Mercurial Hosting > traffic-intelligence
diff 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 |
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--- a/scripts/classify-objects.py Wed Jun 03 16:00:46 2015 +0200 +++ b/scripts/classify-objects.py Fri Jun 05 02:25:30 2015 +0200 @@ -1,23 +1,85 @@ #! /usr/bin/env python +import cvutils, moving, ml, storage + import numpy as np import sys, argparse -from cv2 import SVM_RBF, SVM_C_SVC +#from cv2 import SVM_RBF, SVM_C_SVC +import cv2 +from scipy.stats import norm, lognorm -import cvutils, moving, ml +# TODO add mode detection live parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene') parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file', required = True) -parser.add_argument('-d', dest = 'directoryName', help = 'name of the parent directory containing the videos and extracted trajectories to process', required = True) -# parser.add_argument('-o', dest = 'homographyFilename', help = 'name of the image to world homography file') -# need a classification config file for speed distribution parameters, svm models, frequency parameters, area parameters etc -#parser.add_argument('--cfg', dest = 'svmType', help = 'SVM type', default = SVM_C_SVC, type = long) - - -#parser.add_argument('-s', dest = 'rescaleSize', help = 'rescale size of image samples', default = 64, type = int) -#parser.add_argument('-o', dest = 'nOrientations', help = 'number of orientations in HoG', default = 9, type = int) -#parser.add_argument('-p', dest = 'nPixelsPerCell', help = 'number of pixels per cell', default = 8, type = int) -#parser.add_argument('-c', dest = 'nCellsPerBlock', help = 'number of cells per block', default = 2, type = int) +#parser.add_argument('-u', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true') +#parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int) +#parser.add_argument('--last-frame', dest = 'lastFrameNum', help = 'number of last frame number to save (for image saving, no display is made)', type = int) +# 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) +# parser.add_argument('--speed-aggregation', dest = 'speedAggregationMethod', help = 'method to aggregate road user speed', type = str, choices = ['median', 'mean', 'quantile'], default = 'median') +# parser.add_argument('--speed-aggregation-quantile', dest = 'speedAggregationQuantile', help = 'quantile for the speed aggregation, if quantile is chosen', type = int, default = 50) args = parser.parse_args() params = storage.ProcessParameters(args.configFilename) + +params.convertToFrames(3.6) +invHomography = np.linalg.inv(params.homography) + +if params.speedAggregationMethod == 'median': + speedAggregationFunc = np.median +elif params.speedAggregationMethod == 'mean': + speedAggregationFunc = np.mean +elif params.speedAggregationMethod == 'quantile': + speedAggregationFunc = lambda speeds: np.percentile(speeds, args.speedAggregationQuantile) +else: + print('Unknown speed aggregation method: {}. Exiting'.format(params.speedAggregationMethod)) + from sys import exit + exit() + +pedBikeCarSVM = ml.SVM() +pedBikeCarSVM.load(params.pedBikeCarSVMFilename) +bikeCarSVM = ml.SVM() +bikeCarSVM.load(params.bikeCarSVMFilename) + +# log logistic for ped and bik otherwise ((pedBeta/pedAlfa)*((sMean/pedAlfa)**(pedBeta-1)))/((1+(sMean/pedAlfa)**pedBeta)**2.) +speedProbabilities = {'car': lambda s: norm(params.meanVehicleSpeed, params.stdVehicleSpeed).pdf(s), + 'pedestrian': lambda s: norm(params.meanPedestrianSpeed, params.stdPedestrianSpeed).pdf(s), + 'bicycle': lambda s: lognorm(params.scaleCyclistSpeed, loc = 0., scale = np.exp(params.locationCyclistSpeed)).pdf(s)} # lognorm shape, loc, scale + +objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'object') +features = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'feature') +intervals = [] +for obj in objects: + obj.setFeatures(features) + intervals.append(obj.getTimeInterval()) +timeInterval = moving.unionIntervals(intervals) + +capture = cv2.VideoCapture(params.videoFilename) +width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH)) +height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT)) + +if params.undistort: # setup undistortion + [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) +if capture.isOpened(): + ret = True + frameNum = timeInterval.first + capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum) + lastFrameNum = timeInterval.last + + while ret and frameNum <= lastFrameNum: + ret, img = capture.read() + if ret: + if frameNum%50 == 0: + print('frame number: {}'.format(frameNum)) + if params.undistort: + img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) + for obj in objects: + if obj.existsAtInstant(frameNum): + if obj.getFirstInstant() == frameNum: + print 'first frame for obj {}'.format(obj.getNum()) + obj.initClassifyUserTypeHoGSVM(speedAggregationFunc, pedBikeCarSVM, bikeCarSVM, params.maxPedestrianSpeed, params.maxCyclistSpeed, params.nFramesIgnoreAtEnds) + obj.classifyUserTypeHoGSVMAtInstant(img, frameNum, invHomography, width, height, 0.2, 0.2, 800) # px, py, pixelThreshold + frameNum += 1 + + for obj in objects: + obj.classifyUserTypeHoGSVM(minSpeedEquiprobable = params.minSpeedEquiprobable, speedProbabilities = speedProbabilities)