概述：
主要根据图片的HOG特征，直方图特征，空间关系特征进行SVM训练，得到简单的二分类模型，存放于clf_pickle_all_v1.p 中，然后输入单张图片或多个图片进行SVM分类检测，如果是属于某物体，则在图片上画框指示（例如红色），否则画绿色框。本代码容易移植，将obj_path和not_object_path中的图片更改为自己的，即可实现两类物体的训练和测试，即代码第247和248行改为自己的两类物体的路径：
# 目标和非目标文件路径改为自己的
obj_path = '/home/yasin/svm_test/obj'
not_obj_path = '/home/yasin/svm_test/not_obj'
本代码参考来自于https://github.com/JunshengFu/vehicle-detection，原代码是为了检测车辆的。
代码如下：
import numpy as np
from skimage.feature import hog
import cv2
import time
import pickle
from os import walk
from os import path
from sklearn.svm import LinearSVC
from sklearn.preprocessing import StandardScaler
from sklearn.model_selection import train_test_split
clf_path = 'clf_pickle_all_v1.p' # if classifier exist
color_space = 'YCrCb' # Can be RGB, HSV, LUV, HLS, YUV, YCrCb
orient = 9 # HOG orientations
pix_per_cell = 8 # HOG pixels per cell
cell_per_block = 2 # HOG cells per block, which can handel e.g. shadows
hog_channel = "ALL" # Can be 0, 1, 2, or "ALL"
# hog_channel = 2 # Can be 0, 1, 2, or "ALL"
spatial_size = (32, 32) # Spatial binning dimensions
hist_bins = 32 # Number of histogram bins
spatial_feat = True # Spatial features on or off
hist_feat = True # Histogram features on or off
hog_feat = True # HOG features on or off
def get_hog_features(img, orient, pix_per_cell, cell_per_block,
vis=False, feature_vec=True):
# Call with two outputs if vis==True
if vis == True:
features, hog_image = hog(img, orientations=orient,
pixels_per_cell=(pix_per_cell, pix_per_cell),
cells_per_block=(cell_per_block, cell_per_block),
block_norm = 'L1', transform_sqrt=True, feature_vector=feature_vec)
return features, hog_image
# Otherwise call with one output
else:
features = hog(img, orientations=orient,
pixels_per_cell=(pix_per_cell, pix_per_cell),
cells_per_block=(cell_per_block, cell_per_block),
block_norm='L1', transform_sqrt=True, feature_vector=feature_vec)
return features
def bin_spatial(img, size=(32, 32)):
color1 = cv2.resize(img[:,:,0], size).ravel()
color2 = cv2.resize(img[:,:,1], size).ravel()
color3 = cv2.resize(img[:,:,2], size).ravel()
return np.hstack((color1, color2, color3))
# Define a function to compute color histogram features
def color_hist(img, nbins=32):
# Compute the histogram of the color channels separately
channel1_hist = np.histogram(img[:,:,0], bins=nbins)
channel2_hist = np.histogram(img[:,:,1], bins=nbins)
channel3_hist = np.histogram(img[:,:,2], bins=nbins)
# Concatenate the histograms into a single feature vector
hist_features = np.concatenate((channel1_hist[0], channel2_hist[0], channel3_hist[0]))
# Return the individual histograms, bin_centers and feature vector
return hist_features
# Define a function to extract features from a single image window
def single_img_features(img, color_space='RGB', spatial_size=(32, 32),
hist_bins=32, orient=9,
pix_per_cell=8, cell_per_block=2, hog_channel= 'ALL',
spatial_feat=True, hist_feat=True, hog_feat=True):
#1) Define an empty list to receive features
img_features = []
#2) Apply color conversion if other than 'RGB'
if color_space != 'RGB':
if color_space == 'HSV':
feature_image = cv2.cvtColor(img, cv2.COLOR_RGB2HSV)
elif color_space == 'LUV':
feature_image = cv2.cvtColor(img, cv2.COLOR_RGB2LUV)
elif color_space == 'HLS':
feature_image = cv2.cvtColor(img, cv2.COLOR_RGB2HLS)
elif color_space == 'YUV':
feature_image = cv2.cvtColor(img, cv2.COLOR_RGB2YUV)
elif color_space == 'YCrCb':
feature_image = cv2.cvtColor(img, cv2.COLOR_RGB2YCrCb)
else:
feature_image = np.copy(img)
#3) Compute spatial features if flag is set
if spatial_feat == True:
spatial_features = bin_spatial(feature_image, size=spatial_size)
#4) Append features to list
img_features.append(spatial_features)
#5) Compute histogram features if flag is set
if hist_feat == True:
hist_features = color_hist(feature_image, nbins=hist_bins)
#6) Append features to list
img_features.append(hist_features)
#7) Compute HOG features if flag is set
if hog_feat == True:
if hog_channel == 'ALL':
hog_features = []
for channel in range(feature_image.shape[2]):
hog_features.extend(get_hog_features(feature_image[:,:,channel],
orient, pix_per_cell, cell_per_block,
vis=False, feature_vec=True))
else:
hog_features = get_hog_features(feature_image[:,:,hog_channel], orient,
pix_per_cell, cell_per_block, vis=False, feature_vec=True)
#8) Append features to list
img_features.append(hog_features)
#9) Return concatenated array of features
return np.concatenate(img_features)
def extract_features(imgs, color_space='RGB', spatial_size=(32, 32),
hist_bins=32, orient=9,
pix_per_cell=8, cell_per_block=2, hog_channel= 'ALL',
spatial_feat=True, hist_feat=True, hog_feat=True):
# Create a list to append feature vectors to
features = []
# Iterate through the list of images
for file in imgs:
file_features = []
# png is scale from (0,1)
# image = mpimg.imread(file)
image = cv2.imread(file)
image = cv2.resize(image, (300, 300))
cv2.imshow('image_res:', image)
cv2.waitKey(2)
# apply color conversion if other than 'RGB'
if color_space != 'RGB':
if color_space == 'HSV':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2HSV)
elif color_space == 'LUV':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2LUV)
elif color_space == 'HLS':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2HLS)
elif color_space == 'YUV':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2YUV)
elif color_space == 'YCrCb':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2YCrCb)
else:
feature_image = np.copy(image)
if spatial_feat == True:
spatial_features = bin_spatial(feature_image, size=spatial_size)
file_features.append(spatial_features)
if hist_feat == True:
# Apply color_hist()
hist_features = color_hist(feature_image, nbins=hist_bins)
file_features.append(hist_features)
if hog_feat == True:
# Call get_hog_features() with vis=False, feature_vec=True
if hog_channel == 'ALL':
hog_features = []
for channel in range(feature_image.shape[2]):
hog_features.append(get_hog_features(feature_image[:,:,channel],
orient, pix_per_cell, cell_per_block,
vis=False, feature_vec=True))
hog_features = np.ravel(hog_features)
else:
hog_features = get_hog_features(feature_image[:,:,hog_channel], orient,
pix_per_cell, cell_per_block, vis=False, feature_vec=True)
# Append the new feature vector to the features list
file_features.append(hog_features)
features.append(np.concatenate(file_features))
# Return list of feature vectors
return features
def get_fileNames(rootdir): # get all the pictures
data=[]
prefix_set =[]
for root, dirs, files in walk(rootdir, topdown=True):
for name in files:
prefix, ending = path.splitext(name)
if ending != ".jpg" and ending != ".jepg" and ending != ".png":
continue
else:
data.append(path.join(root, name))
prefix_set.append(prefix)
return data, prefix_set
def convert_color(img, conv='RGB2YCrCb'):
if conv == 'RGB2YCrCb':
return cv2.cvtColor(img, cv2.COLOR_RGB2YCrCb)
if conv == 'BGR2YCrCb':
return cv2.cvtColor(img, cv2.COLOR_BGR2YCrCb)
if conv == 'RGB2LUV':
return cv2.cvtColor(img, cv2.COLOR_RGB2LUV)
if conv == 'RGB2HSV':
return cv2.cvtColor(img, cv2.COLOR_RGB2HSV)
def obj_detection(image, svc):
img = image.copy()
img = cv2.resize(img, (300, 300))
X = single_img_features(img,color_space=color_space, spatial_size=(32, 32),
hist_bins=32, orient=9,
pix_per_cell=8, cell_per_block=2, hog_channel=hog_channel,
spatial_feat=True, hist_feat=True, hog_feat=True )
X = X.reshape(1, -1)
test_features = X_scaler.transform(X)
test_prediction = svc.predict(test_features)
if test_prediction == 1:
width = int(img.shape[1])
height = int(img.shape[0])
cv2.rectangle(img, (0, 0), (width, height), (0, 0, 255), 12)
cv2.putText(img, 'obj_detected', (int(width / 20), int(height / 4)),cv2.FONT_HERSHEY_SIMPLEX, 2, (255, 255, 255), 6, cv2.LINE_AA)
cv2.namedWindow('obj_detection_basedon_infrared_image', 0)
cv2.imshow('obj_detection_basedon_infrared_image', img)
cv2.waitKey(1000)
else:
width = int(img.shape[1])
height = int(img.shape[0])
cv2.rectangle(img, (0, 0), (width, height), (0, 255, 0), 12)
cv2.putText(img, 'NO obj_detected', (int(width / 20), int(height / 4)),cv2.FONT_HERSHEY_SIMPLEX, 2, (255, 255, 255), 6, cv2.LINE_AA)
cv2.namedWindow('obj_detection_basedon_infrared_image',0)
cv2.imshow('obj_detection_basedon_infrared_image', img)
cv2.waitKey(1000)
return img
# Load or train the svm, i.e.clf_pickle_all_v1.p
if path.isfile(clf_path):
print('loading existing classifier...')
with open(clf_path, 'rb') as file:
clf_pickle = pickle.load(file)
svc = clf_pickle["svc"]
X_scaler = clf_pickle["scaler"]
orient = clf_pickle["orient"]
pix_per_cell = clf_pickle["pix_per_cell"]
cell_per_block = clf_pickle["cell_per_block"]
spatial_size = clf_pickle["spatial_size"]
hist_bins = clf_pickle["hist_bins"]
color_space = clf_pickle["color_space"]
print('finish loading the classifier.')
else:
# target and not target file path
obj_path = '/home/yasin/svm_test/obj'
not_obj_path = '/home/yasin/svm_test/not_obj'
obj, _ = get_fileNames(obj_path)
not_obj, _ = get_fileNames(not_obj_path)
# set the sample size
sample_size = min(len(obj), len(not_obj))
obj = obj[0:sample_size]
not_obj = not_obj[0:sample_size]
obj_features = extract_features(obj, color_space=color_space,
spatial_size=spatial_size, hist_bins=hist_bins,
orient=orient, pix_per_cell=pix_per_cell,
cell_per_block=cell_per_block,
hog_channel=hog_channel, spatial_feat=spatial_feat,
hist_feat=hist_feat, hog_feat=hog_feat)
none_obj_features = extract_features(not_obj, color_space=color_space,
spatial_size=spatial_size, hist_bins=hist_bins,
orient=orient, pix_per_cell=pix_per_cell,
cell_per_block=cell_per_block,
hog_channel=hog_channel, spatial_feat=spatial_feat,
hist_feat=hist_feat, hog_feat=hog_feat)
ee = time.time()
X = np.vstack((obj_features, none_obj_features)).astype(np.float64)
# Fit a per-column scaler
X_scaler = StandardScaler().fit(X)
# Apply the scaler to X
scaled_X = X_scaler.transform(X)
# Define the labels vector
y = np.hstack((np.ones(len(obj_features)), np.zeros(len(none_obj_features))))
# Split up data into randomized training and test sets
rand_state = np.random.randint(0, 100)
X_train, X_test, y_train, y_test = train_test_split(scaled_X, y, test_size=0.2, random_state=rand_state)
print('Using:', orient, 'orientations', pix_per_cell, 'pixels per cell and', cell_per_block, 'cells per block')
print('Feature vector length:', len(X_train[0]))
# Use a linear SVC
svc = LinearSVC()
# Check the training time for the SVC
t = time.time()
svc.fit(X_train, y_train)
t2 = time.time()
print(round(t2 - t, 2), 'Seconds to train SVC...')
# Check the score of the SVC
print('Test Accuracy of SVC = ', round(svc.score(X_test, y_test), 4))
# Check the prediction time for a single sample
# save classifier
clf_pickle = {}
clf_pickle["svc"] = svc
clf_pickle["scaler"] = X_scaler
clf_pickle["orient"] = orient
clf_pickle["pix_per_cell"] = pix_per_cell
clf_pickle["cell_per_block"] = cell_per_block
clf_pickle["spatial_size"] = spatial_size
clf_pickle["hist_bins"] = hist_bins
clf_pickle["color_space"] = color_space
destnation = clf_path
pickle.dump(clf_pickle, open(destnation, "wb"))
print("Classifier is written into: {}".format(destnation))
if __name__ == "__main__":
demo = 1
# test given image to test if there is obj or not
if demo == 1: # 测试单张图片，改为自己的图片路径
filename = '/home/yasin/obj/obj_test.jpg'
image = cv2.imread(filename)
img_svm = obj_detection(image, svc)
print('finish the svm result of single image.')
else: # 测试批量图片，改为自己的图片文件夹路径
print('calculating the svm result of designated_path...')
obj_test_path = '/home/yasin/obj/'
obj_test_images, prefix_set = get_fileNames(obj_test_path)
cnt_obj = 0
video_size = (300, 300)
fps = 1
fourcc = cv2.VideoWriter_fourcc('M', 'P', '4', '2')
# save the svm result as ouput video
outVideo_obj = cv2.VideoWriter('./svm_test_result.avi', fourcc, fps, video_size)
for i in range(len(obj_test_images)):
image = cv2.imread(obj_test_images[i])
img_svm = obj_detection(image, svc)
outVideo_obj.write(img_svm)
print('TP of the obj_detection_SVM is: ', cnt_obj / len(obj_test_images)) # TP 1
print('finish the svm result of obj_path.')
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