Mercurial Hosting > traffic-intelligence

annotate scripts/classify-objects.py @ 682:fbe29be25501 dev

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
corrected bug
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 05 Jun 2015 02:35:29 +0200
parents da1352b89d02
children f3a0b652b590
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
1 #! /usr/bin/env python
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
2
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
3 import cvutils, moving, ml, storage
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
4
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
5 import numpy as np
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
6 import sys, argparse
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
7 #from cv2 import SVM_RBF, SVM_C_SVC
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
8 import cv2
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
9 from scipy.stats import norm, lognorm
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
10
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
11 # TODO add mode detection live
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
12
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
13 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
536
95276d310972 renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 529
diff changeset
14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file', required = True)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
15 #parser.add_argument('-u', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
16 #parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
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)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
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)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
19 # parser.add_argument('--speed-aggregation', dest = 'speedAggregationMethod', help = 'method to aggregate road user speed', type = str, choices = ['median', 'mean', 'quantile'], default = 'median')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
20 # parser.add_argument('--speed-aggregation-quantile', dest = 'speedAggregationQuantile', help = 'quantile for the speed aggregation, if quantile is chosen', type = int, default = 50)
536
95276d310972 renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 529
diff changeset
21
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
22 args = parser.parse_args()
536
95276d310972 renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 529
diff changeset
23 params = storage.ProcessParameters(args.configFilename)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
24
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
25 params.convertToFrames(3.6)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
26 invHomography = np.linalg.inv(params.homography)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
27
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
28 if params.speedAggregationMethod == 'median':
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
29 speedAggregationFunc = np.median
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
30 elif params.speedAggregationMethod == 'mean':
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
31 speedAggregationFunc = np.mean
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
32 elif params.speedAggregationMethod == 'quantile':
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
33 speedAggregationFunc = lambda speeds: np.percentile(speeds, args.speedAggregationQuantile)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
34 else:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
35 print('Unknown speed aggregation method: {}. Exiting'.format(params.speedAggregationMethod))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
36 from sys import exit
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
37 exit()
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
38
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
39 pedBikeCarSVM = ml.SVM()
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
40 pedBikeCarSVM.load(params.pedBikeCarSVMFilename)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
41 bikeCarSVM = ml.SVM()
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
42 bikeCarSVM.load(params.bikeCarSVMFilename)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
43
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
44 # log logistic for ped and bik otherwise ((pedBeta/pedAlfa)*((sMean/pedAlfa)**(pedBeta-1)))/((1+(sMean/pedAlfa)**pedBeta)**2.)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
45 speedProbabilities = {'car': lambda s: norm(params.meanVehicleSpeed, params.stdVehicleSpeed).pdf(s),
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
46 'pedestrian': lambda s: norm(params.meanPedestrianSpeed, params.stdPedestrianSpeed).pdf(s),
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
47 'bicycle': lambda s: lognorm(params.scaleCyclistSpeed, loc = 0., scale = np.exp(params.locationCyclistSpeed)).pdf(s)} # lognorm shape, loc, scale
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
48
682
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
49 def plotSpeedProbabilities():
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
50 for k in speedProbabilities:
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
51 plot(arange(0.1, 50, 0.1), [speedProbabilities[k](s/3.6/25) for s in arange(0.1, 50, 0.1)])
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
52
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
53 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'object')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
54 features = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'feature')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
55 intervals = []
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
56 for obj in objects:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
57 obj.setFeatures(features)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
58 intervals.append(obj.getTimeInterval())
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
59 timeInterval = moving.unionIntervals(intervals)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
60
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
61 capture = cv2.VideoCapture(params.videoFilename)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
62 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
63 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
64
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
65 if params.undistort: # setup undistortion
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
66 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
67 if capture.isOpened():
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
68 ret = True
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
69 frameNum = timeInterval.first
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
70 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
71 lastFrameNum = timeInterval.last
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
72
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
73 while ret and frameNum <= lastFrameNum:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
74 ret, img = capture.read()
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
75 if ret:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
76 if frameNum%50 == 0:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
77 print('frame number: {}'.format(frameNum))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
78 if params.undistort:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
79 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
80 for obj in objects:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
81 if obj.existsAtInstant(frameNum):
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
82 if obj.getFirstInstant() == frameNum:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
83 print 'first frame for obj {}'.format(obj.getNum())
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
84 obj.initClassifyUserTypeHoGSVM(speedAggregationFunc, pedBikeCarSVM, bikeCarSVM, params.maxPedestrianSpeed, params.maxCyclistSpeed, params.nFramesIgnoreAtEnds)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
85 obj.classifyUserTypeHoGSVMAtInstant(img, frameNum, invHomography, width, height, 0.2, 0.2, 800) # px, py, pixelThreshold
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
86 frameNum += 1
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
87
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
88 for obj in objects:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
89 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = params.minSpeedEquiprobable, speedProbabilities = speedProbabilities)