Mercurial Hosting > traffic-intelligence
annotate scripts/classify-objects.py @ 904:8f60ecfc2f06
work in progress, almost ready
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 22 Jun 2017 18:08:46 -0400 |
parents | c69a8defe5c3 |
children | 0e017178f7ab |
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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.ml 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, add choice of kernel and svm type (to be saved in future classifier format) |
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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('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file (overrides the configuration file)') |
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16 parser.add_argument('-i', dest = 'videoFilename', help = 'name of the video file (overrides the configuration file)') |
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17 parser.add_argument('-n', dest = 'nObjects', help = 'number of objects to classify', type = int, default = None) |
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18 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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19 parser.add_argument('--max-speed-distribution-plot', dest = 'maxSpeedDistributionPlot', help = 'if plotting the user distributions, the maximum speed to display (km/h)', type = float, default = 50.) |
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20 |
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21 args = parser.parse_args() |
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22 params, videoFilename, databaseFilename, invHomography, intrinsicCameraMatrix, distortionCoefficients, undistortedImageMultiplication, undistort, firstFrameNum = storage.processVideoArguments(args) |
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23 classifierParams = storage.ClassifierParameters(params.classifierFilename) |
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24 classifierParams.convertToFrames(params.videoFrameRate, 3.6) # conversion from km/h to m/frame |
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25 |
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26 if classifierParams.speedAggregationMethod == 'median': |
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27 speedAggregationFunc = np.median |
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28 elif classifierParams.speedAggregationMethod == 'mean': |
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29 speedAggregationFunc = np.mean |
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30 elif classifierParams.speedAggregationMethod == 'quantile': |
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31 speedAggregationFunc = lambda speeds: np.percentile(speeds, args.speedAggregationQuantile) |
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32 else: |
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33 print('Unknown speed aggregation method: {}. Exiting'.format(classifierParams.speedAggregationMethod)) |
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34 sys.exit() |
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35 |
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36 pedBikeCarSVM = ml.SVM() |
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37 pedBikeCarSVM.load(classifierParams.pedBikeCarSVMFilename) |
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38 bikeCarSVM = ml.SVM() |
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39 bikeCarSVM.load(classifierParams.bikeCarSVMFilename) |
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40 |
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41 # log logistic for ped and bik otherwise ((pedBeta/pedAlfa)*((sMean/pedAlfa)**(pedBeta-1)))/((1+(sMean/pedAlfa)**pedBeta)**2.) |
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42 carNorm = norm(classifierParams.meanVehicleSpeed, classifierParams.stdVehicleSpeed) |
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43 pedNorm = norm(classifierParams.meanPedestrianSpeed, classifierParams.stdPedestrianSpeed) |
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44 # numpy lognorm shape, loc, scale: shape for numpy is scale (std of the normal) and scale for numpy is exp(location) (loc=mean of the normal) |
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45 bicLogNorm = lognorm(classifierParams.scaleCyclistSpeed, loc = 0., scale = np.exp(classifierParams.locationCyclistSpeed)) |
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46 speedProbabilities = {'car': lambda s: carNorm.pdf(s), |
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47 'pedestrian': lambda s: pedNorm.pdf(s), |
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48 'bicycle': lambda s: bicLogNorm.pdf(s)} |
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49 |
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50 if args.plotSpeedDistribution: |
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51 import matplotlib.pyplot as plt |
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52 plt.figure() |
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54 plt.plot(np.arange(0.1, args.maxSpeedDistributionPlot, 0.1), [speedProbabilities[k](s/(3.6*params.videoFrameRate)) for s in np.arange(0.1, args.maxSpeedDistributionPlot, 0.1)], label = k) |
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55 maxProb = -1. |
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56 for k in speedProbabilities: |
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57 maxProb = max(maxProb, np.max([speedProbabilities[k](s/(3.6*params.videoFrameRate)) for s in np.arange(0.1, args.maxSpeedDistributionPlot, 0.1)])) |
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58 plt.plot([classifierParams.minSpeedEquiprobable*3.6*params.videoFrameRate]*2, [0., maxProb], 'k-') |
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59 plt.text(classifierParams.minSpeedEquiprobable*3.6*params.videoFrameRate, maxProb, 'threshold for equiprobable class') |
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60 plt.xlabel('Speed (km/h)') |
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61 plt.ylabel('Probability') |
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62 plt.legend() |
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63 plt.title('Probability Density Function') |
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64 plt.show() |
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65 sys.exit() |
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67 objects = storage.loadTrajectoriesFromSqlite(databaseFilename, 'object', args.nObjects, withFeatures = True) |
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68 timeInterval = moving.TimeInterval.unionIntervals([obj.getTimeInterval() for obj in objects]) |
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69 |
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70 capture = cv2.VideoCapture(videoFilename) |
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71 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH)) |
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72 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT)) |
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73 |
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74 if undistort: # setup undistortion |
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75 [map1, map2] = cvutils.computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) |
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76 |
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77 pastObjects = [] |
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78 currentObjects = [] |
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79 if capture.isOpened(): |
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80 ret = True |
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81 frameNum = timeInterval.first |
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82 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum) |
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83 lastFrameNum = timeInterval.last |
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84 |
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85 while ret and frameNum <= lastFrameNum: |
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86 ret, img = capture.read() |
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87 if ret: |
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88 if frameNum%50 == 0: |
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89 print('frame number: {}'.format(frameNum)) |
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90 if undistort: |
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91 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) |
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92 for obj in objects: |
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93 if obj.getFirstInstant() == frameNum: |
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94 obj.initClassifyUserTypeHoGSVM(speedAggregationFunc, pedBikeCarSVM, bikeCarSVM, classifierParams.maxPedestrianSpeed, classifierParams.maxCyclistSpeed, classifierParams.nFramesIgnoreAtEnds) |
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95 currentObjects.append(obj) |
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96 objects.remove(obj) |
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97 |
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98 for obj in currentObjects: |
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99 if obj.getLastInstant() == frameNum: |
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100 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = classifierParams.minSpeedEquiprobable, speedProbabilities = speedProbabilities, maxPercentUnknown = classifierParams.maxPercentUnknown) |
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101 pastObjects.append(obj) |
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102 currentObjects.remove(obj) |
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b9ec0cc2677d
corrected bug in classify-objects.py script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
812
diff
changeset
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103 else: |
902
c69a8defe5c3
changed workflow of classify objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
901
diff
changeset
|
104 obj.classifyUserTypeHoGSVMAtInstant(img, frameNum, invHomography, width, height, classifierParams.percentIncreaseCrop, classifierParams.percentIncreaseCrop, classifierParams.minNPixels, classifierParams.hogRescaleSize, classifierParams.hogNOrientations, classifierParams.hogNPixelsPerCell, classifierParams.hogNCellsPerBlock, classifierParams.hogBlockNorm) |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
105 frameNum += 1 |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
106 |
902
c69a8defe5c3
changed workflow of classify objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
901
diff
changeset
|
107 for obj in currentObjects: |
899
1466a63dd1cf
added a new classification parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
898
diff
changeset
|
108 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = classifierParams.minSpeedEquiprobable, speedProbabilities = speedProbabilities, maxPercentUnknown = classifierParams.maxPercentUnknown) |
684
6d2ece4aed7c
bug forgot to svae objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
683
diff
changeset
|
109 pastObjects.append(obj) |
6d2ece4aed7c
bug forgot to svae objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
683
diff
changeset
|
110 print('Saving user types') |
686
cdee6a3a47b4
allowing alternate database and filename for classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
111 storage.setRoadUserTypes(databaseFilename, pastObjects) |