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annotate scripts/learn-motion-patterns.py @ 949:d6c1c05d11f5

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modified multithreading at the interaction level for safety computations
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 21 Jul 2017 17:52:56 -0400
parents 584b9405e494
children 2a4f174879dd
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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, moving
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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('-o', dest = 'outputPrototypeDatabaseFilename', help = 'name of the Sqlite database file to save prototypes')
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14 parser.add_argument('-i', dest = 'inputPrototypeDatabaseFilename', help = 'name of the Sqlite database file for prototypes to start the algorithm with')
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15 parser.add_argument('-t', dest = 'trajectoryType', help = 'type of trajectories to learn from', choices = ['objectfeatures', 'feature', 'object'], default = 'objectfeatures')
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16 parser.add_argument('--max-nobjectfeatures', dest = 'maxNObjectFeatures', help = 'maximum number of features per object to load', type = int, default = 1)
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17 parser.add_argument('-n', dest = 'nTrajectories', help = 'number of the object or feature trajectories to load', type = int, default = None)
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18 parser.add_argument('-e', dest = 'epsilon', help = 'distance for the similarity of trajectory points', type = float, required = True)
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19 parser.add_argument('--metric', dest = 'metric', help = 'metric for the similarity of trajectory points', default = 'cityblock') # default is manhattan distance
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20 parser.add_argument('-s', dest = 'minSimilarity', help = 'minimum similarity to put a trajectory in a cluster', type = float, required = True)
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21 parser.add_argument('-c', dest = 'minClusterSize', help = 'minimum cluster size', type = int, default = None)
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22 parser.add_argument('--optimize', dest = 'optimizeCentroid', help = 'recompute centroid at each assignment', action = 'store_true')
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23 parser.add_argument('--random', dest = 'randomInitialization', help = 'random initialization of clustering algorithm', action = 'store_true')
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24 parser.add_argument('--subsample', dest = 'positionSubsamplingRate', help = 'rate of position subsampling (1 every n positions)', type = int)
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25 parser.add_argument('--display', dest = 'display', help = 'display trajectories', action = 'store_true')
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26 parser.add_argument('--save-similarities', dest = 'saveSimilarities', help = 'save computed similarities (in addition to prototypes)', action = 'store_true')
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27 parser.add_argument('--save-matches', dest = 'saveMatches', help = 'saves the assignments of the objects (not for features) to the prototypes', action = 'store_true')
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28 #parser.add_argument('--assign', dest = 'assign', help = 'saves the assignments of the objects (not for features) to the prototypes', action = 'store_true') # default is train, but one could want only to assign the objects to the loaded prototypes without learning
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29
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30 args = parser.parse_args()
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31
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32 # use cases
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33 # 1. learn proto from one file, save in same or another (with traj)
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34 # 2. load proto, load objects, update proto, save proto
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35 # 3. assign objects from one db to proto
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36 # 4. load objects from several files, save in another -> see metadata: site with view and times
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37 # 5. keep prototypes, with positions/velocities, in separate db (keep link to original data through filename, type and index)
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38
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39 # TODO add possibility to cluster with velocities
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40 # TODO add possibility to start with saved prototypes so that one can incrementally learn from several databases
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41 # save the objects that match the prototypes
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42 # write an assignment function for objects
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43
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44 trajectoryType = args.trajectoryType
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45 prototypeType = args.trajectoryType
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46 if args.trajectoryType == 'objectfeatures':
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47 trajectoryType = 'object'
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48 prototypeType = 'feature'
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50 if args.trajectoryType == 'objectfeatures':
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51 objectFeatureNumbers = storage.loadObjectFeatureFrameNumbers(args.databaseFilename, objectNumbers = args.nTrajectories)
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52 featureNumbers = []
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53 for numbers in objectFeatureNumbers.values():
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54 featureNumbers += numbers[:min(len(numbers), args.maxNObjectFeatures)]
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55 objects = storage.loadTrajectoriesFromSqlite(args.databaseFilename, 'feature', objectNumbers = featureNumbers, timeStep = args.positionSubsamplingRate)
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56 else:
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57 objects = storage.loadTrajectoriesFromSqlite(args.databaseFilename, trajectoryType, withFeatures = (args.trajectoryType == 'objectfeatures'), objectNumbers = args.nTrajectories, timeStep = args.positionSubsamplingRate)
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58
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59
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60 trajectories = [o.getPositions().asArray().T for o in objects]
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61 if args.inputPrototypeDatabaseFilename is not None:
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62 initialPrototypes = storage.loadPrototypesFromSqlite(args.inputPrototypeDatabaseFilename, True)
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63 trajectories = [p.getMovingObject().getPositions().asArray().T for p in initialPrototypes]+trajectories
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64 initialPrototypeIndices = range(len(initialPrototypes))
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65 else:
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66 initialPrototypes = []
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67 initialPrototypeIndices = None
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69 lcss = utils.LCSS(metric = args.metric, epsilon = args.epsilon)
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70 nTrajectories = len(trajectories)
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71
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72 similarities = -np.ones((nTrajectories, nTrajectories))
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73 # the next line can be called again without reinitializing similarities
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74 prototypeIndices, labels = ml.prototypeCluster(trajectories, similarities, args.minSimilarity, lambda x,y : lcss.computeNormalized(x, y), args.minClusterSize, args.optimizeCentroid, args.randomInitialization, args.inputPrototypeDatabaseFilename is not None, initialPrototypeIndices) # assignment is done only if working on the same database, otherwise the matchings will not compare and one has to to matchings on a large scale at once
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75
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76 clusterSizes = ml.computeClusterSizes(labels, prototypeIndices, -1)
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77 print(clusterSizes)
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78
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79 prototypes = []
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80 for i in prototypeIndices:
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81 if i<len(initialPrototypes):
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82 initialPrototypes[i].nMatchings = 0
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83 prototypes.append(initialPrototypes[i])
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84 else:
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85 if args.inputPrototypeDatabaseFilename is None:
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86 nmatchings = clusterSizes[i]
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87 else:
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88 nmatchings = 0
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89 prototypes.append(moving.Prototype(args.databaseFilename, objects[i].getNum(), prototypeType, nmatchings)
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90 if args.outputPrototypeDatabaseFilename is None:
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91 outputPrototypeDatabaseFilename = args.databaseFilename
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92 else:
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93 outputPrototypeDatabaseFilename = args.outputPrototypeDatabaseFilename
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94 storage.savePrototypesToSqlite(outputPrototypeDatabaseFilename, prototypes)
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95
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96 if args.saveSimilarities:
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97 np.savetxt(utils.removeExtension(args.databaseFilename)+'-prototype-similarities.txt.gz', similarities, '%.4f')
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98
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99 labelsToProtoIndices = {protoId: i for i, protoId in enumerate(prototypeIndices)}
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100 if args.saveMatches: # or args.assign
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101 # save in the db that contained originally the data
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102 # retirer les assignations anterieures?
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103 storage.savePrototypeAssignmentsToSqlite(args.databaseFilename, objects, [labelsToProtoIndices[l] for l in labels], prototypes)
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104
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105 if args.display:
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106 from matplotlib.pyplot import figure, show, axis
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107 figure()
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108 for i,o in enumerate(objects):
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109 if i not in prototypeIndices:
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110 if labels[i] < 0:
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111 o.plot('kx')
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112 else:
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113 o.plot(utils.colors[labels[i]])
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114 for i in prototypeIndices:
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115 objects[i].plot(utils.colors[i]+'o')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 843
diff changeset
116 axis('equal')
818
181bcb6dad3a added option to learn motion patterns and show to display results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 735
diff changeset
117 show()