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vcd.core.ts
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1825 lines (1630 loc) · 82 KB
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/**
VCD (Video Content Description) library v4.3.0
Project website: http://vcd.vicomtech.org
Copyright (C) 2020, Vicomtech (http://www.vicomtech.es/),
(Spain) all rights reserved.
VCD is a library to create and manage VCD content version 4.2.1.
VCD is distributed under MIT License. See LICENSE.
*/
import * as utils from "./vcd.utils"
import * as types from "./vcd.types"
import * as schema from "./vcd.schema"
import Ajv from 'ajv'
import { v4 as uuidv4 } from 'uuid'
import { type } from "os"
export enum ElementType {
object = 0,
action = 1,
event = 2,
context = 3,
relation = 4
}
export enum StreamType {
camera = 1,
lidar = 2,
radar = 3,
gps_imu = 4,
other = 5
}
export enum RDF {
subject = 1,
object = 2
}
export class FrameIntervals {
private fisDict: Array<object>
private fisNum: Array<Array<number>>
constructor(frameValue = null) {
this.fisDict = []
this.fisNum = []
if(frameValue != null) {
if(Number.isInteger(frameValue)) {
this.fisDict = [{'frame_start': frameValue, 'frame_end': frameValue}]
this.fisNum = [[frameValue, frameValue]]
}
else if(Array.isArray(frameValue)) {
if(frameValue.length == 0) return
if(frameValue.every(function(x) { return Array.isArray(x); })) {
// Then, frameValue is Array<Array<number> >, e.g. [[0, 10], [26, 29]]
this.fisDict = utils.asFrameIntervalsArrayDict(frameValue)
this.fisDict = utils.fuseFrameIntervals(this.fisDict)
this.fisNum = utils.asFrameIntervalsArrayTuples(this.fisDict)
}
else if (frameValue.every(function(x) { return Number.isInteger(x); })) {
// Then, frameValue is a single frame interval, e.g. [0, 10]
this.fisNum = [frameValue]
this.fisDict = utils.asFrameIntervalsArrayDict(this.fisNum)
}
else if (frameValue.every(function(x) { return (typeof x === 'object' && x !== null && 'frame_start' in x && 'frame_end' in x) })) {
// User provided an Array of dict, e.g. [{'frame_start': 0, 'frame_end':10}]
this.fisDict = frameValue
this.fisDict = utils.fuseFrameIntervals(this.fisDict)
this.fisNum = utils.asFrameIntervalsArrayTuples(this.fisDict)
}
}
else if(typeof frameValue === 'object' && frameValue !== null && 'frame_start' in frameValue && 'frame_end' in frameValue) {
// User provided a singld dict, e.g. {'frame_start': 0, 'frame_end':10}
this.fisDict = [frameValue]
this.fisNum = utils.asFrameIntervalsArrayTuples(this.fisDict)
}
else {
console.warn("ERROR: Unsupported FrameInterval format.")
}
}
}
empty(): boolean {
if(this.fisDict.length == 0 || this.fisNum.length == 0) return true
else return false
}
getDict() {
return this.fisDict
}
get() {
return this.fisNum
}
getLength() {
let length = 0
for(let fi of this.fisNum) {
length += fi[1] + 1 - fi[0]
}
return length
}
rmFrame(frameNum: number) {
this.fisDict = utils.rmFrameFromFrameIntervals(this.fisDict, frameNum)
this.fisNum = utils.asFrameIntervalsArrayTuples(this.fisDict)
}
union(frameIntervals: FrameIntervals): FrameIntervals {
let fisUnion = utils.fuseFrameIntervals(frameIntervals.getDict().concat(this.fisDict))
return new FrameIntervals(fisUnion)
}
intersection(frameIntervals: FrameIntervals): FrameIntervals {
let fisInt = utils.intersectionBetweenFrameIntervalArrays(this.fisNum, frameIntervals.get())
return new FrameIntervals(fisInt)
}
equals(frameIntervals: FrameIntervals): boolean {
let fisInt = this.intersection(frameIntervals)
let fisUnion = this.union(frameIntervals)
if(fisInt.getLength() == fisUnion.getLength()) return true
else return false
}
contains(frameIntervals: FrameIntervals): boolean {
let fisInt = this.intersection(frameIntervals)
if(fisInt.getLength() == frameIntervals.getLength()) return true
else return false
}
isContainedBy(frameIntervals: FrameIntervals): boolean {
let fisInt = this.intersection(frameIntervals)
if(fisInt.getLength() == this.getLength()) return true
else return false
}
getOuter() {
return utils.getOuterFrameInterval(this.fisDict)
}
hasFrame(frameNum: number) {
return utils.isInsideFrameIntervals(frameNum, this.fisNum)
}
}
export class UID {
private uid_str: string
private uid_int: number
private uuid: boolean
constructor(val = null) {
if(val == null) this.__set("", -1, false)
else {
if(Number.isInteger(val)) this.__set(val.toString(), val, false)
else if(typeof val === 'string') {
if (val == "") this.__set("", -1, false)
else {
if(!isNaN(Number(val))) this.__set(val, Number(val), false)
else if(/^[0-9a-fA-F]{8}-[0-9a-fA-F]{4}-[0-9a-fA-F]{4}-[0-9a-fA-F]{4}-[0-9a-fA-F]{12}$/g.test(val)) this.__set(val, -1, true)
else console.error("ERROR: Unsupported UID string type")
}
}
else {
console.error("ERROR: Unsupported UID type, use integer or string.")
this.__set("", -1, false)
}
}
}
__set(uid_str: string, uid_int: number, isUuid = false) {
this.uid_str = uid_str
this.uid_int = uid_int
this.uuid = isUuid
}
isUuid() {
return this.uuid
}
asStr() {
return this.uid_str
}
asInt() {
if (this.isUuid())
console.warn("ERROR: This UID is not numeric, can't call asInt")
else
return this.uid_int
}
isNone() {
if(this.uid_int == -1 && this.uid_str == "") return true
else return false
}
}
export enum SetMode {
union = 1,
replace = 2
}
/**
* VCD 4.3.0
*
* NOTE: This is the Typescript version of VCD 4.3.0 API. Compatibility with VCD 4.2.0 JSON files is not implemented.
*
* This class is the main manager of VCD 4 content.
* It can be created void, and add content (e.g. Objects) using the API
* It can also be created by providing a JSON file.
* ```
* import { VCD } from 'vcd'
* let vcd_a = new VCD() // created void
* let vcd_b = new VCD(vcd_string) // vcd_string is a read JSON string from a file
* ```
*/
export class VCD {
private data = {}
private schema_version = schema.vcd_schema_version
private schema = schema.vcd_schema
private ajv = new Ajv()
private ajv_validate = this.ajv.compile(this.schema)
private lastUID = {}
private useUUID = false
constructor(vcd_json = null, validation = false) {
this.init(vcd_json, validation);
}
setUseUUID(val: boolean) {
this.useUUID = val
}
private reset() {
// Main VCD data
this.data = { 'vcd': {} };
this.data['vcd']['metadata'] = {};
this.data['vcd']['metadata']['schema_version'] = this.schema_version;
// Additional auxiliary structures
this.lastUID = {};
this.lastUID[ElementType.object] = -1;
this.lastUID[ElementType.action] = -1;
this.lastUID[ElementType.event] = -1;
this.lastUID[ElementType.context] = -1;
this.lastUID[ElementType.relation] = -1;
}
private init(vcd_json = null, validation = false) {
if (vcd_json == null) {
this.reset();
}
else {
// Load from json, and validate with schema
if (validation) {
let validation_errors = this.validate(vcd_json)
if (validation_errors.length != 0) {
console.log("ERROR: loading VCD content not compliant with schema " + this.schema_version);
console.warn("Creating an empty VCD instead.");
for(var i = 0; i <validation_errors.length; i++){
console.log(validation_errors[i].message);
}
this.reset();
}
else {
// Copy the VCD content into this.data
this.data = vcd_json
// In VCD 4.3.0 uids are strings, because they can be numeric strings, or UUIDs
// but frames are still ints. However, it looks that in Typescript, JSON.parse reads as integer
//if('frames' in this.data['vcd']){
// let frames = this.data['vcd']['frames']
// if(Object.keys(frames).length > 0){
//let new_frames = Object.assign({}, ...Object.entries(frames).map(([k, v]) => ({[Number(k)]: v}))); // no funciona devuelve string
// let new_frames = Object.assign({}, ...Object.keys(frames).map(k => ({[Number(k)]: frames[k]})));
// this.data['vcd']['frames'] = new_frames
// }
//}
if(this.data['vcd']['metadata']['schema_version'] != this.schema_version) {
console.error("The loaded VCD does not have key \'version\' set to " + this.schema_version + '. Unexpected behaviour may happen.')
}
this.computeLastUid();
}
}
else {
this.data = vcd_json
if(this.data['vcd']['metadata']['schema_version'] != this.schema_version) {
console.error("The loaded VCD does not have key \'version\' set to " + this.schema_version + '. Unexpected behaviour may happen.')
}
this.computeLastUid();
}
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////
// Private API: inner functions
////////////////////////////////////////////////////////////////////////////////////////////////////
private getUidToAssign(elementType: ElementType, uid: UID): UID {
let uidToAssign
if (uid.isNone()) {
if(this.useUUID) {
// Let's use UUIDs
uidToAssign = new UID(uuidv4())
}
else {
// Let's use integers
this.lastUID[elementType] += 1; // If null is provided, let's use the next one available
uidToAssign = new UID(this.lastUID[elementType])
}
}
else {
// uids is not none
if(!uid.isUuid()) {
// User provided a number, let's proceed
if(uid.asInt() > this.lastUID[elementType]) {
this.lastUID[elementType] = uid.asInt()
uidToAssign = new UID(this.lastUID[elementType])
}
else uidToAssign = uid
}
else {
// This is a UUID
this.useUUID = true
uidToAssign = uid
}
}
return uidToAssign
}
private setVCDFrameIntervals(frameIntervals: FrameIntervals) {
if(!frameIntervals.empty())
this.data['vcd']['frame_intervals'] = frameIntervals.getDict()
}
private updateVCDFrameIntervals(frameIntervals: FrameIntervals) {
// This function creates the union of existing VCD with the input frameIntervals
if(!frameIntervals.empty()) {
this.data['vcd']['frame_intervals'] = this.data['vcd']['frame_intervals'] || []
let fisCurrent = new FrameIntervals(this.data['vcd']['frame_intervals'])
let fisUnion = fisCurrent.union(frameIntervals)
this.setVCDFrameIntervals(fisUnion)
}
}
private addFrame(frameNum: number) {
this.data['vcd']['frames'] = this.data['vcd']['frames'] || {}
this.data['vcd']['frames'][frameNum] = this.data['vcd']['frames'][frameNum] || {}
}
private computeLastUid() {
this.lastUID = {};
// Read all objects and fill lastUID
this.lastUID[ElementType.object] = -1;
if ('objects' in this.data['vcd']) {
for (const uid of Object.keys(this.data['vcd']['objects'])) {
if (parseInt(uid) > this.lastUID[ElementType.object]) {
this.lastUID[ElementType.object] = parseInt(uid);
}
}
}
this.lastUID[ElementType.action] = -1;
if ('actions' in this.data['vcd']) {
for (const uid of Object.keys(this.data['vcd']['actions'])) {
if (parseInt(uid) > this.lastUID[ElementType.action]) {
this.lastUID[ElementType.action] = parseInt(uid);
}
}
}
this.lastUID[ElementType.event] = -1;
if ('events' in this.data['vcd']) {
for (const uid of Object.keys(this.data['vcd']['events'])) {
if (parseInt(uid) > this.lastUID[ElementType.event]) {
this.lastUID[ElementType.event] = parseInt(uid);
}
}
}
this.lastUID[ElementType.context] = -1;
if ('contexts' in this.data['vcd']) {
for (const uid of Object.keys(this.data['vcd']['contexts'])) {
if (parseInt(uid) > this.lastUID[ElementType.context]) {
this.lastUID[ElementType.context] = parseInt(uid);
}
}
}
this.lastUID[ElementType.relation] = -1;
if ('relations' in this.data['vcd']) {
for (const uid of Object.keys(this.data['vcd']['relations'])) {
if (parseInt(uid) > this.lastUID[ElementType.relation]) {
this.lastUID[ElementType.relation] = parseInt(uid);
}
}
}
}
private addFrames(frameIntervals: FrameIntervals, elementType: ElementType, uid: UID) {
if(frameIntervals.empty()) return
else {
let elementTypeName = ElementType[elementType]
// Loop over frames and add
let fis = frameIntervals.get()
for(let fi of fis) {
for(let f=fi[0]; f<=fi[1]; f++)
{
// Add frame
this.addFrame(f)
// Add element entry
let frame = this.getFrame(f) // TODO: check if this actually returns a pointer and not a copy
frame[elementTypeName + 's'] = frame[elementTypeName + 's'] || {}
frame[elementTypeName + 's'][uid.asStr()] = frame[elementTypeName + 's'][uid.asStr()] || {}
}
}
}
}
private setElement(elementType: ElementType, name: string, semanticType: string, frameIntervals: FrameIntervals, uid: UID, ontUid: UID, coordinateSystem: string, setMode: SetMode) {
let fis = frameIntervals
if(setMode == SetMode.union) {
// Union means fusion, we are calling this function to "add" content, not to remove any
let fis_existing = this.getElementFrameIntervals(elementType, uid.asStr())
fis = fis_existing.union(frameIntervals)
}
// 0.- Get uid_to_assign
let uidToAssign = this.getUidToAssign(elementType, uid) // NOTE: private functions use UID type for uids
// 1.- Set the root and frames entries
this.setElementAtRootAndFrames(elementType, name, semanticType, fis, uidToAssign, ontUid, coordinateSystem)
return uidToAssign
}
private setElementAtRootAndFrames(elementType: ElementType, name: string, semanticType: string, frameIntervals: FrameIntervals, uid: UID, ontUid: UID, coordinateSystem: string) {
// 1.- Copy from existing or create new entry (this copies everything, including element_data)
let elementExisted = this.has(elementType, uid.asStr())
let elementTypeName = ElementType[elementType];
let uidstr = uid.asStr()
this.data['vcd'][elementTypeName + 's'] = this.data['vcd'][elementTypeName + 's'] || {} // creates an entry for this elementype if not existing already, e.g. "objects"
this.data['vcd'][elementTypeName + 's'][uidstr] = this.data['vcd'][elementTypeName + 's'][uidstr] || {} // creates an entry for this element if not existing already
let element = this.data['vcd'][elementTypeName + 's'][uidstr] // read the element at the root (might be empty if created in this call)
//let fisOld = new FrameIntervals()
let fisOld = new FrameIntervals()
if('frame_intervals' in element) {
fisOld = new FrameIntervals(element['frame_intervals']) // might be empty
}
// Next body of the function considers the following 3 cases
// 1.1.- Subcase A: if it existed, but defined as static, and now we are given a non-empty frame intervals: static->dynamic
// 1.2.- Subcase B: if it existed, but defined as non-static (with frame intervals), and we are given now an empty frameInterval: dynamic -> static
// 1.3.- Subcase C: static->static, dynamic->dynamic
// Note that "element" also may contain static element_data at root
// 2.- Copy from arguments
if(name != null) element['name'] = name
if(semanticType != null) element['type'] = semanticType
if(!frameIntervals.empty() || (elementExisted && !fisOld.empty()))
element['frame_intervals'] = frameIntervals.getDict() // so, either the newFis has something, or the fisOld had something (in which case needs to be substituted)
// Under the previous control, no 'frame_intervals' field is added to newly created static elements -> should 'frame_intervals' be mandatory?
if(!ontUid.isNone() && this.getOntology(ontUid.asStr())) element['ontology_uid'] = ontUid.asStr()
if(coordinateSystem != null && this.hasCoordinateSystem(coordinateSystem)) element['coordinate_system'] = coordinateSystem
// 2.bis.- Add mandatory rdf_subjects and rdf_objects to Relation
if (elementType == ElementType.relation)
{
if(!('rdf_subjects' in element)) element['rdf_subjects'] = []
if(!('rdf_objects' in element)) element['rdf_objects'] = []
}
// 3.- Reshape element_data_pointers according to this new frame_intervals
// Also if the new frameIntervals is empty, in which case, we convert all element data into static
if(elementTypeName + '_data_pointers' in element) {
let edps = element[elementTypeName + '_data_pointers']
for(let edp_name in edps) {
// NOW, we have to UPDATE frame intervals of pointers because we have modified the frame_intervals
// of the element itself, and
// If we compute the intersection frame_intervals, we can copy that into
// element_data_pointers frame intervals
let fisInt = new FrameIntervals()
if(!frameIntervals.empty())
fisInt = frameIntervals.intersection(new FrameIntervals(edps[edp_name]['frame_intervals']))
// Update the pointers
element[elementTypeName + '_data_pointers'] = element[elementTypeName + '_data_pointers'] || {}
element[elementTypeName + '_data_pointers'][edp_name] = edps[edp_name]
element[elementTypeName + '_data_pointers'][edp_name]['frame_intervals'] = fisInt.getDict()
}
}
// 4.- Now set at frames
if(!frameIntervals.empty()) {
// 2.1.- There is frame_intervals specified
if(!elementExisted) {
// 2.1.a) Just create the new element
this.addFrames(frameIntervals, elementType, uid)
this.updateVCDFrameIntervals(frameIntervals)
}
else {
// 2.1.b) This is a substitution: depending on the new frame_intervals, we may need to delete/add frames
// Add
let fisNew = frameIntervals
for(let fi of fisNew.get()) {
for(let f=fi[0]; f<=fi[1]; f++) {
let isInside = fisOld.hasFrame(f)
if(!isInside) {
// New frame is not inside -> let's add this frame
let fi_ = new FrameIntervals(f)
this.addFrames(fi_, elementType, uid)
this.updateVCDFrameIntervals(fi_)
}
}
}
// Remove
if(elementExisted && fisOld.empty()) {
// Ok, the element was originally static (thus with fisOld empty)
// so potentially there are pointers of the element in all frames (in case there are frames)
// Now the element is declared with a specific frame intervals. Then we first need to remove all element
// entries (pointers) in all OTHER frames
let vcdFrameIntervals = this.getFrameIntervals()
if(!vcdFrameIntervals.empty()) {
for(let fi of vcdFrameIntervals.get()) {
for(let f=fi[0]; f<=fi[1]; f++) {
if(!fisNew.hasFrame(f)) { // Only for those OTHER frames not those just added
let elementsInFrame = this.data['vcd']['frames'][f][elementTypeName + 's']
if(uidstr in elementsInFrame) {
delete elementsInFrame[uidstr] // removes this element entry in this frame
if (Object.keys(elementsInFrame).length == 0) { // elements might have end up empty
delete this.data['vcd']['frames'][f][elementTypeName + 's']
if(Object.keys(this.data['vcd']['frames'][f]).length == 0) { // this frame may have ended up being empty
// So VCD now has no info in this frame, let's remove it from VCD frame interval
this.rmFrame(f) // removes the frame and updates VCD frame interval accordingly
}
}
}
}
}
}
}
}
// Next loop for is for the case fisOld wasn't empty, so we just need to remove old content
for(let fi of fisOld.get()) {
for(let f=fi[0]; f<=fi[1]; f++) {
let isInside = fisNew.hasFrame(f)
if(!isInside) {
// Old frame not inside new ones -> let's remove this frame
let elementsInFrame = this.data['vcd']['frames'][f][elementTypeName + 's']
delete elementsInFrame[uidstr] // removes this element entry in this frame
if (Object.keys(elementsInFrame).length == 0) { // elements might have end up empty
delete this.data['vcd']['frames'][f][elementTypeName + 's']
if(Object.keys(this.data['vcd']['frames'][f]).length == 0) { // this frame may have ended up being empty
// So VCD now has no info in this frame, let's remove it from VCD frame interval
this.rmFrame(f) // removes the frame and updates VCD frame interval accordingly
}
}
}
}
}
}
}
else {
// 2.2.- The element is declared as static
// If the VCD has frame intervals, then, Element needs to be added as a pointer in all VCD frames
if(elementType != ElementType.relation) { // frame-less relations remain frame-less
let vcdFrameIntervals = this.getFrameIntervals()
if(!vcdFrameIntervals.empty()) {
// ... but VCD has already other elements or info that have established some frame intervals
// The element is then assumed to exist in all frames: let's add a pointer into all frames (also for Relations!)
this.addFrames(vcdFrameIntervals, elementType, uid)
}
}
// But, if the element existed previously, and it was dynamic, there is already information inside frames. If there is elementData at frames, they are removed
if(!fisOld.empty()) {
// Let's check the elementData at those frames
this.rmElementDataFromFrames(elementType, uid, fisOld)
// Additionally, we need to remove element entries at frames, and frames entirely to clean-up
for(let fi of fisOld.get()) {
for(let f=fi[0]; f<=fi[1]; f++) {
let elementsInFrame = this.data['vcd']['frames'][f][elementTypeName + 's']
delete elementsInFrame[uidstr]
// Clean-up
if (Object.keys(elementsInFrame).length == 0) { // elements might have end up empty
delete this.data['vcd']['frames'][f][elementTypeName + 's']
if(Object.keys(this.data['vcd']['frames'][f]).length == 0) { // this frame may have ended up being empty
// So VCD now has no info in this frame, let's remove it from VCD frame interval
this.rmFrame(f) // removes the frame and updates VCD frame interval accordingly
}
}
}
}
}
}
}
private setElementData(elementType: ElementType, uid: UID, elementData: types.ObjectData, frameIntervals: FrameIntervals, setMode: SetMode) {
// Checks
if(!this.has(elementType, uid.asStr())) {
console.warn("WARNING: Trying to set element_data for a non-existing element.")
return
}
let element = this.getElement(elementType, uid.asStr())
// Read existing data about this element, so we can call setElement
let name = element['name']
let semanticType = element['type']
let ontUid = new UID(null)
let cs = null
if('ontology_uid' in element) ontUid = new UID(element['ontology_uid'])
if('coordinate_system' in element) cs = element['coordinate_system']
if('coordinate_system' in elementData.data) {
if(!this.hasCoordinateSystem(elementData.data['coordinate_system'])) {
console.warn("WARNING: Trying to set element_data with a non-declared coordinate system")
return
}
}
if(frameIntervals.empty() && setMode == SetMode.union && !(elementData instanceof types.Mesh))
setMode = SetMode.replace
if(setMode == SetMode.replace) {
// Extend also the container Element just in case the frame_interval of this element_data is beyond it
// removes/creates frames if needed
// This call is to modify an existing element_data, which may imply removing some frames
if(!frameIntervals.empty()) {
let fisExisting = new FrameIntervals(element['frame_intervals'])
let fisNew = frameIntervals
let fisUnion = fisExisting.union(fisNew)
this.setElement(elementType, name, semanticType, fisUnion, uid, ontUid, cs, setMode)
this.setElementDataContentAtFrames(elementType, uid, elementData, frameIntervals)
}
else {
// This is a static element_data. If it was declared dynamic BEFORE, let's remove it
//this.setElement(elementType, name, semanticType, frameIntervals, uid, ontUid, cs, setMode) // Why this call to set element? let's do just the modification of the elementData
if(this.hasElementData(elementType, uid.asStr(), elementData)) {
let fisOld = this.getElementDataFrameIntervals(elementType, uid.asStr(), elementData.data['name'])
if(!fisOld.empty())
this.rmElementDataFromFramesByName(elementType, uid, elementData.data['name'], fisOld)
}
this.setElementDataContent(elementType, element, elementData)
}
// Set the pointers
this.setElementDataPointers(elementType, uid, elementData, frameIntervals)
}
else { // setMode = SetMode.union
// This call is to add element_data to the element, substituting content if overlap, otherwise adding
// First, extend also the container Element just in case the frame_interval of this element_data is beyond
// the currently existing frame_intervals of the Element
// internally computes the union
this.setElement(elementType, name, semanticType, frameIntervals, uid, ontUid, cs, setMode)
if(!frameIntervals.empty()) {
let fisExisting = new FrameIntervals()
let elementTypeName = ElementType[elementType]
if(elementTypeName + '_data_pointers' in element) {
let edp = element[elementTypeName + '_data_pointers']
if(elementData.data['name'] in edp)
fisExisting = new FrameIntervals(edp[elementData.data['name']]['frame_intervals'])
}
let fisNew = frameIntervals
let fisUnion = fisExisting.union(fisNew)
// Dynamic
if(element != null) {
// It is not a simple call with the union of frame intervals
// We need to substitute the content for just this frame_interval, without modifying the rest
// that must stay as it was
// Loop over the specified frame_intervals to create or substitute the content
this.setElementDataContentAtFrames(elementType, uid, elementData, fisNew)
}
// Set the pointers (but the pointers we have to update using the union)
this.setElementDataPointers(elementType, uid, elementData, fisUnion)
}
else if (elementData instanceof types.Mesh){
// This is only for mesh type, which can have both static and dynamic attributes
this.setElementDataContent(elementType, element, elementData)
}
}
}
private setElementDataContentAtFrames(elementType: ElementType, uid: UID, elementData: types.ObjectData, frameIntervals: FrameIntervals) {
// Loop over the specified frame_intervals to create or substitute the content
// Create entries of the element_data at frames
let elementTypeName = ElementType[elementType]
let fis = frameIntervals.get()
for(let fi of fis) {
for(let f=fi[0]; f<=fi[1]; f++) {
// Add element_data entry
let frame = this.getFrame(f)
if(frame == null) {
this.addFrame(f)
frame = this.getFrame(f)
}
frame[elementTypeName + 's'] = frame[elementTypeName + 's'] || {}
frame[elementTypeName + 's'][uid.asStr()] = frame[elementTypeName + 's'][uid.asStr()] || {}
let element = frame[elementTypeName + 's'][uid.asStr()]
this.setElementDataContent(elementType, element, elementData)
}
}
}
private setElementDataContent(elementType: ElementType, element: object, elementData: types.ObjectData ) {
// Adds the element_data to the corresponding container
// If an element_data with same name exists, it is substituted
let elementTypeName = ElementType[elementType]
element[elementTypeName + '_data'] = element[elementTypeName + '_data'] || {}
element[elementTypeName + '_data'][elementData.typeName()] = element[elementTypeName + '_data'][elementData.typeName()] || [] // e.g. "bbox"
// Find if element_data already there, if so, replace, otherwise, append
const pos = element[elementTypeName + '_data'][elementData.typeName()].findIndex(item => item.name === elementData.data['name'])
let found = (pos == -1)?(false):(true)
if(!found) {
// Not found: then, just push this new element Data
element[elementTypeName + '_data'][elementData.typeName()].push(elementData.data);
}
else {
// Found: let's substitute
element[elementTypeName + '_data'][elementData.typeName()][pos] = elementData.data
}
}
private setElementDataPointers(elementType: ElementType, uid: UID, elementData: types.ObjectData, frameIntervals: FrameIntervals) {
let elementTypeName = ElementType[elementType]
this.data['vcd'][elementTypeName + 's'][uid.asStr()][elementTypeName + '_data_pointers'] = this.data['vcd'][elementTypeName + 's'][uid.asStr()][elementTypeName + '_data_pointers'] || {}
let edp = this.data['vcd'][elementTypeName + 's'][uid.asStr()][elementTypeName + '_data_pointers']
edp[elementData.data['name']] = {}
edp[elementData.data['name']]['type'] = elementData.typeName()
if(frameIntervals == null) {
edp[elementData.data['name']]['frame_intervals'] = []
}
else {
edp[elementData.data['name']]['frame_intervals'] = frameIntervals.getDict()
}
if('attributes' in elementData.data) {
edp[elementData.data['name']]['attributes'] = {}
for(let attr_type in elementData.data['attributes']) { // attr_type might be boolean, text, num or vec
for(let attr of elementData.data['attributes'][attr_type]) {
edp[elementData.data['name']]['attributes'][attr['name']] = attr_type
}
}
}
}
private rmFrame(frameNum: number) {
// This function deletes a frame entry from frames, and updates VCD accordingly
if('frames' in this.data['vcd']){
if(frameNum in this.data['vcd']['frames']){
delete this.data['vcd']['frames'][frameNum]
}
if(this.data['vcd']['frames'].length == 0)
delete this.data['vcd']['frames']
}
// Remove from VCD frame intervals
if('frame_intervals' in this.data['vcd']) {
var fisDict = this.data['vcd']['frame_intervals'];
var fisDictNew = utils.rmFrameFromFrameIntervals(fisDict, frameNum)
// Now substitute
this.data['vcd']['frame_intervals'] = fisDictNew;
if(this.data['vcd']['frame_intervals'].length == 0)
delete this.data['vcd']['frame_intervals']
}
}
private rmElementDataFromFramesByName(elementType: ElementType, uid: UID, elementDataName: string, frameIntervals: FrameIntervals) {
let elementTypeName = ElementType[elementType];
for(let fi of frameIntervals.get()) {
for(let f=fi[0]; f<=fi[1]; f++) {
if(this.hasFrame(f)) {
let frame = this.data['vcd']['frames'][f]
if(elementTypeName + 's' in frame) {
if(uid.asStr() in frame[elementTypeName + 's']) {
let element = frame[elementTypeName + 's'][uid.asStr()]
if(elementTypeName + '_data' in element) {
// delete only the element_data with the specified name
for (const prop in element[elementTypeName + '_data']) {
var valArray = element[elementTypeName + '_data'][prop];
for (var i = 0; i < valArray.length; i++) {
var val = valArray[i];
if (val['name'] == elementDataName) {
delete element[elementTypeName + '_data'][prop][i]
}
}
}
}
}
}
}
}
}
}
private rmElementDataFromFrames(elementType: ElementType, uid: UID, frameIntervals: FrameIntervals) {
let elementTypeName = ElementType[elementType];
for(let fi of frameIntervals.get()) {
for(let f=fi[0]; f<=fi[1]; f++) {
if(this.hasFrame(f)) {
let frame = this.data['vcd']['frames'][f]
if(elementTypeName + 's' in frame) {
if(uid.asStr() in frame[elementTypeName + 's']) {
let element = frame[elementTypeName + 's'][uid.asStr()]
if(elementTypeName + '_data' in element) {
// delete all its former dynamic element_data entries at old fis
delete element[elementTypeName + '_data']
}
}
}
}
}
}
// Clean-up data pointers of object_data that no longer exist!
// Note, element_data_pointers are correctly updated, but there might be some now declared as static
// corresponding to element_data that was dynamic but now has been removed when the element changed to static
if(this.has(elementType, uid.asStr())) {
let element = this.data['vcd'][elementTypeName + 's'][uid.asStr()]
if(elementTypeName + '_data_pointers' in element) {
let edps = element[elementTypeName + '_data_pointers']
let edp_names_to_delete = []
for(let edp_name in edps) {
let fis_ed = new FrameIntervals(edps[edp_name]['frame_intervals'])
if(fis_ed.empty()) {
// CHeck if element_Data exists
let ed_type = edps[edp_name]['type']
let found = false
if(elementTypeName + '_data' in element) {
if(ed_type in element[elementTypeName + '_data']) {
for(let ed in element[elementTypeName + '_data'][ed_type]) {
if(ed['name'] == edp_name) {
found = true
break
}
}
}
}
if(!found) {
edp_names_to_delete.push(edp_name)
}
}
}
for(let edp_name of edp_names_to_delete) {
delete element[elementTypeName + '_data_pointers'][edp_name]
}
}
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////
// Public API: add, update
////////////////////////////////////////////////////////////////////////////////////////////////////
public addFileVersion(version: string) {
this.data['vcd']['metadata'] = this.data['vcd']['metadata'] || {}
this.data['vcd']['metadata']['file_version'] = version
}
public addMetadataProperties(properties: object) {
this.data['vcd']['metadata'] = this.data['vcd']['metadata'] || {}
Object.assign(this.data['vcd']['metadata'], properties);
}
public addName(name: string) {
this.data['vcd']['metadata'] = this.data['vcd']['metadata'] || {}
this.data['vcd']['metadata']['name'] = name;
}
public addAnnotator(annotator: string) {
this.data['vcd']['metadata'] = this.data['vcd']['metadata'] || {}
this.data['vcd']['metadata']['annotator'] = annotator;
}
public addComment(comment: string) {
this.data['vcd']['metadata'] = this.data['vcd']['metadata'] || {}
this.data['vcd']['metadata']['comment'] = comment;
}
public addOntology(ontologyName: string): string {
this.data['vcd']['ontologies'] = this.data['vcd']['ontologies'] || {};
for (const ont_uid in this.data['vcd']['ontologies']) {
if (this.data['vcd']['ontologies'][ont_uid] == ontologyName) {
console.warn('WARNING: adding an already existing ontology');
return null;
}
}
var length = Object.keys(this.data['vcd']['ontologies']).length;
this.data['vcd']['ontologies'][length.toString()] = ontologyName;
return length.toString();
}
public addCoordinateSystem(name: string, csType: types.CoordinateSystemType, parentName: string = "", poseWrtParent: Array<number> = [], uid = null) {
// Create entry
this.data['vcd']['coordinate_systems'] = this.data['vcd']['coordinate_systems'] || {}
this.data['vcd']['coordinate_systems'][name] = {
'type': types.CoordinateSystemType[csType],
'parent': parentName,
'pose_wrt_parent': poseWrtParent,
'children': []
}
if(uid != null) {
Object.assign(this.data['vcd']['coordinate_systems'][name], {'uid': (new UID(uid)).asStr()})
}
// Update parents
if(parentName != "") {
let found = false
for(let n in this.data['vcd']['coordinate_systems']) {
let cs = this.data['vcd']['coordinate_systems'][n]
if(n == parentName) {
found = true
cs['children'].push(name)
}
}
if(!found)
console.warn("WARNING: creating a coordinate system with a non-defined parent coordinate system. Add them in order.")
}
}
public addTransform(frameNum: number, transform: types.Transform) {
this.addFrame(frameNum)
this.data['vcd']['frames'][frameNum]['frame_properties'] = this.data['vcd']['frames'][frameNum]['frame_properties'] || {}
this.data['vcd']['frames'][frameNum]['frame_properties']['transforms'] = this.data['vcd']['frames'][frameNum]['frame_properties']['transforms'] || {}
Object.assign(this.data['vcd']['frames'][frameNum]['frame_properties']['transforms'], transform.data)
}
public addStream(streamName: string, uri: string, description: string, sensorType: StreamType) {
this.data['vcd']['streams'] = this.data['vcd']['streams'] || {};
this.data['vcd']['streams'][streamName] = this.data['vcd']['streams'][streamName] || {};
this.data['vcd']['streams'][streamName] = {
'description': description, 'uri': uri, 'type': StreamType[sensorType]
}
}
public addFrameProperties(frameNum: number, timestamp = null, additionalProperties = null) {
this.addFrame(frameNum); // this function internally checks if( the frame already exists
this.data['vcd']['frames'][frameNum]['frame_properties'] = this.data['vcd']['frames'][frameNum]['frame_properties'] || {};
if (timestamp != null) {
if(timestamp instanceof String) {
this.data['vcd']['frames'][frameNum]['frame_properties']['timestamp'] = timestamp
}
}
if (additionalProperties != null) {
if(additionalProperties instanceof Object) {
Object.assign(this.data['vcd']['frames'][frameNum]['frame_properties'], additionalProperties)
}
}
}
public addStreamProperties(streamName: string, properties: object, intrinsics =null, streamSync = null) {
let has_arguments = false
let frameNum: number
if(intrinsics != null && intrinsics instanceof types.Intrinsics) { has_arguments = true }
if(properties != null && properties instanceof Object) { has_arguments = true }
if(streamSync != null && streamSync instanceof types.StreamSync) {
has_arguments = true
if( streamSync.frameVcd != null) { frameNum = streamSync.frameVcd }
else { frameNum = null }
}
else { frameNum = null }
if (!has_arguments) {
return
}
// This function can be used to add stream properties. if( frame_num is defined, the information is embedded
// inside 'frame_properties' of the specified frame. Otherwise, the information is embedded into
// 'stream_properties' inside 'metadata'.
// Find if( this stream is declared
if ('metadata' in this.data['vcd']) {
if ('streams' in this.data['vcd']) {
if (streamName in this.data['vcd']['streams']) {
if (frameNum == null) {
// This information is static
this.data['vcd']['streams'][streamName]['stream_properties'] = this.data['vcd']['streams'][streamName]['stream_properties'] || {};
if (properties != null) {
Object.assign(this.data['vcd']['streams'][streamName]['stream_properties'], properties)
}
if (intrinsics != null) {
Object.assign(this.data['vcd']['streams'][streamName]['stream_properties'], intrinsics.data)
}
if (streamSync != null) {
Object.assign(this.data['vcd']['streams'][streamName]['stream_properties'], streamSync.data)
}
}
else {
// This is information of the stream for( a specific frame
this.addFrame(frameNum); // to add the frame in case it does not exist
var frame = this.data['vcd']['frames'][frameNum];
frame['frame_properties'] = frame['frame_properties'] || {};
frame['frame_properties']['streams'] = frame['frame_properties']['streams'] || {};
frame['frame_properties']['streams'][streamName] = frame['frame_properties']['streams'][streamName] || {};
frame['frame_properties']['streams'][streamName]['stream_properties'] = frame['frame_properties']['streams'][streamName]['stream_properties'] || {};
if (properties != null) {
Object.assign(frame['frame_properties']['streams'][streamName]['stream_properties'], properties)