def static_clutter_algo(data):
# data: numpy array file. Outputs the uncluttered data and backgrounds in the form of an array of numpy arrays
# each representing one frame
M, LS, L, S, width, height = bs_godec(data[0:2])
first_background = S[:, 0].reshape(width, height).T
first_uncluttered = L[:, 1].reshape(width, height).T
background = first_background
# xxXX__set initialisation parameters here__XXxx
m = len(data)
result = []
backgrounds = []
for i in range(len(data)):
if i == 2:
background = generate_background_est(m, background,
first_uncluttered, 0.2)
elif i > 2:
background = generate_background_est(m, backgrounds[i - 2],
result[i - 1], 0.2)
backgrounds.append(background)
r = get_frame_GREY(data[i]) - background
result.append(r)
return result, backgrounds
def test_frame_filter_for_movement_detection(with_godec=False, savegif=False):
noise_remover = FrameKalmanFilter()
save_path = kalman_pics_path + basename(data_path)
create_folder_if_absent(save_path)
data_i = get_frame_GREY(data[0])
subplt_titles = ["Original Image", "Movement", "KF Original"]
if with_godec:
subplt_titles.extend(["With Godec", "Movement", "KF Godec"])
ims = init_comparison_plot(data_i, subplt_titles, 2, 3)
M, LS, L, S, width, height = bs_godec(data)
noise_remover2 = FrameKalmanFilter()
elif not with_godec:
ims = init_comparison_plot(data_i, subplt_titles, 1, 3)
for i in tqdm(range(len(data))):
data_i = get_frame_GREY(data[i])
processed = noise_remover.process_frame(data_i)
movement = normalize_frame(processed - data_i)
imgs = [data_i, movement, processed]
if with_godec:
L_frame = normalize_frame(L[:, i].reshape(width, height).T)
S_frame = normalize_frame(S[:, i].reshape(width, height).T)
data_i2 = cleaned_godec_img(L_frame, S_frame)
processed2 = noise_remover2.process_frame(data_i2)
movement2 = normalize_frame(processed2 - data_i2)
imgs.extend([data_i2, movement2, processed2])
update_comparison_plot(ims, imgs)
plt.savefig(save_path + "/{}.png".format(i)) #make png
if savegif:
gif_pics = [save_path+ "/{}.png".format(i) for i in range(len(data))]
gif_path = kalman_gifs_path+basename(data_path)+"_movement.gif"
write_gif(gif_pics, gif_path, 0, len(gif_pics), fps=20)
optimize_size(gif_path)
def displacement_history(files, start_time, end_time):
"""
Primary function for getting history of the following format:
{
start: "20200714_081300",
end: "20200714_084300",
numFrames: 1800,
frames: [x1, ..., x1800]
}
where xi is the displacement from xi-1 to xi frame
Instead of geting centroid area number for each centroid,
calculate displacement directly.
Args:
files ([np.array]): [description]
debug (bool, optional): [description]. Defaults to True.
Returns:
[type]: [description]
"""
annotated_images = []
centroid_history = []
M, LS, L, S, width, height = bs_godec(files)
for i in range(len(files)):
img = normalize_frame(files[i])
L_frame = normalize_frame(L[:, i].reshape(width, height).T)
S_frame = normalize_frame(S[:, i].reshape(width, height).T)
img = cleaned_godec_img(L_frame, S_frame, files[i])
images, centroids = postprocess_img(img)
annotated_img = images[-1]
annotated_images.append(annotated_img)
append_centroid_history(centroids, i, centroid_history)
interpolated_centroid_history = Interpolator(centroid_history).history
displacements = []
numFrames = len(interpolated_centroid_history)
for i in range(numFrames - 1):
prev_centroid = interpolated_centroid_history[i + 1]
curr_centroid = interpolated_centroid_history[i]
if not (prev_centroid == None or curr_centroid == None):
curr_displacement = np.sqrt(
(prev_centroid[0] - curr_centroid[0])**2 +
(prev_centroid[1] - curr_centroid[1])**2)
displacements.append(curr_displacement)
timeElapsed = datetime.strptime(end_time,
"%Y.%m.%d_%H%M%S") - datetime.strptime(
start_time, "%Y.%m.%d_%H%M%S")
print(timeElapsed.total_seconds())
return {
"start": start_time,
"end": end_time,
"timeElapsedInSeconds": timeElapsed.total_seconds(),
"numFrames": numFrames,
"frames": displacements,
}
def optical_flow_dense(files):
# Perform Godec first on all frames
M, LS, L, S, width, height = bs_godec(files)
first_frame = get_frame(files[0])
# frames to be compared is after godec and postprocessing
godec_frame, probability = get_godec_frame(M, L, S, width, height, 0)
img, centroids = postprocess_img(godec_frame, all_images=False)
prev_gray = img
ims = init_comparison_plot(first_frame,
["Original", "Thresholded", "FlowS"], 1, 3)
test = cv.cvtColor(first_frame.astype("uint8"), cv.COLOR_GRAY2BGR)
hsv_mask = np.zeros_like(test)
hsv_mask[..., 1] = 255
window_name = "Dense Optical Flow"
counter = 1
while counter < len(files):
print(counter)
godec_frame, probability = get_godec_frame(M, L, S, width, height,
counter)
img, centroids = postprocess_img(godec_frame, all_images=False)
next_gray = img
flow = cv.calcOpticalFlowFarneback(prev_gray,
next_gray,
None,
pyr_scale=0.5,
levels=5,
winsize=11,
iterations=5,
poly_n=5,
poly_sigma=1.1,
flags=0)
magnitude, angle = cv.cartToPolar(flow[..., 0], flow[..., 1])
hsv_mask[
...,
0] = angle * 180 / np.pi / 2 # Set image hue according to the optical flow direction
hsv_mask[..., 2] = cv.normalize(
magnitude, None, 0, 255, cv.NORM_MINMAX
) # Set image value according to the optical flow magnitude (normalized)
# plotting of grayscale flowmap and data heatmap
update_comparison_plot(
ims, [get_frame(files[counter]), next_gray, hsv_mask])
plt.title("Max Magnitude :" + str(np.amax(magnitude)) +
"\nMax Angle:" + str(np.amax(angle)))
create_folder_if_absent("optical_flow_pics")
plt.savefig("optical_flow_pics/{}.png".format(counter))
prev_gray = next_gray
k = cv.waitKey(30) & 0xff
counter += 1
def test_godec_over_multiple_iterations(frames_per_iterations=30):
ims = init_comparison_plot(get_frame_GREY(files[0]),
subplt_titles=[
"Original", "L_frame", "S_Frame",
"Cleaned_Frame", "L_fram_%", "S_frame_%"
],
num_rows=2,
num_columns=3)
for j in range(0, len(files), frames_per_iterations):
if j + frames_per_iterations < len(files):
end_index = j + frames_per_iterations
else:
end_index = len(files)
M, LS, L, S, width, height = bs_godec(files[j:end_index],
normalize=False)
for i in range(i, end_index):
img = get_frame_GREY(files[i])
L_frame = normalize_frame(L[:, i].reshape(width, height).T)
S_frame = normalize_frame(S[:, i].reshape(width, height).T)
L_probability = foreground_probability(
L[:, i].reshape(width, height).T, get_frame(files[i]))
S_probability = foreground_probability(
S[:, i].reshape(width, height).T, get_frame(files[i]))
print("L_probability")
print(L_probability)
print("S_probability")
print(S_probability)
cleaned_frame, prob = cleaned_godec_img(L_frame, S_frame,
get_frame(files[i]))
update_comparison_plot(ims, [
img, L_frame, S_frame, cleaned_frame,
normalize_frame(L_probability),
normalize_frame(S_probability)
])
create_folder_if_absent("testpics")
plt.savefig("testpics/" + "{}.png".format(i))
import cv2 as cv
import matplotlib.pyplot as plt
import numpy as np
from background_subtraction import bs_godec
from file_utils import (basename, create_folder_if_absent, get_all_files,
get_frame, get_frame_GREY, normalize_frame)
from foreground_probability import (foreground_probability,
probability_from_residue, residual_squares)
from visualizer import (init_comparison_plot, update_comparison_plot,
write_gif_from_pics)
data_path = "data/teck_calib"
data = get_all_files(data_path)
M, LS, L, S, width, height = bs_godec(
data, normalize=False) # get that godec data mmmm
def test_foreground_probability(savegif=False):
subplt_titles = ["Original", "Foreground %"]
ims = init_comparison_plot(get_frame_GREY(data[0]),
subplt_titles,
1,
2,
title="Probabilistic Foreground Detection")
for i in range(len(data)):
frame = get_frame(data[i])
L_frame = L[:, i].reshape(width, height).T
S_frame = S[:, i].reshape(width, height).T
def test_bs_godec(files,
save_data=False,
save_gif=False,
gif_name=None,
fps=60):
"""Test bs_godec Implementation
Keyword Arguments:
save_data {bool} -- (default: {False})
save_gif {bool} -- (default: {False})
gif_name {string} -- (default: {None})
fps {int} -- (default: {60})
---
This test shows you different ways of running the bs_godec method and obtain the various type of data you need.
"""
print("Testing Godec...")
t = Timer("accumulate")
t.start()
M, LS, L, S, width, height = bs_godec(files)
print("M: ")
print(M)
print("L: ")
print(L)
t.stop("Time taken to run background subtraction with godec: ")
if save_data:
t.start()
npy_path = "godec_data/" + basename(data_path)
create_folder_if_absent(godec_data_path)
save_npy(M, npy_path, "M")
save_npy(L, npy_path, "L")
save_npy(S, npy_path, "S")
save_npy(LS, npy_path, "LS")
t.stop("Time taken to save godec result npy arrays: ")
plots_path = godec_pics_path + basename(data_path)
if not save_gif:
print("Plotting....")
t.start()
plot_godec(M,
LS,
L,
S,
plots_path,
width=width,
height=height,
preview=True)
t.stop("Time taken to save godec plots: ")
elif save_gif and gif_name:
print("Saving gif as {}....".format(gif_name))
t.start()
plot_godec(M, LS, L, S, plots_path, width=width, height=height)
pics = get_all_files(plots_path)
t.stop("Time taken to save godec plots: ")
write_gif(pics,
godec_gifs_path + gif_name,
start=0,
end=len(pics),
fps=fps)
print("The entire process has taken: ", t.timers['accumulate'], " seconds")
def get_centroid_area_history(files, debug=True, key_format="simple"):
"""
Primary function to be called for obtaining history in the following format:
{
0: {
0: ...,
1: ...,
},
1: { ... }
}
Arguments:
files {[str]} -- up to 30 mins of files, since we decided that recalibration of godec should be done every 30 mins
"""
annotated_images = []
centroid_history = []
M, LS, L, S, width, height = bs_godec(files)
for i in range(len(files)):
img = get_frame_GREY(files[i])
L_frame = normalize_frame(L[:, i].reshape(width, height).T)
S_frame = normalize_frame(S[:, i].reshape(width, height).T)
img = cleaned_godec_img(L_frame, S_frame, get_frame(files[i]))
images, centroids = postprocess_img(img)
annotated_img = images[-1]
annotated_images.append(annotated_img)
append_centroid_history(centroids, i, centroid_history)
interpolated_centroid_history = Interpolator(centroid_history).history
centroid_area_array = [
get_centroid_area_number(cnt) for cnt in interpolated_centroid_history
]
area_counter = Counter(centroid_area_array)
for i in range(8):
if i not in area_counter:
area_counter[i] = 0
if key_format == "simple":
area_movement_counter = Counter()
for i in range(len(centroid_area_array) - 1):
from_area = str(centroid_area_array[i])
to_area = str(centroid_area_array[i + 1])
label = from_area + "→" + to_area
area_movement_counter[label] += 1
elif key_format == "from_to":
area_movement_counter = {"None": Counter()}
for i in range(8):
area_movement_counter[str(i)] = Counter()
for i in range(len(centroid_area_array) - 1):
from_area = str(centroid_area_array[i])
to_area = str(centroid_area_array[i + 1])
area_movement_counter[from_area][to_area] += 1
if debug:
return area_counter, area_movement_counter, centroid_area_array, annotated_images
return area_movement_counter