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comparison trafficintelligence/objectsmoothing.py @ 1028:cc5cb04b04b0

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major update using the trafficintelligence package name and install through pip
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 15 Jun 2018 11:19:10 -0400
parents python/objectsmoothing.py@933670761a57
children
comparison
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1027:6129296848d3 1028:cc5cb04b04b0
1 from trafficintelligence import storage, moving, utils
2
3 from math import atan2, degrees, sin, cos, pi
4 from numpy import median
5
6 import matplotlib.pyplot as plt
7
8 def findNearest(feat, featureSet,t,reverse=True):
9 dist={}
10 for f in featureSet:
11 if reverse:
12 dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t+1),f.getPositionAtInstant(t))
13 else:
14 dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t-1),f.getPositionAtInstant(t))
15 return min(dist, key=dist.get) # = utils.argmaxDict(dist)
16
17 def getFeatures(obj, featureID):
18 currentFeature = obj.getFeature(featureID)
19 first = currentFeature.getFirstInstant()
20 last = currentFeature.getLastInstant()
21 featureList=[[currentFeature,first,last,moving.Point(0,0)]]
22 # find the features to fill in the beginning of the object existence
23 while first != obj.getFirstInstant():
24 delta=featureList[-1][3]
25 featureSet = [f for f in obj.getFeatures() if f.existsAtInstant(first-1)]
26 feat = findNearest(currentFeature,featureSet,first-1,reverse=True)
27 if feat.existsAtInstant(first):
28 featureList.append([feat,feat.getFirstInstant(),first-1,(currentFeature.getPositionAtInstant(first)-feat.getPositionAtInstant(first))+delta])
29 else:
30 featureList.append([feat,feat.getFirstInstant(),first-1,(currentFeature.getPositionAtInstant(first)-feat.getPositionAtInstant(first-1))+delta])
31 currentFeature = feat
32 first= feat.getFirstInstant()
33 # find the features to fill in the end of the object existence
34 delta=moving.Point(0,0)
35 currentFeature = obj.getFeature(featureID) # need to reinitialize
36 while last!= obj.getLastInstant():
37 featureSet = [f for f in obj.getFeatures() if f.existsAtInstant(last+1)]
38 feat = findNearest(currentFeature,featureSet,last+1,reverse=False)
39 if feat.existsAtInstant(last):
40 featureList.append([feat,last+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(last)-feat.getPositionAtInstant(last))+delta])
41 else:
42 featureList.append([feat,last+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(last)-feat.getPositionAtInstant(last+1))+delta])
43 currentFeature = feat
44 last= feat.getLastInstant()
45 delta=featureList[-1][3]
46 return featureList
47
48 def buildFeature(obj, featureID, num = 1):
49 featureList= getFeatures(obj, featureID)
50 tmp={}
51 delta={}
52 for i in featureList:
53 for t in range(i[1],i[2]+1):
54 tmp[t]=[i[0],i[3]]
55 newTraj = moving.Trajectory()
56
57 for instant in obj.getTimeInterval():
58 newTraj.addPosition(tmp[instant][0].getPositionAtInstant(instant)+tmp[instant][1])
59 newFeature= moving.MovingObject(num,timeInterval=obj.getTimeInterval(),positions=newTraj)
60 return newFeature
61
62 def getBearing(p1,p2,p3):
63 angle = degrees(atan2(p3.y -p1.y, p3.x -p1.x))
64 bearing1 = (90 - angle) % 360
65 angle2 = degrees(atan2(p2.y -p1.y, p2.x -p1.x))
66 bearing2 = (90 - angle2) % 360
67 dist= moving.Point.distanceNorm2(p1, p2)
68 return [dist,bearing1,bearing2,bearing2-bearing1]
69
70 #Quantitative analysis "CSJ" functions
71 def computeVelocities(obj, smoothing=True, halfWidth=3): #compute velocities from positions
72 velocities={}
73 for i in list(obj.timeInterval)[:-1]:
74 p1= obj.getPositionAtInstant(i)
75 p2= obj.getPositionAtInstant(i+1)
76 velocities[i]=p2-p1
77 velocities[obj.getLastInstant()]= velocities[obj.getLastInstant()-1] # duplicate last point
78 if smoothing:
79 velX= [velocities[y].aslist()[0] for y in sorted(velocities.keys())]
80 velY= [velocities[y].aslist()[1] for y in sorted(velocities.keys())]
81 v1= list(utils.filterMovingWindow(velX, halfWidth))
82 v2= list(utils.filterMovingWindow(velY, halfWidth))
83 smoothedVelocity={}
84 for t,i in enumerate(sorted(velocities.keys())):
85 smoothedVelocity[i]=moving.Point(v1[t], v2[t])
86 velocities=smoothedVelocity
87 return velocities
88
89 def computeAcceleration(obj,fromPosition=True):
90 acceleration={}
91 if fromPosition:
92 velocities=computeVelocities(obj,False,1)
93 for i in sorted(velocities.keys()):
94 if i != sorted(velocities.keys())[-1]:
95 acceleration[i]= velocities[i+1]-velocities[i]
96 else:
97 for i in list(obj.timeInterval)[:-1]:
98 v1= obj.getVelocityAtInstant(i)
99 v2= obj.getVelocityAtInstant(i+1)
100 acceleration[i]= v2-v1
101 return acceleration
102
103 def computeJerk(obj,fromPosition=True):
104 jerk={}
105 acceleration=computeAcceleration(obj,fromPosition=fromPosition)
106 for i in sorted(acceleration.keys()):
107 if i != sorted(acceleration.keys())[-1]:
108 jerk[i] = (acceleration[i+1]-acceleration[i]).norm2()
109 return jerk
110
111 def sumSquaredJerk(obj,fromPosition=True):
112 jerk= computeJerk(obj,fromPosition=fromPosition)
113 t=0
114 for i in sorted(jerk.keys()):
115 t+= jerk[i]* jerk[i]
116 return t
117
118 def smoothObjectTrajectory(obj, featureID,newNum,smoothing=False,halfWidth=3,create=False):
119 results=[]
120 bearing={}
121 if create:
122 feature = buildFeature(obj, featureID , num=1) # why num=1
123 else:
124 feature = obj.getFeature(featureID)
125 for t in feature.getTimeInterval():
126 p1= feature.getPositionAtInstant(t)
127 p2= obj.getPositionAtInstant(t)
128 if t!=feature.getLastInstant():
129 p3= feature.getPositionAtInstant(t+1)
130 else:
131 p1= feature.getPositionAtInstant(t-1)
132 p3= feature.getPositionAtInstant(t)
133 bearing[t]= getBearing(p1,p2,p3)[1]
134 results.append(getBearing(p1,p2,p3))
135
136 medianResults=median(results,0)
137 dist= medianResults[0]
138 angle= medianResults[3]
139
140 for i in sorted(bearing.keys()):
141 bearing[i]= bearing[i]+angle
142
143 if smoothing:
144 bearingInput=[]
145 for i in sorted(bearing.keys()):
146 bearingInput.append(bearing[i])
147 import utils
148 bearingOut=utils.filterMovingWindow(bearingInput, halfWidth)
149 for t,i in enumerate(sorted(bearing.keys())):
150 bearing[i]=bearingOut[t]
151
152 #solve a smoothing problem in case of big drop in computing bearing (0,360)
153 for t,i in enumerate(sorted(bearing.keys())):
154 if i!= max(bearing.keys()) and abs(bearingInput[t] - bearingInput[t+1])>=340:
155 for x in range(max(i-halfWidth,min(bearing.keys())),min(i+halfWidth,max(bearing.keys()))+1):
156 bearing[x]=bearingInput[t-i+x]
157
158 translated = moving.Trajectory()
159 for t in feature.getTimeInterval():
160 p1= feature.getPositionAtInstant(t)
161 p1.x = p1.x + dist*sin(bearing[t]*pi/180)
162 p1.y = p1.y + dist*cos(bearing[t]*pi/180)
163 translated.addPosition(p1)
164
165 #modify first and last un-smoothed positions (half width)
166 if smoothing:
167 d1= translated[halfWidth]- feature.positions[halfWidth]
168 d2= translated[-halfWidth-1]- feature.positions[-halfWidth-1]
169 for i in range(halfWidth):
170 p1= feature.getPositionAt(i)+d1
171 p2= feature.getPositionAt(-i-1)+d2
172 translated.setPosition(i,p1)
173 translated.setPosition(-i-1,p2)
174
175 newObj= moving.MovingObject(newNum,timeInterval=feature.getTimeInterval(),positions=translated)
176 return newObj
177
178 def smoothObject(obj, newNum, minLengthParam = 0.7, smoothing = False, plotResults = True, halfWidth = 3, _computeVelocities = True, optimize = True, create = False):
179 '''Computes a smoother trajectory for the object
180 and optionnally smoother velocities
181
182 The object should have its features in obj.features
183 TODO: check whether features are necessary'''
184 if not obj.hasFeatures():
185 print('Object {} has an empty list of features: please load and add them using obj.setFeatures(features)'.format(obj.getNum()))
186 from sys import exit
187 exit()
188
189 featureList=[i for i,f in enumerate(obj.getFeatures()) if f.length() >= minLengthParam*obj.length()]
190 if featureList==[]:
191 featureList.append(utils.argmaxDict({i:f.length() for i,f in enumerate(obj.getFeatures())}))
192 create = True
193 newObjects = []
194 for featureID in featureList: # featureID should be the index in the list of obj.features
195 newObjects.append(smoothObjectTrajectory(obj, featureID, newNum, smoothing = smoothing, halfWidth = halfWidth, create = create))
196
197 newTranslated = moving.Trajectory()
198 newInterval = []
199 for t in obj.getTimeInterval():
200 xCoord=[]
201 yCoord=[]
202 for i in newObjects:
203 if i.existsAtInstant(t):
204 p1= i.getPositionAtInstant(t)
205 xCoord.append(p1.x)
206 yCoord.append(p1.y)
207 if xCoord != []:
208 tmp= moving.Point(median(xCoord), median(yCoord))
209 newInterval.append(t)
210 newTranslated.addPosition(tmp)
211
212 newObj= moving.MovingObject(newNum, timeInterval = moving.TimeInterval(min(newInterval),max(newInterval)),positions=newTranslated)
213
214 if _computeVelocities:
215 tmpTraj = moving.Trajectory()
216 velocities= computeVelocities(newObj,True,5)
217 for i in sorted(velocities.keys()):
218 tmpTraj.addPosition(velocities[i])
219 newObj.velocities=tmpTraj
220 else:
221 newObj.velocities=obj.velocities
222
223 if optimize:
224 csj1= sumSquaredJerk(obj,fromPosition=True)
225 csj2= sumSquaredJerk(newObj,fromPosition=True)
226 if csj1<csj2:
227 newObj=obj
228 newObj.velocities=obj.velocities
229 if _computeVelocities and csj1>=csj2:
230 csj3= sumSquaredJerk(obj,fromPosition=False)
231 csj4= sumSquaredJerk(newObj,fromPosition=False)
232 if csj4<=csj3:
233 newObj.velocities= obj.velocities
234
235 newObj.featureNumbers=obj.featureNumbers
236 newObj.features=obj.getFeatures()
237 newObj.userType=obj.userType
238
239 if plotResults:
240 plt.figure()
241 plt.title('objects_id = {}'.format(obj.num))
242 for i in featureList:
243 obj.getFeature(i).plot('cx-')
244 obj.plot('rx-')
245 newObj.plot('gx-')
246 return newObj