Mercurial Hosting > traffic-intelligence
annotate scripts/classify-objects.py @ 1241:ab4c72b9475c
work in progress
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 05 Feb 2024 17:06:01 -0500 |
parents | bb14f919d1cb |
children | 4cd8ace3552f |
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1 #! /usr/bin/env python3 |
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2 |
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3 import sys, argparse |
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4 |
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5 import numpy as np |
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6 import cv2 |
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7 from scipy.stats import norm, lognorm |
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8 from pathlib import Path |
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9 |
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10 try: |
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11 from ultralytics import YOLO |
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12 ultralyticsAvailable = True |
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13 except ImportError: |
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14 #print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module |
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15 ultralyticsAvailable = False |
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16 |
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17 |
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18 from trafficintelligence import cvutils, moving, ml, storage, utils |
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19 |
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20 # TODO add mode detection live, add choice of kernel and svm type (to be saved in future classifier format) |
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21 |
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22 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene', epilog='The integer ids for the categories are stored in the moving module:\n{}'.format(moving.userType2Num)) |
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23 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file', required = True) |
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24 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file (overrides the configuration file)') |
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25 parser.add_argument('-i', dest = 'videoFilename', help = 'name of the video file (overrides the configuration file)') |
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26 parser.add_argument('-n', dest = 'nObjects', help = 'number of objects to classify', type = int, default = None) |
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27 parser.add_argument('--start-frame0', dest = 'startFrame0', help = 'starts with first frame for videos with index problem where frames cannot be reached', action = 'store_true') |
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28 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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29 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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30 parser.add_argument('--verbose', dest = 'verbose', help = 'verbose information', action = 'store_true') |
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31 |
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32 args = parser.parse_args() |
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33 params, videoFilename, databaseFilename, invHomography, intrinsicCameraMatrix, distortionCoefficients, undistortedImageMultiplication, undistort, firstFrameNum = storage.processVideoArguments(args) |
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34 classifierParams = storage.ClassifierParameters(params.classifierFilename) |
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35 classifierParams.convertToFrames(params.videoFrameRate, 3.6) # conversion from km/h to m/frame |
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36 |
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37 speedAggregationFunc = utils.aggregationFunction(classifierParams.speedAggregationMethod, classifierParams.speedAggregationCentile) |
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38 if speedAggregationFunc is None: |
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39 sys.exit() |
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40 |
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41 if ultralyticsAvailable and Path(classifierParams.dlFilename).is_file(): # use Yolo |
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42 pedBikeCarSVM = None |
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43 bikeCarSVM = None |
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44 yolo = YOLO(classifierParams.dlFilename, task='detect') |
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45 useYolo = True |
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46 else: |
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47 useYolo = False |
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48 pedBikeCarSVM = ml.SVM_load(classifierParams.pedBikeCarSVMFilename) |
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49 bikeCarSVM = ml.SVM_load(classifierParams.bikeCarSVMFilename) |
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50 |
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51 # log logistic for ped and bik otherwise ((pedBeta/pedAlfa)*((sMean/pedAlfa)**(pedBeta-1)))/((1+(sMean/pedAlfa)**pedBeta)**2.) |
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52 carNorm = norm(classifierParams.meanVehicleSpeed, classifierParams.stdVehicleSpeed) |
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53 pedNorm = norm(classifierParams.meanPedestrianSpeed, classifierParams.stdPedestrianSpeed) |
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54 # 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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55 bicLogNorm = lognorm(classifierParams.scaleCyclistSpeed, loc = 0., scale = np.exp(classifierParams.locationCyclistSpeed)) |
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56 speedProbabilities = {moving.userTypeNames[1]: lambda s: carNorm.pdf(s), |
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57 moving.userTypeNames[2]: lambda s: pedNorm.pdf(s), |
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58 moving.userTypeNames[4]: lambda s: bicLogNorm.pdf(s)} |
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59 |
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60 if args.plotSpeedDistribution: |
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61 import matplotlib.pyplot as plt |
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62 plt.figure() |
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63 speeds = np.arange(0.1, args.maxSpeedDistributionPlot, 0.1) |
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65 plt.plot(speeds, [speedProbabilities[k](s/(3.6*params.videoFrameRate)) for s in speeds], label = k) # the distribution parameters are in video intrinsic units, unit of distance per frame |
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66 maxProb = -1. |
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67 for k in speedProbabilities: |
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68 maxProb = max(maxProb, np.max([speedProbabilities[k](s/(3.6*params.videoFrameRate)) for s in speeds])) |
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69 plt.plot([classifierParams.minSpeedEquiprobable*3.6*params.videoFrameRate]*2, [0., maxProb], 'k-') |
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70 plt.text(classifierParams.minSpeedEquiprobable*3.6*params.videoFrameRate, maxProb, 'threshold for equiprobable class') |
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71 plt.xlabel('Speed (km/h)') |
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72 plt.ylabel('Probability density function') |
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73 plt.legend() |
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74 #plt.title('Probability Density Function') |
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75 plt.show() |
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76 sys.exit() |
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78 objects = storage.loadTrajectoriesFromSqlite(databaseFilename, 'object', args.nObjects, withFeatures = True) |
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79 timeInterval = moving.TimeInterval.unionIntervals([obj.getTimeInterval() for obj in objects]) |
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80 |
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81 capture = cv2.VideoCapture(videoFilename) |
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82 width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH)) |
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83 height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT)) |
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84 |
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85 #if undistort: # setup undistortion |
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86 # [map1, map2] = cvutils.computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) |
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87 # height, width = map1.shape |
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88 # newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication))) |
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89 # newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True) |
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90 #else: |
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91 # newCameraMatrix = None |
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92 |
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93 pastObjects = [] |
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94 currentObjects = [] |
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95 if capture.isOpened(): |
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96 ret = True |
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97 frameNum = timeInterval.first |
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98 capture.set(cv2.CAP_PROP_POS_FRAMES, frameNum) |
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99 lastFrameNum = timeInterval.last |
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100 |
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101 while ret and frameNum <= lastFrameNum: |
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102 ret, img = capture.read() |
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103 if ret: |
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104 if frameNum%50 == 0: |
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105 print('frame number: {}'.format(frameNum)) |
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106 #if undistort: |
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107 # img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) |
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108 if useYolo: |
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109 results = yolo.predict(img, classes=list(moving.cocoTypeNames.keys()), verbose=False) |
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110 |
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111 for obj in objects[:]: |
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113 obj.initClassifyUserTypeHoGSVM(speedAggregationFunc, pedBikeCarSVM, bikeCarSVM, classifierParams.maxPedestrianSpeed, classifierParams.maxCyclistSpeed, classifierParams.nFramesIgnoreAtEnds, invHomography, intrinsicCameraMatrix, distortionCoefficients) |
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114 currentObjects.append(obj) |
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115 objects.remove(obj) |
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116 |
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117 for obj in currentObjects[:]: |
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118 if obj.getLastInstant() <= frameNum: |
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119 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = classifierParams.minSpeedEquiprobable, speedProbabilities = speedProbabilities, maxPercentUnknown = classifierParams.maxPercentUnknown) |
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120 pastObjects.append(obj) |
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121 currentObjects.remove(obj) |
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122 else: |
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123 if useYolo: |
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124 # if one feature falls in bike, it's a bike |
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125 # could one count all hits in various objects, or one takes majority at the instant? |
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126 # obj.classifyUserTypeYoloAtInstant(img, frameNum, width, height, classifierParams.percentIncreaseCrop, classifierParams.percentIncreaseCrop, results[0].boxes) |
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127 pass |
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128 else: |
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129 obj.classifyUserTypeHoGSVMAtInstant(img, frameNum, width, height, classifierParams.percentIncreaseCrop, classifierParams.percentIncreaseCrop, classifierParams.minNPixels, classifierParams.hogRescaleSize, classifierParams.hogNOrientations, classifierParams.hogNPixelsPerCell, classifierParams.hogNCellsPerBlock, classifierParams.hogBlockNorm) |
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130 if args.verbose: |
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131 print('obj {}@{}: {}'.format(obj.getNum(), frameNum, moving.userTypeNames[obj.userTypes[frameNum]])) |
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132 frameNum += 1 |
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133 |
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134 for obj in currentObjects: |
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135 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = classifierParams.minSpeedEquiprobable, speedProbabilities = speedProbabilities, maxPercentUnknown = classifierParams.maxPercentUnknown) |
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136 pastObjects.append(obj) |
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137 print('Saving user types') |
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138 storage.setRoadUserTypes(databaseFilename, pastObjects) |