Mercurial > hg > nsaunier > traffic-intelligence

annotate scripts/test-compute-object-position-from-features.py @ 398:3399bd48cb40

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Ajout d'une méthode pour obtenir le nombre de FPS Méthode de capture des trames vidéos plus résistante aux erreur Utilisation d'un dictionnaire pour les fichier de configuration afin de garder le nom des sections
author Jean-Philippe Jodoin <jpjodoin@gmail.com>
date Mon, 29 Jul 2013 13:46:07 -0400
parents 1d90e9080cb2
children 56cc8a1f7082
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
103
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1 #!/usr/bin/env python
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2
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3 import sys
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4
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5 import matplotlib.mlab as pylab
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6 import matplotlib.pyplot as plt
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7 import numpy as np
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8
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9 import cv
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10 import utils
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11 import cvutils
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12 import ubc_utils
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13 import moving
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14
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15 # use something like getopt to manage arguments if necessary
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16
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17 if len(sys.argv) < 3:
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18 print('Usage: {0} <video-filename> <n-objects>'.format(sys.argv[0]))
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19 sys.exit()
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20
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21 if sys.argv[1].endswith('.avi'):
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22 videoFilenamePrefix = utils.removeExtension(sys.argv[1],'.')
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23 else:
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24 videoFilenamePrefix = sys.argv[1]
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25
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26 objectNum = int(sys.argv[2])
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27
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28 objects = ubc_utils.loadTrajectories(videoFilenamePrefix+'-objects.txt', objectNum+1)
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29 obj = objects[objectNum]
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30 features = ubc_utils.loadTrajectories(videoFilenamePrefix+'-features.txt', max(obj.featureNumbers)+1)
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31 h = np.loadtxt(videoFilenamePrefix+'-homography.txt')
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32
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33 invh = cvutils.invertHomography(h)
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34
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35 def computeGroundTrajectory(features, homography, timeInterval = None):
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36 '''Computes a trajectory for the set of features as the closes point to the ground
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37 using the homography in image space'''
105
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38 if not timeInterval:
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39 raise Exception('not implemented') # compute from the features
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40
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41 yCoordinates = -np.ones((len(features),int(timeInterval.length())))
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42 for i,f in enumerate(features):
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43 traj = f.getPositions().asArray()
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44 imgTraj = cvutils.projectArray(homography, traj)
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45 yCoordinates[i,f.getFirstInstant()-timeInterval.first:f.getLastInstant()+1-timeInterval.first] = imgTraj[1,:]
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46
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47 indices = np.argmax(yCoordinates,0)
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48 newTraj = moving.Trajectory()
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49 for j,idx in enumerate(indices):
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50 newTraj.addPosition(features[idx].getPositionAtInstant(j+timeInterval.first))
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51 #newVelocities.addPosition(features[obj.featureNumbers[idx]].getVelocityAtInstant(j+obj.getFirstInstant()))
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52
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53 return newTraj
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54
109
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55 def computeMedianTrajectory(features, timeInterval = None):
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56 if not timeInterval:
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57 raise Exception('not implemented') # compute from the features
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58
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59 newTraj = moving.Trajectory()
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60 for t in timeInterval:
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61 points = []
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62 for f in features:
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63 if f.existsAtInstant(t):
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64 points.append(f.getPositionAtInstant(t).aslist())
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65 med = np.median(np.array(points), 0)
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66 newTraj.addPositionXY(med[0], med[1])
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67
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68 return newTraj
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69
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70 # TODO version median: conversion to large matrix will not work, have to do it frame by frame
105
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71
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72 def kalmanFilter(positions, velocities, processNoiseCov, measurementNoiseCov):
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73 kalman=cv.CreateKalman(6, 4)
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74 kalman.transition_matrix[0,2]=1
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75 kalman.transition_matrix[0,4]=1./2
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76 kalman.transition_matrix[1,3]=1
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77 kalman.transition_matrix[1,5]=1./2
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78 kalman.transition_matrix[2,4]=1
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79 kalman.transition_matrix[3,5]=1
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80
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81 cv.SetIdentity(kalman.measurement_matrix, 1.)
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82 cv.SetIdentity(kalman.process_noise_cov, processNoiseCov)
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83 cv.SetIdentity(kalman.measurement_noise_cov, measurementNoiseCov)
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84 cv.SetIdentity(kalman.error_cov_post, 1.)
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85
105
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86 p = positions[0]
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87 v = velocities[0]
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88 v2 = velocities[2]
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89 a = (v2-v).multiply(0.5)
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90 kalman.state_post[0,0]=p.x
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91 kalman.state_post[1,0]=p.y
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92 kalman.state_post[2,0]=v.x
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93 kalman.state_post[3,0]=v.y
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94 kalman.state_post[4,0]=a.x
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95 kalman.state_post[5,0]=a.y
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96
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97 filteredPositions = moving.Trajectory()
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98 filteredVelocities = moving.Trajectory()
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99 measurement = cv.CreateMat(4,1,cv.CV_32FC1)
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100 for i in xrange(positions.length()):
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101 cv.KalmanPredict(kalman) # no control
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102 p = positions[i]
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103 v = velocities[i]
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104 measurement[0,0] = p.x
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105 measurement[1,0] = p.y
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106 measurement[2,0] = v.x
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107 measurement[3,0] = v.y
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108 cv.KalmanCorrect(kalman, measurement)
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109 filteredPositions.addPositionXY(kalman.state_post[0,0], kalman.state_post[1,0])
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110 filteredVelocities.addPositionXY(kalman.state_post[2,0], kalman.state_post[3,0])
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111
105
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112 return (filteredPositions, filteredVelocities)
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113
109
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114 groundTrajectory = computeGroundTrajectory([features[i] for i in obj.featureNumbers], invh, obj.getTimeInterval())
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115 (filteredPositions, filteredVelocities) = kalmanFilter(groundTrajectory, obj.getVelocities(), 0.1, 0.1)
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116
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117 #medianTrajectory = computeMedianTrajectory([features[i] for i in obj.featureNumbers], obj.getTimeInterval())
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118
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119 delta = []
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120 for t in obj.getTimeInterval():
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121 p1 = obj.getPositionAtInstant(t)
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122 p2 = groundTrajectory[t-obj.getFirstInstant()]
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123 delta.append((p1-p2).aslist())
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124
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125 delta = np.median(delta, 0)
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126
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127 translated = moving.Trajectory()
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128 for t in obj.getTimeInterval():
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129 p1 = obj.getPositionAtInstant(t)
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parents: 106
diff changeset
130 p1.x -= delta[0]
04a874e1f19f added median trajectory computation, other tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 106
diff changeset
131 p1.y -= delta[1]
04a874e1f19f added median trajectory computation, other tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 106
diff changeset
132 translated.addPosition(p1)
105
9844c69d8fa2 added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents: 103
diff changeset
133
9844c69d8fa2 added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents: 103
diff changeset
134 plt.clf()
106
ce4cb46b3603 added kalman filtering and rearranged functions
Nicolas Saunier <nico@confins.net>
parents: 105
diff changeset
135 obj.draw('rx-')
105
9844c69d8fa2 added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents: 103
diff changeset
136 for fnum in obj.featureNumbers: features[fnum].draw()
109
04a874e1f19f added median trajectory computation, other tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 106
diff changeset
137 groundTrajectory.draw('bx-')
106
ce4cb46b3603 added kalman filtering and rearranged functions
Nicolas Saunier <nico@confins.net>
parents: 105
diff changeset
138 filteredPositions.draw('gx-')
109
04a874e1f19f added median trajectory computation, other tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 106
diff changeset
139 translated.draw('kx-')
04a874e1f19f added median trajectory computation, other tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 106
diff changeset
140 #medianTrajectory.draw('kx-')
105
9844c69d8fa2 added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents: 103
diff changeset
141 plt.axis('equal')