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annotate trafficintelligence/objectsmoothing.py @ 1212:af329f3330ba

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work in progress on 3D safety analysis
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 02 May 2023 17:11:24 -0400
parents cc5cb04b04b0
children
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rev   line source
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cc5cb04b04b0 major update using the trafficintelligence package name and install through pip
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1 from trafficintelligence import storage, moving, utils
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2
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3 from math import atan2, degrees, sin, cos, pi
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4 from numpy import median
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5
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6 import matplotlib.pyplot as plt
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7
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8 def findNearest(feat, featureSet,t,reverse=True):
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9 dist={}
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10 for f in featureSet:
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11 if reverse:
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12 dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t+1),f.getPositionAtInstant(t))
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13 else:
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14 dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t-1),f.getPositionAtInstant(t))
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15 return min(dist, key=dist.get) # = utils.argmaxDict(dist)
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16
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17 def getFeatures(obj, featureID):
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18 currentFeature = obj.getFeature(featureID)
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19 first = currentFeature.getFirstInstant()
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20 last = currentFeature.getLastInstant()
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21 featureList=[[currentFeature,first,last,moving.Point(0,0)]]
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22 # find the features to fill in the beginning of the object existence
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23 while first != obj.getFirstInstant():
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24 delta=featureList[-1][3]
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25 featureSet = [f for f in obj.getFeatures() if f.existsAtInstant(first-1)]
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26 feat = findNearest(currentFeature,featureSet,first-1,reverse=True)
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27 if feat.existsAtInstant(first):
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28 featureList.append([feat,feat.getFirstInstant(),first-1,(currentFeature.getPositionAtInstant(first)-feat.getPositionAtInstant(first))+delta])
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29 else:
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30 featureList.append([feat,feat.getFirstInstant(),first-1,(currentFeature.getPositionAtInstant(first)-feat.getPositionAtInstant(first-1))+delta])
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31 currentFeature = feat
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32 first= feat.getFirstInstant()
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33 # find the features to fill in the end of the object existence
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34 delta=moving.Point(0,0)
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35 currentFeature = obj.getFeature(featureID) # need to reinitialize
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36 while last!= obj.getLastInstant():
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37 featureSet = [f for f in obj.getFeatures() if f.existsAtInstant(last+1)]
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38 feat = findNearest(currentFeature,featureSet,last+1,reverse=False)
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39 if feat.existsAtInstant(last):
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40 featureList.append([feat,last+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(last)-feat.getPositionAtInstant(last))+delta])
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41 else:
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42 featureList.append([feat,last+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(last)-feat.getPositionAtInstant(last+1))+delta])
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43 currentFeature = feat
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44 last= feat.getLastInstant()
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45 delta=featureList[-1][3]
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46 return featureList
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47
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48 def buildFeature(obj, featureID, num = 1):
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49 featureList= getFeatures(obj, featureID)
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50 tmp={}
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51 delta={}
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52 for i in featureList:
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53 for t in range(i[1],i[2]+1):
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54 tmp[t]=[i[0],i[3]]
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55 newTraj = moving.Trajectory()
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56
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57 for instant in obj.getTimeInterval():
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58 newTraj.addPosition(tmp[instant][0].getPositionAtInstant(instant)+tmp[instant][1])
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59 newFeature= moving.MovingObject(num,timeInterval=obj.getTimeInterval(),positions=newTraj)
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60 return newFeature
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61
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62 def getBearing(p1,p2,p3):
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63 angle = degrees(atan2(p3.y -p1.y, p3.x -p1.x))
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64 bearing1 = (90 - angle) % 360
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65 angle2 = degrees(atan2(p2.y -p1.y, p2.x -p1.x))
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66 bearing2 = (90 - angle2) % 360
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67 dist= moving.Point.distanceNorm2(p1, p2)
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68 return [dist,bearing1,bearing2,bearing2-bearing1]
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69
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70 #Quantitative analysis "CSJ" functions
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71 def computeVelocities(obj, smoothing=True, halfWidth=3): #compute velocities from positions
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72 velocities={}
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73 for i in list(obj.timeInterval)[:-1]:
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74 p1= obj.getPositionAtInstant(i)
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75 p2= obj.getPositionAtInstant(i+1)
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76 velocities[i]=p2-p1
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77 velocities[obj.getLastInstant()]= velocities[obj.getLastInstant()-1] # duplicate last point
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78 if smoothing:
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79 velX= [velocities[y].aslist()[0] for y in sorted(velocities.keys())]
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80 velY= [velocities[y].aslist()[1] for y in sorted(velocities.keys())]
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81 v1= list(utils.filterMovingWindow(velX, halfWidth))
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82 v2= list(utils.filterMovingWindow(velY, halfWidth))
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83 smoothedVelocity={}
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84 for t,i in enumerate(sorted(velocities.keys())):
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85 smoothedVelocity[i]=moving.Point(v1[t], v2[t])
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86 velocities=smoothedVelocity
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87 return velocities
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88
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89 def computeAcceleration(obj,fromPosition=True):
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90 acceleration={}
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91 if fromPosition:
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92 velocities=computeVelocities(obj,False,1)
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93 for i in sorted(velocities.keys()):
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94 if i != sorted(velocities.keys())[-1]:
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95 acceleration[i]= velocities[i+1]-velocities[i]
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96 else:
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97 for i in list(obj.timeInterval)[:-1]:
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98 v1= obj.getVelocityAtInstant(i)
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99 v2= obj.getVelocityAtInstant(i+1)
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100 acceleration[i]= v2-v1
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101 return acceleration
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102
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103 def computeJerk(obj,fromPosition=True):
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104 jerk={}
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105 acceleration=computeAcceleration(obj,fromPosition=fromPosition)
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106 for i in sorted(acceleration.keys()):
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107 if i != sorted(acceleration.keys())[-1]:
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108 jerk[i] = (acceleration[i+1]-acceleration[i]).norm2()
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109 return jerk
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110
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111 def sumSquaredJerk(obj,fromPosition=True):
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112 jerk= computeJerk(obj,fromPosition=fromPosition)
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113 t=0
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114 for i in sorted(jerk.keys()):
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115 t+= jerk[i]* jerk[i]
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116 return t
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117
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118 def smoothObjectTrajectory(obj, featureID,newNum,smoothing=False,halfWidth=3,create=False):
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119 results=[]
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120 bearing={}
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121 if create:
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122 feature = buildFeature(obj, featureID , num=1) # why num=1
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123 else:
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124 feature = obj.getFeature(featureID)
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125 for t in feature.getTimeInterval():
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126 p1= feature.getPositionAtInstant(t)
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127 p2= obj.getPositionAtInstant(t)
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128 if t!=feature.getLastInstant():
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129 p3= feature.getPositionAtInstant(t+1)
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130 else:
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131 p1= feature.getPositionAtInstant(t-1)
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132 p3= feature.getPositionAtInstant(t)
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133 bearing[t]= getBearing(p1,p2,p3)[1]
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134 results.append(getBearing(p1,p2,p3))
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135
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136 medianResults=median(results,0)
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137 dist= medianResults[0]
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138 angle= medianResults[3]
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139
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140 for i in sorted(bearing.keys()):
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141 bearing[i]= bearing[i]+angle
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142
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143 if smoothing:
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144 bearingInput=[]
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145 for i in sorted(bearing.keys()):
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146 bearingInput.append(bearing[i])
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147 import utils
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148 bearingOut=utils.filterMovingWindow(bearingInput, halfWidth)
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149 for t,i in enumerate(sorted(bearing.keys())):
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150 bearing[i]=bearingOut[t]
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151
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152 #solve a smoothing problem in case of big drop in computing bearing (0,360)
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153 for t,i in enumerate(sorted(bearing.keys())):
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154 if i!= max(bearing.keys()) and abs(bearingInput[t] - bearingInput[t+1])>=340:
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155 for x in range(max(i-halfWidth,min(bearing.keys())),min(i+halfWidth,max(bearing.keys()))+1):
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156 bearing[x]=bearingInput[t-i+x]
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157
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158 translated = moving.Trajectory()
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159 for t in feature.getTimeInterval():
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160 p1= feature.getPositionAtInstant(t)
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161 p1.x = p1.x + dist*sin(bearing[t]*pi/180)
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162 p1.y = p1.y + dist*cos(bearing[t]*pi/180)
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163 translated.addPosition(p1)
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164
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165 #modify first and last un-smoothed positions (half width)
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166 if smoothing:
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167 d1= translated[halfWidth]- feature.positions[halfWidth]
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168 d2= translated[-halfWidth-1]- feature.positions[-halfWidth-1]
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169 for i in range(halfWidth):
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170 p1= feature.getPositionAt(i)+d1
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171 p2= feature.getPositionAt(-i-1)+d2
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172 translated.setPosition(i,p1)
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173 translated.setPosition(-i-1,p2)
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174
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175 newObj= moving.MovingObject(newNum,timeInterval=feature.getTimeInterval(),positions=translated)
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176 return newObj
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177
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178 def smoothObject(obj, newNum, minLengthParam = 0.7, smoothing = False, plotResults = True, halfWidth = 3, _computeVelocities = True, optimize = True, create = False):
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179 '''Computes a smoother trajectory for the object
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180 and optionnally smoother velocities
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181
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182 The object should have its features in obj.features
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183 TODO: check whether features are necessary'''
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184 if not obj.hasFeatures():
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185 print('Object {} has an empty list of features: please load and add them using obj.setFeatures(features)'.format(obj.getNum()))
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186 from sys import exit
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187 exit()
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188
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189 featureList=[i for i,f in enumerate(obj.getFeatures()) if f.length() >= minLengthParam*obj.length()]
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190 if featureList==[]:
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191 featureList.append(utils.argmaxDict({i:f.length() for i,f in enumerate(obj.getFeatures())}))
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192 create = True
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193 newObjects = []
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194 for featureID in featureList: # featureID should be the index in the list of obj.features
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195 newObjects.append(smoothObjectTrajectory(obj, featureID, newNum, smoothing = smoothing, halfWidth = halfWidth, create = create))
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196
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197 newTranslated = moving.Trajectory()
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198 newInterval = []
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199 for t in obj.getTimeInterval():
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200 xCoord=[]
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201 yCoord=[]
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202 for i in newObjects:
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203 if i.existsAtInstant(t):
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204 p1= i.getPositionAtInstant(t)
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205 xCoord.append(p1.x)
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206 yCoord.append(p1.y)
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207 if xCoord != []:
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208 tmp= moving.Point(median(xCoord), median(yCoord))
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209 newInterval.append(t)
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210 newTranslated.addPosition(tmp)
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211
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212 newObj= moving.MovingObject(newNum, timeInterval = moving.TimeInterval(min(newInterval),max(newInterval)),positions=newTranslated)
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213
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214 if _computeVelocities:
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215 tmpTraj = moving.Trajectory()
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216 velocities= computeVelocities(newObj,True,5)
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217 for i in sorted(velocities.keys()):
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218 tmpTraj.addPosition(velocities[i])
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219 newObj.velocities=tmpTraj
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220 else:
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221 newObj.velocities=obj.velocities
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222
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223 if optimize:
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224 csj1= sumSquaredJerk(obj,fromPosition=True)
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225 csj2= sumSquaredJerk(newObj,fromPosition=True)
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226 if csj1<csj2:
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227 newObj=obj
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228 newObj.velocities=obj.velocities
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229 if _computeVelocities and csj1>=csj2:
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230 csj3= sumSquaredJerk(obj,fromPosition=False)
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231 csj4= sumSquaredJerk(newObj,fromPosition=False)
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232 if csj4<=csj3:
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233 newObj.velocities= obj.velocities
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234
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235 newObj.featureNumbers=obj.featureNumbers
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236 newObj.features=obj.getFeatures()
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237 newObj.userType=obj.userType
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238
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239 if plotResults:
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240 plt.figure()
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241 plt.title('objects_id = {}'.format(obj.num))
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242 for i in featureList:
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243 obj.getFeature(i).plot('cx-')
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244 obj.plot('rx-')
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245 newObj.plot('gx-')
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246 return newObj