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comparison scripts/classify-objects.py @ 1242:4cd8ace3552f

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major update for classification, allowing the use of neural network classification
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 07 Feb 2024 11:43:03 -0500
parents ab4c72b9475c
children 88eedf79f16a
comparison
equal deleted inserted replaced
1241:ab4c72b9475c 1242:4cd8ace3552f
50 50
51 # log logistic for ped and bik otherwise ((pedBeta/pedAlfa)*((sMean/pedAlfa)**(pedBeta-1)))/((1+(sMean/pedAlfa)**pedBeta)**2.) 51 # log logistic for ped and bik otherwise ((pedBeta/pedAlfa)*((sMean/pedAlfa)**(pedBeta-1)))/((1+(sMean/pedAlfa)**pedBeta)**2.)
52 carNorm = norm(classifierParams.meanVehicleSpeed, classifierParams.stdVehicleSpeed) 52 carNorm = norm(classifierParams.meanVehicleSpeed, classifierParams.stdVehicleSpeed)
53 pedNorm = norm(classifierParams.meanPedestrianSpeed, classifierParams.stdPedestrianSpeed) 53 pedNorm = norm(classifierParams.meanPedestrianSpeed, classifierParams.stdPedestrianSpeed)
54 # numpy lognorm shape, loc, scale: shape for numpy is scale (std of the normal) and scale for numpy is exp(location) (loc=mean of the normal) 54 # numpy lognorm shape, loc, scale: shape for numpy is scale (std of the normal) and scale for numpy is exp(location) (loc=mean of the normal)
55 bicLogNorm = lognorm(classifierParams.scaleCyclistSpeed, loc = 0., scale = np.exp(classifierParams.locationCyclistSpeed)) 55 cycLogNorm = lognorm(classifierParams.scaleCyclistSpeed, loc = 0., scale = np.exp(classifierParams.locationCyclistSpeed))
56 speedProbabilities = {moving.userTypeNames[1]: lambda s: carNorm.pdf(s), 56 speedProbabilities = {moving.userType2Num['car']: lambda s: carNorm.pdf(s),
57 moving.userTypeNames[2]: lambda s: pedNorm.pdf(s), 57 moving.userType2Num['pedestrian']: lambda s: pedNorm.pdf(s),
58 moving.userTypeNames[4]: lambda s: bicLogNorm.pdf(s)} 58 moving.userType2Num['cyclist']: lambda s: cycLogNorm.pdf(s)}
59 if useYolo: # consider other user types
60 for i in [3, 5, 6, 7]:
61 speedProbabilities[i] = speedProbabilities[moving.userType2Num['car']]
59 62
60 if args.plotSpeedDistribution: 63 if args.plotSpeedDistribution:
61 import matplotlib.pyplot as plt 64 import matplotlib.pyplot as plt
62 plt.figure() 65 plt.figure()
63 speeds = np.arange(0.1, args.maxSpeedDistributionPlot, 0.1) 66 speeds = np.arange(0.1, args.maxSpeedDistributionPlot, 0.1)
104 if frameNum%50 == 0: 107 if frameNum%50 == 0:
105 print('frame number: {}'.format(frameNum)) 108 print('frame number: {}'.format(frameNum))
106 #if undistort: 109 #if undistort:
107 # img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) 110 # img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
108 if useYolo: 111 if useYolo:
109 results = yolo.predict(img, classes=list(moving.cocoTypeNames.keys()), verbose=False) 112 results = yolo.predict(img, conf = classifierParams.confidence, classes=list(moving.cocoTypeNames.keys()), verbose=False)
110 113
111 for obj in objects[:]: 114 for obj in objects[:]:
112 if obj.getFirstInstant() <= frameNum: # if images are skipped 115 if obj.getFirstInstant() <= frameNum: # if images are skipped
113 obj.initClassifyUserTypeHoGSVM(speedAggregationFunc, pedBikeCarSVM, bikeCarSVM, classifierParams.maxPedestrianSpeed, classifierParams.maxCyclistSpeed, classifierParams.nFramesIgnoreAtEnds, invHomography, intrinsicCameraMatrix, distortionCoefficients) 116 obj.initClassifyUserTypeHoGSVM(speedAggregationFunc, pedBikeCarSVM, bikeCarSVM, classifierParams.maxPedestrianSpeed, classifierParams.maxCyclistSpeed, classifierParams.nFramesIgnoreAtEnds, invHomography, intrinsicCameraMatrix, distortionCoefficients)
114 currentObjects.append(obj) 117 currentObjects.append(obj)
115 objects.remove(obj) 118 objects.remove(obj)
116 119
117 for obj in currentObjects[:]: 120 for obj in currentObjects[:]:
118 if obj.getLastInstant() <= frameNum: 121 if obj.getLastInstant() <= frameNum:
119 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = classifierParams.minSpeedEquiprobable, speedProbabilities = speedProbabilities, maxPercentUnknown = classifierParams.maxPercentUnknown) 122 obj.classifyUserTypeHoGSVM(classifierParams.minSpeedEquiprobable, speedProbabilities, classifierParams.maxPercentUnknown)
120 pastObjects.append(obj) 123 pastObjects.append(obj)
121 currentObjects.remove(obj) 124 currentObjects.remove(obj)
122 else: 125 else:
123 if useYolo: 126 if useYolo:
124 # if one feature falls in bike, it's a bike 127 # if one feature falls in bike, it's a bike
125 # could one count all hits in various objects, or one takes majority at the instant? 128 # could one count all hits in various objects, or one takes majority at the instant?
126 # obj.classifyUserTypeYoloAtInstant(img, frameNum, width, height, classifierParams.percentIncreaseCrop, classifierParams.percentIncreaseCrop, results[0].boxes) 129 #print('yolo', len(results[0].boxes))
127 pass 130 obj.classifyUserTypeYoloAtInstant(frameNum, results[0].boxes)
128 else: 131 else:
129 obj.classifyUserTypeHoGSVMAtInstant(img, frameNum, width, height, classifierParams.percentIncreaseCrop, classifierParams.percentIncreaseCrop, classifierParams.minNPixels, classifierParams.hogRescaleSize, classifierParams.hogNOrientations, classifierParams.hogNPixelsPerCell, classifierParams.hogNCellsPerBlock, classifierParams.hogBlockNorm) 132 obj.classifyUserTypeHoGSVMAtInstant(img, frameNum, width, height, classifierParams.percentIncreaseCrop, classifierParams.percentIncreaseCrop, classifierParams.minNPixels, classifierParams.hogRescaleSize, classifierParams.hogNOrientations, classifierParams.hogNPixelsPerCell, classifierParams.hogNCellsPerBlock, classifierParams.hogBlockNorm)
130 if args.verbose: 133 if args.verbose:
131 print('obj {}@{}: {}'.format(obj.getNum(), frameNum, moving.userTypeNames[obj.userTypes[frameNum]])) 134 print('obj {}@{}: {}'.format(obj.getNum(), frameNum, moving.userTypeNames[obj.userTypes[frameNum]]))
132 frameNum += 1 135 frameNum += 1
133 136
134 for obj in currentObjects: 137 for obj in currentObjects:
135 obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = classifierParams.minSpeedEquiprobable, speedProbabilities = speedProbabilities, maxPercentUnknown = classifierParams.maxPercentUnknown) 138 obj.classifyUserTypeHoGSVM(classifierParams.minSpeedEquiprobable, speedProbabilities, classifierParams.maxPercentUnknown)
136 pastObjects.append(obj) 139 pastObjects.append(obj)
137 print('Saving user types') 140 print('Saving user types')
138 storage.setRoadUserTypes(databaseFilename, pastObjects) 141 storage.setRoadUserTypes(databaseFilename, pastObjects)