Mercurial Hosting > traffic-intelligence
annotate scripts/classify-objects.py @ 793:b1b624504388 dev
corrected bug in script
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 02 May 2016 14:59:55 -0400 |
parents | 1158a6e2d28e |
children | 8eb8a6bd70e8 |
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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('--kernel', dest = 'kernelType', help = 'kernel type for the support vector machine (SVM)', default = SVM_RBF, type = long) |
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16 parser.add_argument('--svm', dest = 'svmType', help = 'SVM type', default = SVM_C_SVC, type = long) |
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17 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file (overrides the configuration file)') |
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18 parser.add_argument('-i', dest = 'videoFilename', help = 'name of the video file (overrides the configuration file)') |
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19 parser.add_argument('-n', dest = 'nObjects', help = 'number of objects to classify', type = int, default = None) |
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20 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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21 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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22 |
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23 args = parser.parse_args() |
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24 params = storage.ProcessParameters(args.configFilename) |
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25 |
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26 if args.videoFilename is not None: |
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27 videoFilename = args.videoFilename |
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28 else: |
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29 videoFilename = params.videoFilename |
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30 if args.databaseFilename is not None: |
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31 databaseFilename = args.databaseFilename |
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32 else: |
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33 databaseFilename = params.databaseFilename |
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34 |
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35 params.convertToFrames(3.6) |
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36 if params.homography is not None: |
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37 invHomography = np.linalg.inv(params.homography) |
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38 else: |
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39 invHomography = None |
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40 |
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41 if params.speedAggregationMethod == 'median': |
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42 speedAggregationFunc = np.median |
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43 elif params.speedAggregationMethod == 'mean': |
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44 speedAggregationFunc = np.mean |
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45 elif params.speedAggregationMethod == 'quantile': |
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46 speedAggregationFunc = lambda speeds: np.percentile(speeds, args.speedAggregationQuantile) |
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47 else: |
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48 print('Unknown speed aggregation method: {}. Exiting'.format(params.speedAggregationMethod)) |
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49 sys.exit() |
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50 |
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51 pedBikeCarSVM = ml.SVM(args.svmType, args.kernelType) |
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52 pedBikeCarSVM.load(params.pedBikeCarSVMFilename) |
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53 bikeCarSVM = ml.SVM(args.svmType, args.kernelType) |
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54 bikeCarSVM.load(params.bikeCarSVMFilename) |
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55 |
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56 # log logistic for ped and bik otherwise ((pedBeta/pedAlfa)*((sMean/pedAlfa)**(pedBeta-1)))/((1+(sMean/pedAlfa)**pedBeta)**2.) |
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57 speedProbabilities = {'car': lambda s: norm(params.meanVehicleSpeed, params.stdVehicleSpeed).pdf(s), |
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58 'pedestrian': lambda s: norm(params.meanPedestrianSpeed, params.stdPedestrianSpeed).pdf(s), |
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59 'bicycle': lambda s: lognorm(params.scaleCyclistSpeed, loc = 0., scale = np.exp(params.locationCyclistSpeed)).pdf(s)} # numpy lognorm shape, loc, scale: shape for numpy is scale (std of the normal) and scale for numpy is location (mean of the normal) |
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60 |
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61 if args.plotSpeedDistribution: |
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62 import matplotlib.pyplot as plt |
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63 plt.figure() |
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65 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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66 plt.xlabel('Speed (km/h)') |
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67 plt.ylabel('Probability') |
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68 plt.legend() |
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69 plt.title('Probability Density Function') |
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70 plt.show() |
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71 sys.exit() |
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73 objects = storage.loadTrajectoriesFromSqlite(databaseFilename, 'object', args.nObjects, withFeatures = True) |
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74 #features = storage.loadTrajectoriesFromSqlite(databaseFilename, 'feature') |
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75 intervals = [] |
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76 for obj in objects: |
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77 #obj.setFeatures(features) |
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78 intervals.append(obj.getTimeInterval()) |
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79 timeInterval = moving.TimeInterval.unionIntervals(intervals) |
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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 pastObjects = [] |
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86 if params.undistort: # setup undistortion |
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87 [map1, map2] = cvutils.computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) |
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88 if capture.isOpened(): |
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89 ret = True |
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90 frameNum = timeInterval.first |
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91 capture.set(cv2.CAP_PROP_POS_FRAMES, frameNum) |
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92 lastFrameNum = timeInterval.last |
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93 |
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94 while ret and frameNum <= lastFrameNum: |
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95 ret, img = capture.read() |
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96 if ret: |
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97 if frameNum%50 == 0: |
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98 print('frame number: {}'.format(frameNum)) |
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99 currentObjects = [] |
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100 for obj in objects: |
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101 if obj.getLastInstant() < frameNum: |
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102 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = params.minSpeedEquiprobable, speedProbabilities = speedProbabilities) |
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103 pastObjects.append(obj) |
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104 else: |
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105 currentObjects.append(obj) |
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106 objects = currentObjects |
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107 if params.undistort: |
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108 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) |
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109 for obj in objects: |
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110 if obj.existsAtInstant(frameNum): |
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111 if obj.getFirstInstant() == frameNum: |
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112 obj.initClassifyUserTypeHoGSVM(speedAggregationFunc, pedBikeCarSVM, bikeCarSVM, params.maxPedestrianSpeed, params.maxCyclistSpeed, params.nFramesIgnoreAtEnds) |
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113 obj.classifyUserTypeHoGSVMAtInstant(img, frameNum, invHomography, width, height, 0.2, 0.2, 800) # px, py, pixelThreshold |
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114 frameNum += 1 |
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115 |
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116 for obj in objects: |
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117 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = params.minSpeedEquiprobable, speedProbabilities = speedProbabilities) |
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118 pastObjects.append(obj) |
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119 print('Saving user types') |
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allowing alternate database and filename for classify-objects
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120 storage.setRoadUserTypes(databaseFilename, pastObjects) |