Fig13 end to end

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]
 ]
 

apperception/utils/__init__.py

@@ -11,6 +11,7 @@
 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
@@ -35,6 +36,7 @@
     "create_transform_matrix",
     "world_to_pixel",
     "import_tables",
+    "import_pickle",
     "export_tables",
     "datetimes_to_framenums",
     "get_video_roi",

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()

optimized_ingestion/stages/detection_2d/object_type_filter.py

@@ -14,6 +14,7 @@ def _run(self, payload: "Payload"):
 
         assert len(detection_2d) != 0
         _, class_mapping = detection_2d[0]
+        assert isinstance(class_mapping, list)
         type_indices_to_keep: "set[int]" = set()
 
         for t in self.types:

optimized_ingestion/stages/detection_estimation/__init__.py

@@ -33,7 +33,9 @@ def __init__(self, predicate: "Callable[[DetectionInfo], bool]" = lambda _: True
         self.predicate = predicate
         super(DetectionEstimation, self).__init__()
 
-    # @cache
+    def filter(self, predicate: "Callable[[DetectionInfo], bool]"):
+        self.predicate = predicate
+
     def _run(self, payload: "Payload"):
         if Detection2D.get(payload) is None:
             raise Exception()