Mercurial Hosting > traffic-intelligence
annotate scripts/classify-objects.py @ 684:6d2ece4aed7c dev
bug forgot to svae objects
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 05 Jun 2015 13:26:51 +0200 |
parents | f3a0b652b590 |
children | 94b291a5f933 |
rev | line source |
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1 #! /usr/bin/env python |
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2 |
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3 import cvutils, moving, ml, storage |
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4 |
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5 import numpy as np |
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6 import sys, argparse |
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7 #from cv2 import SVM_RBF, SVM_C_SVC |
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8 import cv2 |
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9 from scipy.stats import norm, lognorm |
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10 |
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11 # TODO add mode detection live |
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12 |
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13 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene') |
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14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file', required = True) |
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15 parser.add_argument('--plot-speed-distributions', dest = 'plotSpeedDistribution', help = 'simply plots the distributions used for each user type', action = 'store_true') |
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16 parser.add_argument('--max-speed-distribution-plot', dest = 'maxSpeedDistributionPlot', help = 'if plotting the user distributions, the maximum speed to display', type = float, default = 50.) |
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17 #parser.add_argument('-u', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true') |
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18 #parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int) |
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19 #parser.add_argument('--last-frame', dest = 'lastFrameNum', help = 'number of last frame number to save (for image saving, no display is made)', type = int) |
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20 # parser.add_argument('--min-speed-equiprobable', dest = 'minSpeedEquiprobable', help = 'speed value below which all classes are equiprobable (distributions give odd values there) (km/h)', type = float, default = 3.33) |
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21 # parser.add_argument('--speed-aggregation', dest = 'speedAggregationMethod', help = 'method to aggregate road user speed', type = str, choices = ['median', 'mean', 'quantile'], default = 'median') |
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22 # parser.add_argument('--speed-aggregation-quantile', dest = 'speedAggregationQuantile', help = 'quantile for the speed aggregation, if quantile is chosen', type = int, default = 50) |
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23 |
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24 args = parser.parse_args() |
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25 params = storage.ProcessParameters(args.configFilename) |
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26 |
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27 params.convertToFrames(3.6) |
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28 if params.homography is not None: |
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29 invHomography = np.linalg.inv(params.homography) |
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30 |
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31 if params.speedAggregationMethod == 'median': |
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32 speedAggregationFunc = np.median |
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33 elif params.speedAggregationMethod == 'mean': |
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34 speedAggregationFunc = np.mean |
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35 elif params.speedAggregationMethod == 'quantile': |
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36 speedAggregationFunc = lambda speeds: np.percentile(speeds, args.speedAggregationQuantile) |
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37 else: |
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38 print('Unknown speed aggregation method: {}. Exiting'.format(params.speedAggregationMethod)) |
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39 sys.exit() |
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40 |
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41 pedBikeCarSVM = ml.SVM() |
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42 pedBikeCarSVM.load(params.pedBikeCarSVMFilename) |
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43 bikeCarSVM = ml.SVM() |
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44 bikeCarSVM.load(params.bikeCarSVMFilename) |
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45 |
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46 # log logistic for ped and bik otherwise ((pedBeta/pedAlfa)*((sMean/pedAlfa)**(pedBeta-1)))/((1+(sMean/pedAlfa)**pedBeta)**2.) |
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47 speedProbabilities = {'car': lambda s: norm(params.meanVehicleSpeed, params.stdVehicleSpeed).pdf(s), |
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48 'pedestrian': lambda s: norm(params.meanPedestrianSpeed, params.stdPedestrianSpeed).pdf(s), |
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49 'bicycle': lambda s: lognorm(params.scaleCyclistSpeed, loc = 0., scale = np.exp(params.locationCyclistSpeed)).pdf(s)} # lognorm shape, loc, scale |
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50 |
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51 if args.plotSpeedDistribution: |
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52 import matplotlib.pyplot as plt |
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53 plt.figure() |
682 | 54 for k in speedProbabilities: |
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55 plt.plot(np.arange(0.1, args.maxSpeedDistributionPlot, 0.1), [speedProbabilities[k](s/3.6/25) for s in np.arange(0.1, args.maxSpeedDistributionPlot, 0.1)], label = k) |
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56 plt.xlabel('Speed (km/h)') |
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57 plt.ylabel('Probability') |
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58 plt.legend() |
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59 plt.title('Probability Density Function') |
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60 plt.show() |
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61 sys.exit() |
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63 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'object') |
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64 features = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'feature') |
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65 intervals = [] |
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66 for obj in objects: |
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67 obj.setFeatures(features) |
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68 intervals.append(obj.getTimeInterval()) |
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69 timeInterval = moving.unionIntervals(intervals) |
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70 |
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71 capture = cv2.VideoCapture(params.videoFilename) |
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72 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH)) |
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73 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT)) |
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74 |
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75 pastObjects = [] |
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76 if params.undistort: # setup undistortion |
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77 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) |
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78 if capture.isOpened(): |
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79 ret = True |
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80 frameNum = timeInterval.first |
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81 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum) |
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82 lastFrameNum = timeInterval.last |
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83 |
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84 while ret and frameNum <= lastFrameNum: |
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85 ret, img = capture.read() |
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86 if ret: |
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87 if frameNum%50 == 0: |
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88 print('frame number: {}'.format(frameNum)) |
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89 currentObjects = [] |
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90 for obj in objects: |
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91 if obj.getLastInstant() < frameNum: |
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92 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = params.minSpeedEquiprobable, speedProbabilities = speedProbabilities) |
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93 pastObjects.append(obj) |
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94 else: |
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95 currentObjects.append(obj) |
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96 objects = currentObjects |
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97 if params.undistort: |
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98 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) |
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99 for obj in objects: |
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100 if obj.existsAtInstant(frameNum): |
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101 if obj.getFirstInstant() == frameNum: |
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102 obj.initClassifyUserTypeHoGSVM(speedAggregationFunc, pedBikeCarSVM, bikeCarSVM, params.maxPedestrianSpeed, params.maxCyclistSpeed, params.nFramesIgnoreAtEnds) |
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103 obj.classifyUserTypeHoGSVMAtInstant(img, frameNum, invHomography, width, height, 0.2, 0.2, 800) # px, py, pixelThreshold |
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104 frameNum += 1 |
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105 |
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106 for obj in objects: |
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107 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = params.minSpeedEquiprobable, speedProbabilities = speedProbabilities) |
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108 pastObjects.append(obj) |
6d2ece4aed7c
bug forgot to svae objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
683
diff
changeset
|
109 print('Saving user types') |
6d2ece4aed7c
bug forgot to svae objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
683
diff
changeset
|
110 storage.setRoadUserTypes(params.databaseFilename, pastObjects) |