91,7 +91,6 @@ def insert_general_trajectory(
     itemHeading_list: List[int],
     translation_list: List[Tuple[float, float, float]],
 ):
-
     # Creating a cursor object using the cursor() method
     cursor = conn.cursor()
 

apperception/utils/import_pickle.py

@@ -0,0 +1,35 @@
+import os
+import pickle
+
+from apperception.database import Database
+from apperception.data_types import Camera, CameraConfig
+
+
+def import_pickle(database: "Database", data_path: str):
+    with open(os.path.join(data_path, "frames-compressed.pickle"), "rb") as f:
+        data_frames = pickle.loads(f.read())
+
+    database.reset(False)
+    for scene, val in data_frames.items():
+        scene_info = scene.split("-")
+        scene_id = scene_info[0] + "-" + scene_info[1]
+        configs = [
+            CameraConfig(
+                frame_id=frame[1],
+                frame_num=int(frame[2]),
+                filename=frame[3],
+                camera_translation=frame[4],
+                camera_rotation=frame[5],
+                camera_intrinsic=frame[6],
+                ego_translation=frame[7],
+                ego_rotation=frame[8],
+                timestamp=frame[9].timestamp(),
+                cameraHeading=frame[10],
+                egoHeading=frame[11],
+            )
+            for frame in val["frames"]
+        ]
+        camera = Camera(config=configs, id=scene_id)
+        database.insert_cam(camera)
+
+    database._commit()

apperception/utils/import_tables.py

@@ -8,7 +8,6 @@
 
 
 def import_tables(database: "Database", data_path: str):
-
     # Import CSV
     data_Cameras = pd.read_csv(os.path.join(data_path, "cameras.csv"))
     df_Cameras = pd.DataFrame(data_Cameras)

apperception/utils/ingest_road.py

@@ -139,6 +139,15 @@
 """
 
 
+def _remove_suffix(uid: str) -> "str | None":
+    if uid is None:
+        return None
+
+    split = uid.split("_")
+    assert len(split) == 2, f"cannot remove suffix: {uid}"
+    return split[0]
+
+
 def create_polygon_table(database: "Database", polygons, drop=True):
     if drop:
         database.update("DROP TABLE IF EXISTS SegmentPolygon CASCADE")
@@ -148,8 +157,14 @@ def create_polygon_table(database: "Database", polygons, drop=True):
         "CREATE INDEX IF NOT EXISTS segPoly_idx ON SegmentPolygon USING GiST(elementPolygon);"
     )
 
+    ids = set([p["id"].split("_")[0] for p in polygons if len(p["id"].split("_")) == 1])
+
     values = []
     for poly in polygons:
+        i = poly["id"]
+        if len(i.split("_")) != 1:
+            assert i.split("_")[0] in ids
+            continue
         values.append(
             f"""(
                 '{poly['id']}',
@@ -174,8 +189,16 @@ def create_segment_table(database: "Database", segments, drop=True):
     database.update(CREATE_SEGMENT_SQL)
     database.update("CREATE INDEX IF NOT EXISTS element_idx ON Segment(elementId);")
 
+    ids = set(
+        [s["polygonId"].split("_")[0] for s in segments if len(s["polygonId"].split("_")) == 1]
+    )
+
     values = []
     for seg in segments:
+        i = seg["polygonId"]
+        if len(i.split("_")) != 1:
+            assert i.split("_")[0] in ids
+            continue
         values.append(
             f"""(
                 '{seg['polygonId']}',
@@ -216,9 +239,9 @@ def create_lanesection_table(database: "Database", laneSections, drop=True):
     for lanesec in laneSections:
         values.append(
             f"""(
-                '{lanesec['id']}',
-                '{lanesec['laneToLeft']}',
-                '{lanesec['laneToRight']}',
+                '{_remove_suffix(lanesec['id'])}',
+                '{_remove_suffix(lanesec['laneToLeft'])}',
+                '{_remove_suffix(lanesec['laneToRight'])}',
                 '{lanesec['fasterLane']}',
                 '{lanesec['slowerLane']}',
                 '{lanesec['isForward']}'
@@ -278,7 +301,7 @@ def create_lane_lanesec_table(database: "Database", lane_lanesec, drop=True):
         values.append(
             f"""(
                 '{ll['lane']}',
-                '{ll['laneSec']}'
+                '{_remove_suffix(ll['laneSec'])}'
             )"""
         )
 
@@ -432,7 +455,7 @@ def create_road_roadsec_table(database: "Database", road_roadsec, drop=True):
         values.append(
             f"""(
                 '{rr['road']}',
-                '{rr['roadSec']}'
+                '{_remove_suffix(rr['roadSec'])}'
             )"""
         )
 
@@ -456,15 +479,20 @@ def create_roadsection_table(database: "Database", roadSections, drop=True):
     values = []
     for roadsec in roadSections:
         if len(roadsec["forwardLanes"]) == 0:
-            roadsec["forwardLanes"] = "[]::text[]"
+            fl = "[]::text[]"
+        else:
+            fl = str([*map(_remove_suffix, roadsec["forwardLanes"])])
+
         if len(roadsec["backwardLanes"]) == 0:
-            roadsec["backwardLanes"] = "[]::text[]"
+            bl = "[]::text[]"
+        else:
+            bl = str([*map(_remove_suffix, roadsec["backwardLanes"])])
 
         values.append(
             f"""(
-                '{roadsec['id']}',
-                ARRAY{roadsec['forwardLanes']},
-                ARRAY{roadsec['backwardLanes']}
+                '{_remove_suffix(roadsec['id'])}',
+                ARRAY{fl},
+                ARRAY{bl}
             )"""
         )
 
@@ -495,8 +523,8 @@ def create_roadsec_lanesec_table(database: "Database", roadsec_lanesec, drop=Tru
     for rl in roadsec_lanesec:
         values.append(
             f"""(
-                '{rl['roadSec']}',
-                '{rl['laneSec']}'
+                '{_remove_suffix(rl['roadSec'])}',
+                '{_remove_suffix(rl['laneSec'])}'
             )"""
         )
 
@@ -521,7 +549,7 @@ def create_intersection_table(database: "Database", intersections, drop=True):
     for intersec in intersections:
         values.append(
             f"""(
-                '{intersec['id']}',
+                '{_remove_suffix(intersec['id'])}',
                 '{intersec['road']}'
             )"""
         )
@@ -537,7 +565,7 @@ def create_intersection_table(database: "Database", intersections, drop=True):
     )
 
 
-ROAD_TYPES = {"road", "lane", "lanesection", "roadSection", "intersection"}
+ROAD_TYPES = {"road", "lane", "lanesection", "roadsection", "intersection", "lanegroup"}
 
 
 def add_segment_type(database: "Database"):