Mercurial Hosting > traffic-intelligence

annotate scripts/classify-objects.py @ 685:94b291a5f933 dev

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
several updates for display
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 05 Jun 2015 17:13:28 +0200
parents 6d2ece4aed7c
children cdee6a3a47b4
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
1 #! /usr/bin/env python
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
2
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
3 import cvutils, moving, ml, storage
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
4
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
5 import numpy as np
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
6 import sys, argparse
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
7 #from cv2 import SVM_RBF, SVM_C_SVC
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
8 import cv2
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
9 from scipy.stats import norm, lognorm
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
10
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
11 # TODO add mode detection live
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
12
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
13 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
536
95276d310972 renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 529
diff changeset
14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file', required = True)
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 684
diff changeset
15 parser.add_argument('-n', dest = 'nObjects', help = 'number of objects to classify', type = int, default = None)
683
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
16 parser.add_argument('--plot-speed-distributions', dest = 'plotSpeedDistribution', help = 'simply plots the distributions used for each user type', action = 'store_true')
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
17 parser.add_argument('--max-speed-distribution-plot', dest = 'maxSpeedDistributionPlot', help = 'if plotting the user distributions, the maximum speed to display', type = float, default = 50.)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
18 #parser.add_argument('-u', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
19 #parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
20 #parser.add_argument('--last-frame', dest = 'lastFrameNum', help = 'number of last frame number to save (for image saving, no display is made)', type = int)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
21 # 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)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
22 # parser.add_argument('--speed-aggregation', dest = 'speedAggregationMethod', help = 'method to aggregate road user speed', type = str, choices = ['median', 'mean', 'quantile'], default = 'median')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
23 # parser.add_argument('--speed-aggregation-quantile', dest = 'speedAggregationQuantile', help = 'quantile for the speed aggregation, if quantile is chosen', type = int, default = 50)
536
95276d310972 renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 529
diff changeset
24
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
25 args = parser.parse_args()
536
95276d310972 renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 529
diff changeset
26 params = storage.ProcessParameters(args.configFilename)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
27
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
28 params.convertToFrames(3.6)
683
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
29 if params.homography is not None:
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
30 invHomography = np.linalg.inv(params.homography)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
31
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
32 if params.speedAggregationMethod == 'median':
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
33 speedAggregationFunc = np.median
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
34 elif params.speedAggregationMethod == 'mean':
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
35 speedAggregationFunc = np.mean
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
36 elif params.speedAggregationMethod == 'quantile':
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
37 speedAggregationFunc = lambda speeds: np.percentile(speeds, args.speedAggregationQuantile)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
38 else:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
39 print('Unknown speed aggregation method: {}. Exiting'.format(params.speedAggregationMethod))
683
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
40 sys.exit()
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
41
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
42 pedBikeCarSVM = ml.SVM()
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
43 pedBikeCarSVM.load(params.pedBikeCarSVMFilename)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
44 bikeCarSVM = ml.SVM()
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
45 bikeCarSVM.load(params.bikeCarSVMFilename)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
46
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
47 # log logistic for ped and bik otherwise ((pedBeta/pedAlfa)*((sMean/pedAlfa)**(pedBeta-1)))/((1+(sMean/pedAlfa)**pedBeta)**2.)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
48 speedProbabilities = {'car': lambda s: norm(params.meanVehicleSpeed, params.stdVehicleSpeed).pdf(s),
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
49 'pedestrian': lambda s: norm(params.meanPedestrianSpeed, params.stdPedestrianSpeed).pdf(s),
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
50 'bicycle': lambda s: lognorm(params.scaleCyclistSpeed, loc = 0., scale = np.exp(params.locationCyclistSpeed)).pdf(s)} # lognorm shape, loc, scale
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
51
683
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
52 if args.plotSpeedDistribution:
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
53 import matplotlib.pyplot as plt
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
54 plt.figure()
682
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
55 for k in speedProbabilities:
683
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
56 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)
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
57 plt.xlabel('Speed (km/h)')
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
58 plt.ylabel('Probability')
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
59 plt.legend()
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
60 plt.title('Probability Density Function')
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
61 plt.show()
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
62 sys.exit()
682
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
63
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 684
diff changeset
64 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'object', args.nObjects, withFeatures = True)
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 684
diff changeset
65 #features = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'feature')
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
66 intervals = []
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
67 for obj in objects:
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 684
diff changeset
68 #obj.setFeatures(features)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
69 intervals.append(obj.getTimeInterval())
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
70 timeInterval = moving.unionIntervals(intervals)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
71
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
72 capture = cv2.VideoCapture(params.videoFilename)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
73 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
74 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
75
684
6d2ece4aed7c bug forgot to svae objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 683
diff changeset
76 pastObjects = []
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
77 if params.undistort: # setup undistortion
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
78 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
79 if capture.isOpened():
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
80 ret = True
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
81 frameNum = timeInterval.first
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
82 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
83 lastFrameNum = timeInterval.last
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
84
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
85 while ret and frameNum <= lastFrameNum:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
86 ret, img = capture.read()
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
87 if ret:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
88 if frameNum%50 == 0:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
89 print('frame number: {}'.format(frameNum))
683
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
90 currentObjects = []
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
91 for obj in objects:
684
6d2ece4aed7c bug forgot to svae objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 683
diff changeset
92 if obj.getLastInstant() < frameNum:
683
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
93 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = params.minSpeedEquiprobable, speedProbabilities = speedProbabilities)
684
6d2ece4aed7c bug forgot to svae objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 683
diff changeset
94 pastObjects.append(obj)
683
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
95 else:
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
96 currentObjects.append(obj)
f3a0b652b590 added function to display the speed distributions and optimize a little going through objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
97 objects = currentObjects
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
98 if params.undistort:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
99 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
100 for obj in objects:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
101 if obj.existsAtInstant(frameNum):
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
102 if obj.getFirstInstant() == frameNum:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
103 obj.initClassifyUserTypeHoGSVM(speedAggregationFunc, pedBikeCarSVM, bikeCarSVM, params.maxPedestrianSpeed, params.maxCyclistSpeed, params.nFramesIgnoreAtEnds)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
104 obj.classifyUserTypeHoGSVMAtInstant(img, frameNum, invHomography, width, height, 0.2, 0.2, 800) # px, py, pixelThreshold
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
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
107 for obj in objects:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
108 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = params.minSpeedEquiprobable, speedProbabilities = speedProbabilities)
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')
6d2ece4aed7c bug forgot to svae objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 683
diff changeset
111 storage.setRoadUserTypes(params.databaseFilename, pastObjects)