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annotate python/objectsmoothing.py @ 578:fe4e9d2b807d

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finalizing transformcoordinates for each object
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 28 Aug 2014 17:42:32 -0400
parents ee45c6eb6d49
children 3550da215e7a
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561
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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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 getFeatures(obj):
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17 longestFeature = utils.argmaxDict({f:f.length() for i,f in enumerate(obj.features)})
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18 t1,t3 = longestFeature.getFirstInstant(), longestFeature.getLastInstant()
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19 listFeatures=[[longestFeature,t1,t3,moving.Point(0,0)]]
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20 # find the features to fill in the beginning of the object existence
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21 currentFeature = longestFeature
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22 while t1!=obj.getFirstInstant():
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23 delta=listFeatures[-1][3]
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24 featureSet = [f for f in obj.features if f.existsAtInstant(t1-1)]
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25 feat = findNearest(currentFeature,featureSet,t1-1,reverse=True)
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26 if feat.existsAtInstant(t1):
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27 listFeatures.append([feat,feat.getFirstInstant(),t1-1,(currentFeature.getPositionAtInstant(t1)-feat.getPositionAtInstant(t1))+delta])
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28 else:
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29 listFeatures.append([feat,feat.getFirstInstant(),t1-1,(currentFeature.getPositionAtInstant(t1)-feat.getPositionAtInstant(t1-1))+delta])
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30 currentFeature = feat
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31 t1= 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 = longestFeature
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35 while t3!= obj.getLastInstant():
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36 featureSet = [f for f in obj.features if f.existsAtInstant(t3+1)]
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37 feat = findNearest(currentFeature,featureSet,t3+1,reverse=False)
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38 if feat.existsAtInstant(t3):
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39 listFeatures.append([feat,t3+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(t3)-feat.getPositionAtInstant(t3))+delta])
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40 else:
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41 listFeatures.append([feat,t3+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(t3)-feat.getPositionAtInstant(t3+1))+delta])
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42 currentFeature = feat
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43 t3= feat.getLastInstant()
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44 delta=listFeatures[-1][3]
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45 return listFeatures
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46
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47 def buildFeature(obj,num=1):
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48 listFeatures= getFeatures(obj)
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49 tmp={}
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50 delta={}
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51 for i in listFeatures:
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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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55
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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 def smoothObjectTrajectory(obj,newNum,smoothing=False,plotResults=True,halfWidth=3):
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70 results=[]
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71 bearing={}
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72 feature= buildFeature(obj,1)
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73 for t in feature.getTimeInterval():
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74 p1= feature.getPositionAtInstant(t)
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75 p2= obj.getPositionAtInstant(t)
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76 if t!=feature.getLastInstant():
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77 p3= feature.getPositionAtInstant(t+1)
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78 else:
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79 p1= feature.getPositionAtInstant(t-1)
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80 p3= feature.getPositionAtInstant(t)
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81 bearing[t]= getBearing(p1,p2,p3)[1]
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82 results.append(getBearing(p1,p2,p3))
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83
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84 medianResults=np.median(results,0)
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85 dist= medianResults[0]
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86 angle= medianResults[3]
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87
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88 for i in sorted(bearing.keys()):
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89 bearing[i]= bearing[i]+angle
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90
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91 if smoothing:
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92 bearingInput=[]
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93 for i in sorted(bearing.keys()):
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94 bearingInput.append(bearing[i])
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95 bearingOut=utils.filterMovingWindow(bearingInput, halfWidth)
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96 for t,i in enumerate(sorted(bearing.keys())):
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97 bearing[i]=bearingOut[t]
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98
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99 #solve a smoothing problem in case of big drop in computing bearing (0,360)
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100 for t,i in enumerate(sorted(bearing.keys())):
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101 if i!= max(bearing.keys()) and abs(bearingInput[t] - bearingInput[t+1])>=340:
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102 for x in xrange(max(i-halfWidth,min(bearing.keys())),min(i+halfWidth,max(bearing.keys()))+1):
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103 bearing[x]=bearingInput[t-i+x]
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104
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105 translated = moving.Trajectory()
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106 for t in feature.getTimeInterval():
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107 p1= feature.getPositionAtInstant(t)
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108 p1.x = p1.x + dist*sin(bearing[t]*pi/180)
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109 p1.y = p1.y + dist*cos(bearing[t]*pi/180)
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110 translated.addPosition(p1)
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111
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112 #modify first and last un-smoothed positions (half width)
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113 if smoothing:
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114 d1= translated[halfWidth]- feature.positions[halfWidth]
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115 d2= translated[-halfWidth-1]- feature.positions[-halfWidth-1]
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116 for i in xrange(halfWidth):
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117 p1 = feature.getPositionAt(i)+d1
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118 p2 = feature.getPositionAt(-i-1)+d2
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119 translated.setPosition(i,p1)
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120 translated.setPosition(-i-1,p2)
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121
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122 newObj= moving.MovingObject(newNum,timeInterval=feature.getTimeInterval(),positions=translated,velocities=obj.getVelocities())
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123 newObj.features=obj.features
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124 newObj.userType=obj.userType
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125 if plotResults:
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126 plt.figure()
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127 plt.title('objects_id = {}'.format(obj.num))
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128 newObj.plot('gx-')
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129 feature.plot('cx-')
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130 obj.plot('rx-')
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131 return newObj