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annotate python/objectsmoothing.py @ 661:dc70d9e711f5

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some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 18 May 2015 13:53:25 +0200
parents d74e8c175d6b
children 15e244d2a1b5
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1 import storage, moving, utils
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2 from math import atan2, degrees, sin, cos, pi
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3 from numpy import median
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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 getFeatures(obj, featureID):
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17 currentFeature = obj.getFeature(featureID)
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18 first = currentFeature.getFirstInstant()
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19 last = currentFeature.getLastInstant()
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20 featureList=[[currentFeature,first,last,moving.Point(0,0)]]
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21 # find the features to fill in the beginning of the object existence
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22 while first != obj.getFirstInstant():
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23 delta=featureList[-1][3]
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24 featureSet = [f for f in obj.getFeatures() if f.existsAtInstant(first-1)]
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25 feat = findNearest(currentFeature,featureSet,first-1,reverse=True)
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26 if feat.existsAtInstant(first):
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27 featureList.append([feat,feat.getFirstInstant(),first-1,(currentFeature.getPositionAtInstant(first)-feat.getPositionAtInstant(first))+delta])
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28 else:
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29 featureList.append([feat,feat.getFirstInstant(),first-1,(currentFeature.getPositionAtInstant(first)-feat.getPositionAtInstant(first-1))+delta])
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30 currentFeature = feat
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31 first= feat.getFirstInstant()
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32 # find the features to fill in the end of the object existence
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33 delta=moving.Point(0,0)
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34 currentFeature = obj.getFeature(featureID) # need to reinitialize
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35 while last!= obj.getLastInstant():
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36 featureSet = [f for f in obj.getFeatures() if f.existsAtInstant(last+1)]
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37 feat = findNearest(currentFeature,featureSet,last+1,reverse=False)
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38 if feat.existsAtInstant(last):
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39 featureList.append([feat,last+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(last)-feat.getPositionAtInstant(last))+delta])
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40 else:
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41 featureList.append([feat,last+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(last)-feat.getPositionAtInstant(last+1))+delta])
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42 currentFeature = feat
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43 last= feat.getLastInstant()
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44 delta=featureList[-1][3]
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45 return featureList
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46
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47 def buildFeature(obj, featureID, num = 1):
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48 featureList= getFeatures(obj, featureID)
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49 tmp={}
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50 delta={}
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51 for i in featureList:
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52 for t in xrange(i[1],i[2]+1):
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53 tmp[t]=[i[0],i[3]]
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54 newTraj = moving.Trajectory()
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56 for instant in obj.getTimeInterval():
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57 newTraj.addPosition(tmp[instant][0].getPositionAtInstant(instant)+tmp[instant][1])
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58 newFeature= moving.MovingObject(num,timeInterval=obj.getTimeInterval(),positions=newTraj)
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59 return newFeature
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60
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61 def getBearing(p1,p2,p3):
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62 angle = degrees(atan2(p3.y -p1.y, p3.x -p1.x))
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63 bearing1 = (90 - angle) % 360
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64 angle2 = degrees(atan2(p2.y -p1.y, p2.x -p1.x))
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65 bearing2 = (90 - angle2) % 360
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66 dist= moving.Point.distanceNorm2(p1, p2)
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67 return [dist,bearing1,bearing2,bearing2-bearing1]
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68
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69 #Quantitative analysis "CSJ" functions
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70 def computeVelocities(obj, smoothing=True, halfWidth=3): #compute velocities from positions
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71 velocities={}
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72 for i in list(obj.timeInterval)[:-1]:
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73 p1= obj.getPositionAtInstant(i)
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74 p2= obj.getPositionAtInstant(i+1)
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75 velocities[i]=p2-p1
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76 velocities[obj.getLastInstant()]= velocities[obj.getLastInstant()-1] # duplicate last point
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77 if smoothing:
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78 velX= [velocities[y].aslist()[0] for y in sorted(velocities.keys())]
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79 velY= [velocities[y].aslist()[1] for y in sorted(velocities.keys())]
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80 v1= list(utils.filterMovingWindow(velX, halfWidth))
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81 v2= list(utils.filterMovingWindow(velY, halfWidth))
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82 smoothedVelocity={}
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83 for t,i in enumerate(sorted(velocities.keys())):
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84 smoothedVelocity[i]=moving.Point(v1[t], v2[t])
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85 velocities=smoothedVelocity
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86 return velocities
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87
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88 def computeAcceleration(obj,fromPosition=True):
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89 acceleration={}
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90 if fromPosition:
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91 velocities=computeVelocities(obj,False,1)
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92 for i in sorted(velocities.keys()):
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93 if i != sorted(velocities.keys())[-1]:
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94 acceleration[i]= velocities[i+1]-velocities[i]
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95 else:
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96 for i in list(obj.timeInterval)[:-1]:
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97 v1= obj.getVelocityAtInstant(i)
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98 v2= obj.getVelocityAtInstant(i+1)
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99 acceleration[i]= v2-v1
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100 return acceleration
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101
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102 def computeJerk(obj,fromPosition=True):
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103 jerk={}
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104 acceleration=computeAcceleration(obj,fromPosition=fromPosition)
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105 for i in sorted(acceleration.keys()):
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106 if i != sorted(acceleration.keys())[-1]:
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107 jerk[i] = (acceleration[i+1]-acceleration[i]).norm2()
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108 return jerk
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109
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110 def sumSquaredJerk(obj,fromPosition=True):
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111 jerk= computeJerk(obj,fromPosition=fromPosition)
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112 t=0
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113 for i in sorted(jerk.keys()):
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114 t+= jerk[i]* jerk[i]
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115 return t
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116
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117 def smoothObjectTrajectory(obj, featureID,newNum,smoothing=False,halfWidth=3,create=False):
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118 results=[]
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119 bearing={}
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120 if create:
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121 feature = buildFeature(obj, featureID , num=1) # why num=1
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122 else:
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123 feature = obj.getFeature(featureID)
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124 for t in feature.getTimeInterval():
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125 p1= feature.getPositionAtInstant(t)
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126 p2= obj.getPositionAtInstant(t)
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127 if t!=feature.getLastInstant():
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128 p3= feature.getPositionAtInstant(t+1)
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129 else:
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130 p1= feature.getPositionAtInstant(t-1)
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131 p3= feature.getPositionAtInstant(t)
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132 bearing[t]= getBearing(p1,p2,p3)[1]
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133 results.append(getBearing(p1,p2,p3))
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134
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135 medianResults=median(results,0)
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136 dist= medianResults[0]
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137 angle= medianResults[3]
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138
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139 for i in sorted(bearing.keys()):
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140 bearing[i]= bearing[i]+angle
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141
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142 if smoothing:
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143 bearingInput=[]
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144 for i in sorted(bearing.keys()):
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145 bearingInput.append(bearing[i])
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146 import utils
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147 bearingOut=utils.filterMovingWindow(bearingInput, halfWidth)
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148 for t,i in enumerate(sorted(bearing.keys())):
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149 bearing[i]=bearingOut[t]
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150
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151 #solve a smoothing problem in case of big drop in computing bearing (0,360)
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152 for t,i in enumerate(sorted(bearing.keys())):
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153 if i!= max(bearing.keys()) and abs(bearingInput[t] - bearingInput[t+1])>=340:
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154 for x in xrange(max(i-halfWidth,min(bearing.keys())),min(i+halfWidth,max(bearing.keys()))+1):
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155 bearing[x]=bearingInput[t-i+x]
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156
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157 translated = moving.Trajectory()
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158 for t in feature.getTimeInterval():
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159 p1= feature.getPositionAtInstant(t)
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160 p1.x = p1.x + dist*sin(bearing[t]*pi/180)
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161 p1.y = p1.y + dist*cos(bearing[t]*pi/180)
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162 translated.addPosition(p1)
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163
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164 #modify first and last un-smoothed positions (half width)
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165 if smoothing:
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166 d1= translated[halfWidth]- feature.positions[halfWidth]
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167 d2= translated[-halfWidth-1]- feature.positions[-halfWidth-1]
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168 for i in xrange(halfWidth):
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169 p1= feature.getPositionAt(i)+d1
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170 p2= feature.getPositionAt(-i-1)+d2
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171 translated.setPosition(i,p1)
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172 translated.setPosition(-i-1,p2)
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173
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174 newObj= moving.MovingObject(newNum,timeInterval=feature.getTimeInterval(),positions=translated)
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175 return newObj
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176
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177 def smoothObject(obj, newNum, minLengthParam = 0.7, smoothing = False, plotResults = True, halfWidth = 3, _computeVelocities = True, optimize = True, create = False):
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178 '''Computes a smoother trajectory for the object
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179 and optionnally smoother velocities
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180
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181 The object should have its features in obj.features
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182 TODO: check whether features are necessary'''
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183 if not obj.hasFeatures():
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184 print('Object {} has an empty list of features: please load and add them using obj.setFeatures(features)'.format(obj.getNum()))
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185 from sys import exit
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186 exit()
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187
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188 featureList=[i for i,f in enumerate(obj.getFeatures()) if f.length() >= minLengthParam*obj.length()]
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189 if featureList==[]:
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190 featureList.append(utils.argmaxDict({i:f.length() for i,f in enumerate(obj.getFeatures())}))
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191 create = True
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192 newObjects = []
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193 for featureID in featureList: # featureID should be the index in the list of obj.features
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194 newObjects.append(smoothObjectTrajectory(obj, featureID, newNum, smoothing = smoothing, halfWidth = halfWidth, create = create))
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195
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196 newTranslated = moving.Trajectory()
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197 newInterval = []
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198 for t in obj.getTimeInterval():
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199 xCoord=[]
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200 yCoord=[]
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201 for i in newObjects:
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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(median(xCoord), 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
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234 newObj.featureNumbers=obj.featureNumbers
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235 newObj.features=obj.getFeatures()
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236 newObj.userType=obj.userType
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237
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238 if plotResults:
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239 plt.figure()
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240 plt.title('objects_id = {}'.format(obj.num))
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241 for i in featureList:
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242 obj.getFeature(i).plot('cx-')
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243 obj.plot('rx-')
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244 newObj.plot('gx-')
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245 return newObj