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annotate scripts/learn-motion-patterns.py @ 907:9fd7b18f75b4

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re arranged motion pattern learning
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 23 Jun 2017 23:50:02 -0400
parents 8e8ec4ece66e
children b297525b2cbf
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1 #! /usr/bin/env python
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2
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3 import sys, argparse
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4
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5 #import matplotlib.pyplot as plt
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6 import numpy as np
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7
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8 import ml, utils, storage
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9
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10 parser = argparse.ArgumentParser(description='The program learns prototypes for the motion patterns') #, epilog = ''
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11 #parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file')
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12 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file', required = True)
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13 parser.add_argument('-t', dest = 'trajectoryType', help = 'type of trajectories to learn from', choices = ['objectfeatures', 'feature', 'object'], default = 'objectfeatures')
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14 parser.add_argument('--max-nobjectfeatures', dest = 'maxNObjectFeatures', help = 'maximum number of features per object to load', type = int, default = 3)
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15 parser.add_argument('-n', dest = 'nTrajectories', help = 'number of the object or feature trajectories to load', type = int, default = None)
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16 parser.add_argument('-e', dest = 'epsilon', help = 'distance for the similarity of trajectory points', type = float, required = True)
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17 parser.add_argument('--metric', dest = 'metric', help = 'metric for the similarity of trajectory points', default = 'cityblock') # default is manhattan distance
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18 parser.add_argument('-s', dest = 'minSimilarity', help = 'minimum similarity to put a trajectory in a cluster', type = float, required = True)
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19 parser.add_argument('-c', dest = 'minClusterSize', help = 'minimum cluster size', type = int, default = None)
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20 parser.add_argument('--random', dest = 'randomInitialization', help = 'random initialization of clustering algorithm', action = 'store_true')
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21 parser.add_argument('--subsample', dest = 'positionSubsamplingRate', help = 'rate of position subsampling (1 every n positions)', type = int)
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22 parser.add_argument('--display', dest = 'display', help = 'display trajectories', action = 'store_true')
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23 parser.add_argument('--save-similarities', dest = 'saveSimilarities', help = 'save computed similarities (in addition to prototypes)', action = 'store_true')
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24 #parser.add_argument('--save-matches', dest = 'saveMatches', help = 'save the matched prototype information', action = 'store_true')
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25
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26 args = parser.parse_args()
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27
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28 # use cases
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29 # 1. learn proto from one file, save in same or another (with traj)
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30 # 2. load proto, load objects, update proto, save proto
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31 # 3. assign objects from one db to proto
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32 # 4. load objects from several files, save in another
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33
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34 # TODO add possibility to cluter with velocities
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35 # TODO add possibility to start with saved prototypes so that one can incrementally learn from several databases
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36 # save prototypes with database name, add option to keep trajectory along: if saved in same db, no need
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37 # load proto must load the movingobject
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38 # save the objects that match the prototypes
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39 # write an assignment function for objects
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41 trajectoryType = args.trajectoryType
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42 prototypeType = args.trajectoryType
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43 if args.trajectoryType == 'objectfeatures':
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44 trajectoryType = 'object'
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45 prototypeType = 'feature'
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47 #features = storage.loadTrajectoriesFromSqlite(databaseFilename, args.trajectoryType)
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48 objects = storage.loadTrajectoriesFromSqlite(args.databaseFilename, trajectoryType, withFeatures = (args.trajectoryType == 'objectfeatures'), objectNumbers = args.nTrajectories, timeStep = args.positionSubsamplingRate)
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49
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50 if args.trajectoryType == 'objectfeatures':
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51 features = []
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52 for o in objects:
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53 features += o.getNLongestFeatures(args.maxNObjectFeatures)
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54 objects = features
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55
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56 trajectories = [o.getPositions().asArray().T for o in objects]
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57
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58 lcss = utils.LCSS(metric = args.metric, epsilon = args.epsilon)
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59 nTrajectories = len(trajectories)
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60
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61 similarities = -np.ones((nTrajectories, nTrajectories))
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62
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63 prototypeIndices, labels = ml.prototypeCluster(trajectories, similarities, args.minSimilarity, lambda x,y : lcss.computeNormalized(x, y), args.minClusterSize, args.randomInitialization, True, None) # this line can be called again without reinitializing similarities
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64
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65 clusterSizes = ml.computeClusterSizes(labels, prototypeIndices, -1)
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66 print(clusterSizes)
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67
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68 storage.savePrototypesToSqlite(args.databaseFilename, [objects[i].getNum() for i in prototypeIndices], prototypeType, [clusterSizes[i] for i in prototypeIndices]) # if saving filenames, add for example [objects[i].dbFilename for i in prototypeIndices]
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69
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70 if args.saveSimilarities:
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71 np.savetxt(utils.removeExtension(args.databaseFilename)+'-prototype-similarities.txt.gz', similarities, '%.4f')
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72
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73 # if args.saveMatches:
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74 # out = storage.openCheck(utils.removeExtension(args.databaseFilename)+'prototypes-matches.csv', 'w')
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75 # for o in ojbects:
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76 # out.write('')
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77
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78 if args.display:
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79 from matplotlib.pyplot import figure, show, axis
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80 figure()
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81 for i,o in enumerate(objects):
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82 if i not in prototypeIndices:
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83 if labels[i] < 0:
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84 o.plot('kx')
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85 else:
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86 o.plot(utils.colors[labels[i]])
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87 for i in prototypeIndices:
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88 objects[i].plot(utils.colors[i]+'o')
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89 axis('equal')
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90 show()