Mercurial Hosting > traffic-intelligence
annotate python/objectsmoothing.py @ 611:233867934190
corrected bug
author | MohamedGomaa |
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date | Thu, 04 Dec 2014 13:37:55 -0500 |
parents | 75ad9c0d6cc3 |
children | 6ee8765bb8db |
rev | line source |
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1 import storage, moving, utils |
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2 from math import * #atan2,asin,degrees,sin,cos,pi |
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3 import numpy as np |
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4 |
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5 import matplotlib.pyplot as plt |
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6 |
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7 def findNearest(feat, featureSet,t,reverse=True): |
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8 dist={} |
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9 for f in featureSet: |
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10 if reverse: |
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11 dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t+1),f.getPositionAtInstant(t)) |
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12 else: |
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13 dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t-1),f.getPositionAtInstant(t)) |
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14 return min(dist, key=dist.get) # = utils.argmaxDict(dist) |
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15 |
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16 def FeatureList(obj,minLengthParam=0.7): |
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17 featureList=[] |
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18 for i in obj.features: |
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19 if i.length>= minLengthParam*obj.length(): |
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20 featureList.append(i.num) |
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21 return featureList |
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22 |
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23 def getFeatures(obj,features,featureID): |
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24 #longestFeature = utils.argmaxDict({f:f.length() for i,f in enumerate(obj.features)}) |
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25 t1,t3 = features[featureID].getFirstInstant(), features[featureID].getLastInstant() |
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26 listFeatures=[[features[featureID],t1,t3,moving.Point(0,0)]] |
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27 # find the features to fill in the beginning of the object existence |
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28 currentFeature = features[featureID] |
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29 while t1!=obj.getFirstInstant(): |
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30 delta=listFeatures[-1][3] |
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31 featureSet = [f for f in obj.features if f.existsAtInstant(t1-1)] |
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32 feat = findNearest(currentFeature,featureSet,t1-1,reverse=True) |
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33 if feat.existsAtInstant(t1): |
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34 listFeatures.append([feat,feat.getFirstInstant(),t1-1,(currentFeature.getPositionAtInstant(t1)-feat.getPositionAtInstant(t1))+delta]) |
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35 else: |
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36 listFeatures.append([feat,feat.getFirstInstant(),t1-1,(currentFeature.getPositionAtInstant(t1)-feat.getPositionAtInstant(t1-1))+delta]) |
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37 currentFeature = feat |
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38 t1= feat.getFirstInstant() |
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39 # find the features to fill in the end of the object existence |
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40 delta=moving.Point(0,0) |
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41 currentFeature = features[featureID] |
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42 while t3!= obj.getLastInstant(): |
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43 featureSet = [f for f in obj.features if f.existsAtInstant(t3+1)] |
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44 feat = findNearest(currentFeature,featureSet,t3+1,reverse=False) |
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45 if feat.existsAtInstant(t3): |
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46 listFeatures.append([feat,t3+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(t3)-feat.getPositionAtInstant(t3))+delta]) |
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47 else: |
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48 listFeatures.append([feat,t3+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(t3)-feat.getPositionAtInstant(t3+1))+delta]) |
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49 currentFeature = feat |
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50 t3= feat.getLastInstant() |
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51 delta=listFeatures[-1][3] |
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52 return listFeatures |
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53 |
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54 def buildFeature(obj,features,featureID,num=1): |
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55 listFeatures= getFeatures(obj,features,featureID) |
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56 tmp={} |
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57 delta={} |
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58 for i in listFeatures: |
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59 for t in xrange(i[1],i[2]+1): |
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60 tmp[t]=[i[0],i[3]] |
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61 newTraj = moving.Trajectory() |
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62 |
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63 for instant in obj.getTimeInterval(): |
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64 newTraj.addPosition(tmp[instant][0].getPositionAtInstant(instant)+tmp[instant][1]) |
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65 newFeature= moving.MovingObject(num,timeInterval=obj.getTimeInterval(),positions=newTraj) |
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66 return newFeature |
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67 |
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68 def getBearing(p1,p2,p3): |
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69 angle = degrees(atan2(p3.y -p1.y, p3.x -p1.x)) |
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70 bearing1 = (90 - angle) % 360 |
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71 angle2 = degrees(atan2(p2.y -p1.y, p2.x -p1.x)) |
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72 bearing2 = (90 - angle2) % 360 |
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73 dist= moving.Point.distanceNorm2(p1, p2) |
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74 return [dist,bearing1,bearing2,bearing2-bearing1] |
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75 |
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76 #Quantitative analysis "CSJ" functions |
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77 def computeVelocities (object,smoothing=True,halfWidth=3): #compute velocities from positions |
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78 velocities={} |
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79 for i in list(object.timeInterval)[:-1]: |
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80 p1= object.getPositionAtInstant(i) |
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81 p2= object.getPositionAtInstant(i+1) |
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82 velocities[i]=p2-p1 |
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83 velocities[object.timeInterval.last]= velocities[object.timeInterval.last-1] # duplicate last point |
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84 if smoothing: |
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85 velX= [velocities[y].aslist()[0] for y in sorted(velocities.keys())] |
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86 velY= [velocities[y].aslist()[1] for y in sorted(velocities.keys())] |
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87 v1= list(utils.filterMovingWindow(velX, halfWidth)) |
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88 v2= list(utils.filterMovingWindow(velY, halfWidth)) |
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89 smoothedVelocity={} |
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90 for t,i in enumerate(sorted(velocities.keys())): |
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91 smoothedVelocity[i]=moving.Point(v1[t], v2[t]) |
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92 velocities=smoothedVelocity |
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93 return velocities |
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94 |
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95 def computeAcceleration (object,fromPosition=True): |
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96 acceleration={} |
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97 if fromPosition: |
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98 velocities=computeVelocities(object,False,1) |
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99 for i in sorted (velocities.keys()): |
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100 if i != sorted (velocities.keys())[-1]: |
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101 acceleration[i]= velocities[i+1]-velocities[i] |
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102 else: |
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103 for i in list(object.timeInterval)[:-1]: |
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104 v1= object.getVelocityAtInstant(i) |
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105 v2= object.getVelocityAtInstant(i+1) |
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106 acceleration[i]= v2-v1 |
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107 return acceleration |
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108 |
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109 def computeJerk (object,fromPosition=True): |
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110 jerk={} |
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111 acceleration=computeAcceleration (object,fromPosition=fromPosition) |
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112 for i in sorted (acceleration.keys()): |
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113 if i != sorted (acceleration.keys())[-1]: |
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114 jerk[i]= (acceleration[i+1]-acceleration[i]).norm2() |
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115 return jerk |
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116 |
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117 def sumSquaredJerk (object,fromPosition=True): |
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118 jerk= computeJerk (object,fromPosition=fromPosition) |
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119 t=0 |
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120 for i in sorted(jerk.keys()): |
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121 t+= jerk[i]* jerk[i] |
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122 return t |
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123 |
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124 def getObject(obj,features,featureID,newNum,smoothing=False,halfWidth=3,create=False): |
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125 results=[] |
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126 bearing={} |
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127 if create: |
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128 feature= buildFeature(obj,features,featureID,num=1) |
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129 else: |
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130 feature=features[featureID] |
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131 for t in feature.getTimeInterval(): |
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132 p1= feature.getPositionAtInstant(t) |
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133 p2= obj.getPositionAtInstant(t) |
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134 if t!=feature.timeInterval.last: |
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135 p3= feature.getPositionAtInstant(t+1) |
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136 else: |
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137 p1= feature.getPositionAtInstant(t-1) |
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138 p3= feature.getPositionAtInstant(t) |
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139 bearing[t]= getBearing(p1,p2,p3)[1] |
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140 results.append(getBearing(p1,p2,p3)) |
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141 |
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142 |
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143 medianResults=np.median(results,0) |
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144 dist= medianResults[0] |
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145 angle= medianResults[3] |
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146 |
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147 for i in sorted(bearing.keys()): |
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148 bearing[i]= bearing[i]+angle |
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149 |
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150 if smoothing: |
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151 bearingInput=[] |
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152 for i in sorted(bearing.keys()): |
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153 bearingInput.append(bearing[i]) |
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154 import utils |
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155 bearingOut=utils.filterMovingWindow(bearingInput, halfWidth) |
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156 for t,i in enumerate(sorted(bearing.keys())): |
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157 bearing[i]=bearingOut[t] |
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158 |
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159 #solve a smoothing problem in case of big drop in computing bearing (0,360) |
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160 for t,i in enumerate(sorted(bearing.keys())): |
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161 if i!= max(bearing.keys()) and abs(bearingInput[t] - bearingInput[t+1])>=340: |
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162 for x in xrange(max(i-halfWidth,min(bearing.keys())),min(i+halfWidth,max(bearing.keys()))+1): |
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163 bearing[x]=bearingInput[t-i+x] |
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164 |
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165 translated = moving.Trajectory() |
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166 for t in feature.getTimeInterval(): |
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167 p1= feature.getPositionAtInstant(t) |
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168 p1.x = p1.x + dist*sin(bearing[t]*pi/180) |
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169 p1.y = p1.y + dist*cos(bearing[t]*pi/180) |
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170 translated.addPosition(p1) |
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171 |
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172 #modify first and last un-smoothed positions (half width) |
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173 if smoothing: |
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174 d1= translated[halfWidth]- feature.positions[halfWidth] |
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175 d2= translated[-halfWidth-1]- feature.positions[-halfWidth-1] |
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176 for i in xrange(halfWidth): |
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177 p1.x=feature.positions.__getitem__(i).x+d1.x |
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178 p2.x= feature.positions.__getitem__(-i-1).x+d2.x |
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179 p1.y=feature.positions.__getitem__(i).y+d1.y |
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180 p2.y= feature.positions.__getitem__(-i-1).y+d2.y |
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181 translated.setPosition(i,p1) |
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182 translated.setPosition(-i-1,p2) |
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183 |
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184 newObj= moving.MovingObject(newNum,timeInterval=feature.timeInterval,positions=translated) |
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185 return newObj |
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186 |
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187 def smoothObjectTrajectory(obj,features,newNum,minLengthParam=0.7,smoothing=False,plotResults=True,halfWidth=3,computeVelocities=True,optimize=True,create=False): |
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188 featureList=FeatureList(obj,minLengthParam=minLengthParam) |
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189 if featureList==[]: |
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190 featureList.append(longestFeature(obj)) |
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191 create=True |
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192 objs=[] |
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193 for featureID in featureList: |
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194 objTMP=getObject(obj,features,featureID,newNum,smoothing=smoothing,halfWidth=halfWidth,create=create) |
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195 objs.append(objTMP) |
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196 newTranslated = moving.Trajectory() |
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197 newInterval=[] |
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198 for t in obj.timeInterval: |
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199 xCoord=[] |
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200 yCoord=[] |
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201 for i in objs: |
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202 if i.existsAtInstant(t): |
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203 p1= i.getPositionAtInstant(t) |
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204 xCoord.append(p1.x) |
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205 yCoord.append(p1.y) |
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206 if xCoord!=[]: |
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207 tmp= moving.Point(np.median(xCoord),np.median(yCoord)) |
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208 newInterval.append(t) |
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209 newTranslated.addPosition(tmp) |
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210 |
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211 newObj= moving.MovingObject(newNum,timeInterval=moving.TimeInterval(min(newInterval),max(newInterval)),positions=newTranslated) |
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212 |
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213 if computeVelocities: |
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214 tmpTraj = moving.Trajectory() |
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215 velocities= computeVelocities(newObj,True,5) |
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216 for i in sorted(velocities.keys()): |
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217 tmpTraj.addPosition(velocities[i]) |
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218 newObj.velocities=tmpTraj |
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219 else: |
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220 newObj.velocities=obj.velocities |
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221 |
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222 if optimize: |
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223 csj1= sumSquaredJerk (obj,fromPosition=True) |
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224 csj2= sumSquaredJerk (newObj,fromPosition=True) |
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225 if csj1<csj2: |
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226 newObj=obj |
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227 newObj.velocities=obj.velocities |
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228 if computeVelocities and csj1>=csj2: |
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229 csj3= sumSquaredJerk (obj,fromPosition=False) |
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230 csj4= sumSquaredJerk (newObj,fromPosition=False) |
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231 if csj4<=csj3: |
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232 newObj.velocities= obj.velocities |
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233 newObj.featureNumbers=obj.featureNumbers |
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234 newObj.features=obj.features |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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235 newObj.userType=obj.userType |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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236 if plotResults: |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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237 plt.figure() |
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238 plt.title('objects_id = {}'.format(obj.num)) |
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239 for i in featureList: |
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240 features[i].plot('cx-') |
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parents:
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241 obj.plot('rx-') |
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242 newObj.plot('gx-') |
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243 return newObj |