Mercurial Hosting > traffic-intelligence
annotate scripts/classify-objects.py @ 680:da1352b89d02 dev
classification is working
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 05 Jun 2015 02:25:30 +0200 |
parents | 95276d310972 |
children | fbe29be25501 |
rev | line source |
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1 #! /usr/bin/env python |
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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 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 |
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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('-u', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true') |
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16 #parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int) |
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17 #parser.add_argument('--last-frame', dest = 'lastFrameNum', help = 'number of last frame number to save (for image saving, no display is made)', type = int) |
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18 # 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) |
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19 # parser.add_argument('--speed-aggregation', dest = 'speedAggregationMethod', help = 'method to aggregate road user speed', type = str, choices = ['median', 'mean', 'quantile'], default = 'median') |
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20 # parser.add_argument('--speed-aggregation-quantile', dest = 'speedAggregationQuantile', help = 'quantile for the speed aggregation, if quantile is chosen', type = int, default = 50) |
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21 |
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22 args = parser.parse_args() |
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23 params = storage.ProcessParameters(args.configFilename) |
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24 |
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25 params.convertToFrames(3.6) |
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26 invHomography = np.linalg.inv(params.homography) |
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27 |
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28 if params.speedAggregationMethod == 'median': |
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29 speedAggregationFunc = np.median |
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30 elif params.speedAggregationMethod == 'mean': |
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31 speedAggregationFunc = np.mean |
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32 elif params.speedAggregationMethod == 'quantile': |
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33 speedAggregationFunc = lambda speeds: np.percentile(speeds, args.speedAggregationQuantile) |
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34 else: |
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35 print('Unknown speed aggregation method: {}. Exiting'.format(params.speedAggregationMethod)) |
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36 from sys import exit |
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37 exit() |
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38 |
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39 pedBikeCarSVM = ml.SVM() |
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40 pedBikeCarSVM.load(params.pedBikeCarSVMFilename) |
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41 bikeCarSVM = ml.SVM() |
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42 bikeCarSVM.load(params.bikeCarSVMFilename) |
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43 |
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44 # log logistic for ped and bik otherwise ((pedBeta/pedAlfa)*((sMean/pedAlfa)**(pedBeta-1)))/((1+(sMean/pedAlfa)**pedBeta)**2.) |
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45 speedProbabilities = {'car': lambda s: norm(params.meanVehicleSpeed, params.stdVehicleSpeed).pdf(s), |
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46 'pedestrian': lambda s: norm(params.meanPedestrianSpeed, params.stdPedestrianSpeed).pdf(s), |
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47 'bicycle': lambda s: lognorm(params.scaleCyclistSpeed, loc = 0., scale = np.exp(params.locationCyclistSpeed)).pdf(s)} # lognorm shape, loc, scale |
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48 |
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49 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'object') |
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50 features = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'feature') |
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51 intervals = [] |
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52 for obj in objects: |
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53 obj.setFeatures(features) |
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54 intervals.append(obj.getTimeInterval()) |
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55 timeInterval = moving.unionIntervals(intervals) |
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56 |
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57 capture = cv2.VideoCapture(params.videoFilename) |
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58 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH)) |
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59 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT)) |
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60 |
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61 if params.undistort: # setup undistortion |
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62 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) |
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63 if capture.isOpened(): |
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64 ret = True |
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65 frameNum = timeInterval.first |
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66 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum) |
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67 lastFrameNum = timeInterval.last |
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68 |
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69 while ret and frameNum <= lastFrameNum: |
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70 ret, img = capture.read() |
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71 if ret: |
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72 if frameNum%50 == 0: |
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73 print('frame number: {}'.format(frameNum)) |
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74 if params.undistort: |
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75 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) |
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76 for obj in objects: |
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77 if obj.existsAtInstant(frameNum): |
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78 if obj.getFirstInstant() == frameNum: |
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79 print 'first frame for obj {}'.format(obj.getNum()) |
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80 obj.initClassifyUserTypeHoGSVM(speedAggregationFunc, pedBikeCarSVM, bikeCarSVM, params.maxPedestrianSpeed, params.maxCyclistSpeed, params.nFramesIgnoreAtEnds) |
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81 obj.classifyUserTypeHoGSVMAtInstant(img, frameNum, invHomography, width, height, 0.2, 0.2, 800) # px, py, pixelThreshold |
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82 frameNum += 1 |
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83 |
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84 for obj in objects: |
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85 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = params.minSpeedEquiprobable, speedProbabilities = speedProbabilities) |