Mercurial Hosting > traffic-intelligence

annotate scripts/dltrack.py @ 1245:371c718e57d7

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
interface updates
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 08 Feb 2024 16:10:54 -0500
parents 4cd8ace3552f
children 2397de73770d
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
1219
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
1 #! /usr/bin/env python3
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
2 # from https://docs.ultralytics.com/modes/track/
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
3 import sys, argparse
1233
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1231
diff changeset
4 from copy import copy
1236
100fe098abe9 progress on classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1235
diff changeset
5 from collections import Counter
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
6 import numpy as np
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
7 from scipy.optimize import linear_sum_assignment
1219
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
8 from ultralytics import YOLO
1236
100fe098abe9 progress on classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1235
diff changeset
9 from torch import cat
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
10 from torchvision.ops import box_iou
1231
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
11 import cv2
1219
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
12
1233
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1231
diff changeset
13 from trafficintelligence import cvutils, moving, storage, utils
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1231
diff changeset
14
1240
bb14f919d1cb cleaned use of centile (np only) and added info in classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1238
diff changeset
15 parser = argparse.ArgumentParser(description='The program tracks objects using the ultralytics models and trakcers.')
1245
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
16 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file')
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
17 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file (overrides the configuration file)')
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
18 parser.add_argument('-i', dest = 'videoFilename', help = 'name of the video file (overrides the configuration file)')
1234
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
19 parser.add_argument('-m', dest = 'detectorFilename', help = 'name of the detection model file', required = True)
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
20 parser.add_argument('-t', dest = 'trackerFilename', help = 'name of the tracker file', required = True)
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
21 parser.add_argument('-o', dest = 'homographyFilename', help = 'filename of the homography matrix', default = 'homography.txt')
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
22 parser.add_argument('-k', dest = 'maskFilename', help = 'name of the mask file')
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
23 parser.add_argument('--undistort', dest = 'undistort', help = 'undistort the video', action = 'store_true')
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
24 parser.add_argument('--intrinsic', dest = 'intrinsicCameraMatrixFilename', help = 'name of the intrinsic camera file')
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
25 parser.add_argument('--distortion-coefficients', dest = 'distortionCoefficients', help = 'distortion coefficients', nargs = '*', type = float)
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
26 parser.add_argument('--display', dest = 'display', help = 'show the raw detection and tracking results', action = 'store_true')
1245
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
27 parser.add_argument('--no-image-coordinates', dest = 'notSavingImageCoordinates', help = 'not saving the raw detection and tracking results', action = 'store_true')
1234
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
28 parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to process', type = int, default = 0)
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
29 parser.add_argument('-l', dest = 'lastFrameNum', help = 'number of last frame number to process', type = int, default = float('Inf'))
1242
4cd8ace3552f major update for classification, allowing the use of neural network classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1240
diff changeset
30 parser.add_argument('--conf', dest = 'confindence', help = 'object confidence threshold for detection', type = float, default = 0.25)
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
31 parser.add_argument('--bike-prop', dest = 'bikeProportion', help = 'minimum proportion of time a person classified as bike or motorbike to be classified as cyclist', type = float, default = 0.2)
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
32 parser.add_argument('--cyclist-iou', dest = 'cyclistIou', help = 'IoU threshold to associate a bike and ped bounding box', type = float, default = 0.15)
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
33 parser.add_argument('--cyclist-match-prop', dest = 'cyclistMatchingProportion', help = 'minimum proportion of time a bike exists and is associated with a pedestrian to be merged as cyclist', type = float, default = 0.3)
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
34 parser.add_argument('--max-temp-overal', dest = 'maxTemporalOverlap', help = 'maximum proportion of time to merge 2 bikes associated with same pedestrian', type = float, default = 0.05)
1245
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
35
1219
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
36 args = parser.parse_args()
1245
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
37 params, videoFilename, databaseFilename, invHomography, intrinsicCameraMatrix, distortionCoefficients, undistortedImageMultiplication, undistort, firstFrameNum = storage.processVideoArguments(args)
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
38
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
39 if args.intrinsicCameraMatrixFilename is not None:
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
40 intrinsicCameraMatrix = loadtxt(args.intrinsicCameraMatrixFilename)
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
41 if args.distortionCoefficients is not None:
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
42 distortionCoefficients = args.distortionCoefficients
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
43 if args.firstFrameNum is not None:
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
44 firstFrameNum = args.firstFrameNum
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
45 if args.lastFrameNum is not None:
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
46 lastFrameNum = args.lastFrameNum
1219
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
47
1230
c582b272108f (minor) work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1229
diff changeset
48 # TODO add option to refine position with mask for vehicles
1245
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
49 # TODO work with optical flow (farneback or RAFT) https://pytorch.org/vision/main/models/raft.html
1230
c582b272108f (minor) work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1229
diff changeset
50
1231
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
51 # use 2 x bytetrack track buffer to remove objects from existing ones
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
52
1219
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
53 # Load a model
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
54 model = YOLO(args.detectorFilename) # seg yolov8x-seg.pt
1219
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
55 # seg could be used on cropped image... if can be loaded and kept in memory
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
56 # model = YOLO('/home/nicolas/Research/Data/classification-models/yolo_nas_l.pt ') # AttributeError: 'YoloNAS_L' object has no attribute 'get'
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
57
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
58 # Track with the model
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
59 if args.display:
1231
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
60 windowName = 'frame'
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
61 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
1234
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
62
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
63 capture = cv2.VideoCapture(args.videoFilename)
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
64 objects = {}
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
65 featureNum = 1
1234
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
66 frameNum = args.firstFrameNum
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
67 capture.set(cv2.CAP_PROP_POS_FRAMES, frameNum)
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
68 lastFrameNum = args.lastFrameNum
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
69
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
70 success, frame = capture.read()
1240
bb14f919d1cb cleaned use of centile (np only) and added info in classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1238
diff changeset
71 if not success:
bb14f919d1cb cleaned use of centile (np only) and added info in classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1238
diff changeset
72 print('Input {} could not be read. Exiting'.format(args.videoFilename))
bb14f919d1cb cleaned use of centile (np only) and added info in classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1238
diff changeset
73 import sys; sys.exit()
1245
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
74
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
75 results = model.track(frame, tracker=args.trackerFilename, classes=list(moving.cocoTypeNames.keys()), persist=True, verbose=False)
1234
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
76 while capture.isOpened() and success and frameNum <= lastFrameNum:
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
77 result = results[0]
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
78 if frameNum %10 == 0:
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
79 print(frameNum, len(result.boxes), 'objects')
1233
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1231
diff changeset
80 for box in result.boxes:
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1231
diff changeset
81 #print(box.cls, box.id, box.xyxy)
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1231
diff changeset
82 if box.id is not None: # None are objects with low confidence
1236
100fe098abe9 progress on classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1235
diff changeset
83 num = int(box.id.item())
100fe098abe9 progress on classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1235
diff changeset
84 #xyxy = box.xyxy[0].tolist()
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
85 if num in objects:
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
86 objects[num].timeInterval.last = frameNum
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
87 objects[num].features[0].timeInterval.last = frameNum
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
88 objects[num].features[1].timeInterval.last = frameNum
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
89 objects[num].bboxes[frameNum] = copy(box.xyxy)
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
90 objects[num].userTypes.append(moving.coco2Types[int(box.cls.item())])
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
91 objects[num].features[0].tmpPositions[frameNum] = moving.Point(box.xyxy[0,0].item(), box.xyxy[0,1].item())
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
92 objects[num].features[1].tmpPositions[frameNum] = moving.Point(box.xyxy[0,2].item(), box.xyxy[0,3].item())
1231
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
93 else:
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
94 inter = moving.TimeInterval(frameNum, frameNum)
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
95 objects[num] = moving.MovingObject(num, inter)
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
96 objects[num].bboxes = {frameNum: copy(box.xyxy)}
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
97 objects[num].userTypes = [moving.coco2Types[int(box.cls.item())]]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
98 objects[num].features = [moving.MovingObject(featureNum, copy(inter)), moving.MovingObject(featureNum+1, copy(inter))]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
99 objects[num].featureNumbers = [featureNum, featureNum+1]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
100 objects[num].features[0].tmpPositions = {frameNum: moving.Point(box.xyxy[0,0].item(), box.xyxy[0,1].item())}
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
101 objects[num].features[1].tmpPositions = {frameNum: moving.Point(box.xyxy[0,2].item(), box.xyxy[0,3].item())}
1231
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
102 featureNum += 2
1233
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1231
diff changeset
103 if args.display:
1231
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
104 cvutils.cvImshow(windowName, result.plot()) # original image in orig_img
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
105 key = cv2.waitKey()
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
106 if cvutils.quitKey(key):
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
107 break
1234
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
108 frameNum += 1
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
109 success, frame = capture.read()
dd969637381e work on tracker interface
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
110 results = model.track(frame, persist=True)
1231
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
111
1236
100fe098abe9 progress on classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1235
diff changeset
112 # classification
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
113 for num, obj in objects.items():
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
114 obj.setUserType(utils.mostCommon(obj.userTypes)) # improve? mix with speed?
1236
100fe098abe9 progress on classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1235
diff changeset
115
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
116 # add quality control: avoid U-turns
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
117
1236
100fe098abe9 progress on classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1235
diff changeset
118 # merge bikes and people
1245
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
119 twowheels = [num for num, obj in objects.items() if obj.getUserType() in (moving.userType2Num['motorcyclist'],moving.userType2Num['cyclist'])]
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
120 pedestrians = [num for num, obj in objects.items() if obj.getUserType() == moving.userType2Num['pedestrian']]
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
121
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
122 def mergeObjects(obj1, obj2):
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
123 obj1.features = obj1.features+obj2.features
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
124 obj1.featureNumbers = obj1.featureNumbers+obj2.featureNumbers
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
125 obj1.timeInterval = moving.TimeInterval(min(obj1.getFirstInstant(), obj2.getFirstInstant()), max(obj1.getLastInstant(), obj2.getLastInstant()))
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
126
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
127 costs = []
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
128 for twInd in twowheels:
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
129 tw = objects[twInd]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
130 tw.nBBoxes = len(tw.bboxes)
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
131 twCost = []
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
132 for pedInd in pedestrians:
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
133 ped = objects[pedInd]
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
134 nmatches = 0
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
135 for t in tw.bboxes:
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
136 if t in ped.bboxes:
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
137 #print(tw.num, ped.num, t, box_iou(tw.bboxes[t], ped.bboxes[t]))
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
138 if not tw.commonTimeInterval(ped).empty() and box_iou(tw.bboxes[t], ped.bboxes[t]).item() > args.cyclistIou:
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
139 nmatches += 1
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
140 twCost.append(nmatches/tw.nBBoxes)
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
141 costs.append(twCost)
1236
100fe098abe9 progress on classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1235
diff changeset
142
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
143 costs = -np.array(costs)
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
144
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
145 # before matching, scan for pedestrians with good non-overlapping temporal match with different bikes
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
146 for pedInd in range(costs.shape[1]):
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
147 nMatchedBikes = (costs[:,pedInd] < -args.cyclistMatchingProportion).sum()
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
148 if nMatchedBikes == 0: # peds that have no bike matching: see if they have been classified as bikes sometimes
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
149 userTypeStats = Counter(obj.userTypes)
1245
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
150 if (moving.userType2Num['cyclist'] in userTypeStats or (moving.userType2Num['motorcyclist'] in userTypeStats and moving.userType2Num['cyclist'] in userTypeStats and userTypeStats[moving.userType2Num['motorcyclist']]<=userTypeStats[moving.userType2Num['cyclist']])) and userTypeStats[moving.userType2Num['motorcyclist']]+userTypeStats[moving.userType2Num['cyclist']] > args.bikeProportion*userTypeStats.total(): # verif if not turning all motorbike into cyclists
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
151 obj.setUserType(moving.userType2Num['cyclist'])
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
152 elif nMatchedBikes > 1: # try to merge bikes first
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
153 twIndices = np.nonzero(costs[:,pedInd] < -args.cyclistMatchingProportion)[0]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
154 # we have to compute temporal overlaps of all 2 wheels among themselves, then remove the ones with the most overlap (sum over column) one by one until there is little left
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
155 nTwoWheels = len(twIndices)
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
156 twTemporalOverlaps = np.zeros((nTwoWheels,nTwoWheels))
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
157 for i in range(nTwoWheels):
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
158 for j in range(i):
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
159 twi = objects[twowheels[twIndices[i]]]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
160 twj = objects[twowheels[twIndices[j]]]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
161 twTemporalOverlaps[i,j] = len(set(twi.bboxes).intersection(set(twj.bboxes)))/max(len(twi.bboxes), len(twj.bboxes))
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
162 #twTemporalOverlaps[j,i] = twTemporalOverlaps[i,j]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
163 tw2merge = list(range(nTwoWheels))
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
164 while len(tw2merge)>0 and (twTemporalOverlaps[np.ix_(tw2merge, tw2merge)] > args.maxTemporalOverlap).sum(0).max() >= 2:
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
165 i = (twTemporalOverlaps[np.ix_(tw2merge, tw2merge)] > args.maxTemporalOverlap).sum(0).argmax()
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
166 del tw2merge[i]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
167 twIndices = [twIndices[i] for i in tw2merge]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
168 tw1 = objects[twowheels[twIndices[0]]]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
169 twCost = costs[twIndices[0],:]*tw1.nBBoxes
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
170 nBBoxes = tw1.nBBoxes
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
171 for twInd in twIndices[1:]:
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
172 mergeObjects(tw1, objects[twowheels[twInd]])
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
173 twCost = twCost + costs[twInd,:]*objects[twowheels[twInd]].nBBoxes
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
174 nBBoxes += objects[twowheels[twInd]].nBBoxes
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
175 twIndicesToKeep = list(range(costs.shape[0]))
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
176 for twInd in twIndices[1:]:
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
177 twIndicesToKeep.remove(twInd)
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
178 del objects[twowheels[twInd]]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
179 twowheels = [twowheels[i] for i in twIndicesToKeep]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
180 costs = costs[twIndicesToKeep,:]
1237
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
181
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
182 twIndices, matchingPedIndices = linear_sum_assignment(costs)
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
183 for twInd, pedInd in zip(twIndices, matchingPedIndices): # caution indices in the cost matrix
31a441efca6c ped-bike grouping working, bike merging left todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1236
diff changeset
184 if -costs[twInd, pedInd] >= args.cyclistMatchingProportion:
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
185 tw = objects[twowheels[twInd]]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
186 ped = objects[pedestrians[pedInd]]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
187 mergeObjects(tw, ped)
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
188 del objects[pedestrians[pedInd]]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
189 #TODO Verif overlap piéton vélo : si long hors overlap, changement mode (trouver exemples)
1236
100fe098abe9 progress on classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1235
diff changeset
190
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
191 # interpolate and generate velocity (?) for the features (bboxes) before saving
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
192 for num, obj in objects.items():
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
193 #obj.features[1].timeInterval = copy(obj.getTimeInterval())
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
194 for f in obj.getFeatures():
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
195 if f.length() != len(f.tmpPositions): # interpolate
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
196 f.positions = moving.Trajectory.fromPointDict(f.tmpPositions)
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
197 #obj.features[1].positions = moving.Trajectory.fromPointDict(obj.features[1].tmpPositions)
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
198 else:
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
199 f.positions = moving.Trajectory.fromPointList(list(f.tmpPositions.values()))
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
200 #obj.features[1].positions = moving.Trajectory.fromPointList(list(obj.features[1].tmpPositions.values()))
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
201
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
202 storage.saveTrajectoriesToSqlite(args.databaseFilename, list(objects.values()), 'object')
1231
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
203
6487ef10c0e0 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1230
diff changeset
204 # todo save bbox and mask to study localization / representation
1233
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1231
diff changeset
205 # apply quality checks deviation and acceleration bounds?
1238
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
206
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
207 # def mergeBBoxes(tw, ped):
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
208 # 'merges ped into tw (2nd obj into first obj)'
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
209 # timeInstants = set(tw.bboxes).union(set(ped.bboxes))
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
210 # for t in timeInstants:
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
211 # if t in tw.bboxes and t in ped.bboxes:
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
212 # tw.features[0].tmpPositions[t] = moving.Point(min(tw.features[0].tmpPositions[t].x, ped.features[0].tmpPositions[t].x),
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
213 # min(tw.features[0].tmpPositions[t].y, ped.features[0].tmpPositions[t].y))
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
214 # tw.features[1].tmpPositions[t] = moving.Point(max(tw.features[1].tmpPositions[t].x, ped.features[1].tmpPositions[t].x),
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
215 # max(tw.features[1].tmpPositions[t].y, ped.features[1].tmpPositions[t].y))
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
216 # elif t in ped.bboxes:
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
217 # tw.features[0].tmpPositions[t] = ped.features[0].tmpPositions[t]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
218 # tw.features[1].tmpPositions[t] = ped.features[1].tmpPositions[t]
b684135d817f version 1 of dltrack without coordinate projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1237
diff changeset
219 # tw.timeInterval = moving.TimeInterval(min(tw.getFirstInstant(), ped.getFirstInstant()), max(tw.getLastInstant(), ped.getLastInstant()))