Mercurial Hosting > traffic-intelligence
annotate scripts/learn-motion-patterns.py @ 1253:ef68d4ba7dae
added loading ego vehicle in kitti 2D format and method to plot outline
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 25 Mar 2024 17:05:20 -0400 |
parents | f2ba9858e6c6 |
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rev | line source |
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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 matplotlib.pyplot as plt |
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7 |
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8 from trafficintelligence import ml, utils, storage, moving, processing |
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9 |
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10 parser = argparse.ArgumentParser(description='''The program clusters trajectories, each cluster being represented by a trajectory. It can either work on the same dataset (database) or different ones, but only does learning or assignment at a time to avoid issues''') #, 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 process', choices = ['feature', 'object'], default = 'feature') |
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16 parser.add_argument('--nfeatures-per-object', dest = 'nLongestFeaturesPerObject', help = 'maximum number of features per object to load', type = int) |
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17 parser.add_argument('-n', dest = 'nObjects', 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 = 0) |
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22 parser.add_argument('--learn', dest = 'learn', help = 'learn', action = 'store_true') |
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23 parser.add_argument('--optimize', dest = 'optimizeCentroid', help = 'recompute centroid at each assignment', action = 'store_true') |
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24 parser.add_argument('--random', dest = 'randomInitialization', help = 'random initialization of clustering algorithm', action = 'store_true') |
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25 parser.add_argument('--subsample', dest = 'positionSubsamplingRate', help = 'rate of position subsampling (1 every n positions)', type = int) |
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26 parser.add_argument('--display', dest = 'display', help = 'display trajectories', action = 'store_true') |
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27 parser.add_argument('--similarities-filename', dest = 'similaritiesFilename', help = 'filename of the similarities') |
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28 parser.add_argument('--save-similarities', dest = 'saveSimilarities', help = 'save computed similarities (in addition to prototypes)', action = 'store_true') |
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29 parser.add_argument('--save-assignments', dest = 'saveAssignments', help = 'saves the assignments of the objects to the prototypes', action = 'store_true') |
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30 parser.add_argument('--assign', dest = 'assign', help = 'assigns the objects to the prototypes and saves the assignments', action = 'store_true') |
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31 |
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32 args = parser.parse_args() |
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33 |
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34 # use cases |
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35 # 1. learn proto from one file, save in same or another |
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36 # 2. load proto, load objects (from same or other db), update proto matchings, save proto |
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37 # TODO 3. on same dataset, learn and assign trajectories (could be done with min cluster size) |
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38 # TODO? 4. when assigning, allow min cluster size only to avoid assigning to small clusters (but prototypes are not removed even if in small clusters, can be done after assignment with nmatchings) |
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39 |
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40 # TODO add possibility to cluster with velocities |
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41 # TODO add possibility to load all trajectories and use minclustersize |
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42 |
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43 if args.learn and args.assign: |
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44 print('Cannot learn and assign simultaneously') |
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45 sys.exit(0) |
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46 |
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47 objects = storage.loadTrajectoriesFromSqlite(args.databaseFilename, args.trajectoryType, args.nObjects, timeStep = args.positionSubsamplingRate, nLongestFeaturesPerObject = args.nLongestFeaturesPerObject) |
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48 if args.trajectoryType == 'object' and args.nLongestFeaturesPerObject is not None: |
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49 objectsWithFeatures = objects |
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50 objects = [f for o in objectsWithFeatures for f in o.getFeatures()] |
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51 prototypeType = 'feature' |
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52 else: |
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53 prototypeType = args.trajectoryType |
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54 |
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55 # load initial prototypes, if any |
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56 if args.inputPrototypeDatabaseFilename is not None: |
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57 initialPrototypes = storage.loadPrototypesFromSqlite(args.inputPrototypeDatabaseFilename, True) |
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58 else: |
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59 initialPrototypes = [] |
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60 |
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61 lcss = utils.LCSS(metric = args.metric, epsilon = args.epsilon) |
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62 similarityFunc = lambda x,y : lcss.computeNormalized(x, y) |
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63 nTrajectories = len(initialPrototypes)+len(objects) |
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64 if args.similaritiesFilename is not None: |
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65 similarities = np.loadtxt(args.similaritiesFilename) |
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66 if args.similaritiesFilename is None or similarities.shape[0] != nTrajectories or similarities.shape[1] != nTrajectories: |
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67 similarities = -np.ones((nTrajectories, nTrajectories)) |
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68 |
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69 prototypeIndices, labels = processing.learnAssignMotionPatterns(args.learn, args.assign, objects, similarities, args.minSimilarity, similarityFunc, 0, args.optimizeCentroid, args.randomInitialization, False, initialPrototypes) |
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70 |
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71 if args.learn:# and not args.assign: |
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72 prototypes = [] |
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73 for i in prototypeIndices: |
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74 if i<len(initialPrototypes): |
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75 prototypes.append(initialPrototypes[i]) |
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76 else: |
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77 prototypes.append(moving.Prototype(args.databaseFilename, objects[i-len(initialPrototypes)].getNum(), prototypeType)) |
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78 |
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79 if args.outputPrototypeDatabaseFilename is None: |
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80 outputPrototypeDatabaseFilename = args.databaseFilename |
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81 else: |
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82 outputPrototypeDatabaseFilename = args.outputPrototypeDatabaseFilename |
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83 if args.inputPrototypeDatabaseFilename == args.outputPrototypeDatabaseFilename: |
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84 storage.deleteFromSqlite(args.outputPrototypeDatabaseFilename, 'prototype') |
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85 storage.savePrototypesToSqlite(outputPrototypeDatabaseFilename, prototypes) |
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86 if args.display: |
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87 plt.figure() |
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88 for p in prototypes: |
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89 p.getMovingObject().plot() |
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90 plt.axis('equal') |
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91 plt.show() |
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92 |
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93 if args.assign: # not args.learn and no modification to prototypes, can work with initialPrototypes |
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94 clusterSizes = ml.computeClusterSizes(labels, prototypeIndices, -1) |
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95 for i in prototypeIndices: |
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96 nMatchings = clusterSizes[i]-1 # external prototypes |
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97 if initialPrototypes[i].nMatchings is None: |
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98 initialPrototypes[i].nMatchings = nMatchings |
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99 else: |
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100 initialPrototypes[i].nMatchings += nMatchings |
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101 if args.outputPrototypeDatabaseFilename is None: |
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102 outputPrototypeDatabaseFilename = args.databaseFilename |
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103 else: |
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104 outputPrototypeDatabaseFilename = args.outputPrototypeDatabaseFilename |
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105 storage.setPrototypeMatchingsInSqlite(outputPrototypeDatabaseFilename, initialPrototypes) |
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106 if args.saveAssignments: |
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107 if args.trajectoryType == 'object' and args.nLongestFeaturesPerObject is not None: |
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108 # consider that the object is assigned through its longest features |
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109 # issues are inconsistencies in the number of matchings per prototype and display (will display features, not objects) |
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110 objectNumbers = [] |
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111 objectLabels = [] |
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112 i = 0 |
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113 for obj in objectsWithFeatures: |
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114 objLabels = [] |
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115 for f in obj.getFeatures(): |
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116 if f == objects[i]: |
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117 objLabels.append(labels[i+len(initialPrototypes)]) |
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118 i += 1 |
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119 else: |
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120 print('Issue with obj {} and feature {} (trajectory {})'.format(obj.getNum(), f.getNum(), i)) |
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121 objectLabels.append(utils.mostCommon(objLabels)) |
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122 objectNumbers.append(obj.getNum()) |
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123 storage.savePrototypeAssignmentsToSqlite(args.databaseFilename, objectNumbers, 'object', objectLabels, initialPrototypes) |
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124 else: |
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125 storage.savePrototypeAssignmentsToSqlite(args.databaseFilename, [obj.getNum() for obj in objects], args.trajectoryType, labels[len(initialPrototypes):], initialPrototypes) |
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126 if args.display: |
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127 plt.figure() |
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128 for i,o in enumerate(objects): |
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129 if labels[i+len(initialPrototypes)] < 0: |
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130 o.plot('kx-') |
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131 else: |
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132 o.plot(utils.colors[labels[i+len(initialPrototypes)]]) |
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133 for i,p in enumerate(initialPrototypes): |
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134 p.getMovingObject().plot(utils.colors[i]+'o') |
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135 plt.axis('equal') |
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136 plt.show() |
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137 |
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138 if (args.learn or args.assign) and args.saveSimilarities: |
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139 if args.similaritiesFilename is not None: |
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140 np.savetxt(args.similaritiesFilename, similarities, '%.4f') |
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141 else: |
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142 np.savetxt(utils.removeExtension(args.databaseFilename)+'-prototype-similarities.txt.gz', similarities, '%.4f') |