Mercurial Hosting > traffic-intelligence
diff trafficintelligence/objectsmoothing.py @ 1028:cc5cb04b04b0
major update using the trafficintelligence package name and install through pip
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 15 Jun 2018 11:19:10 -0400 |
parents | python/objectsmoothing.py@933670761a57 |
children |
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/trafficintelligence/objectsmoothing.py Fri Jun 15 11:19:10 2018 -0400 @@ -0,0 +1,246 @@ +from trafficintelligence import storage, moving, utils + +from math import atan2, degrees, sin, cos, pi +from numpy import median + +import matplotlib.pyplot as plt + +def findNearest(feat, featureSet,t,reverse=True): + dist={} + for f in featureSet: + if reverse: + dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t+1),f.getPositionAtInstant(t)) + else: + dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t-1),f.getPositionAtInstant(t)) + return min(dist, key=dist.get) # = utils.argmaxDict(dist) + +def getFeatures(obj, featureID): + currentFeature = obj.getFeature(featureID) + first = currentFeature.getFirstInstant() + last = currentFeature.getLastInstant() + featureList=[[currentFeature,first,last,moving.Point(0,0)]] + # find the features to fill in the beginning of the object existence + while first != obj.getFirstInstant(): + delta=featureList[-1][3] + featureSet = [f for f in obj.getFeatures() if f.existsAtInstant(first-1)] + feat = findNearest(currentFeature,featureSet,first-1,reverse=True) + if feat.existsAtInstant(first): + featureList.append([feat,feat.getFirstInstant(),first-1,(currentFeature.getPositionAtInstant(first)-feat.getPositionAtInstant(first))+delta]) + else: + featureList.append([feat,feat.getFirstInstant(),first-1,(currentFeature.getPositionAtInstant(first)-feat.getPositionAtInstant(first-1))+delta]) + currentFeature = feat + first= feat.getFirstInstant() + # find the features to fill in the end of the object existence + delta=moving.Point(0,0) + currentFeature = obj.getFeature(featureID) # need to reinitialize + while last!= obj.getLastInstant(): + featureSet = [f for f in obj.getFeatures() if f.existsAtInstant(last+1)] + feat = findNearest(currentFeature,featureSet,last+1,reverse=False) + if feat.existsAtInstant(last): + featureList.append([feat,last+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(last)-feat.getPositionAtInstant(last))+delta]) + else: + featureList.append([feat,last+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(last)-feat.getPositionAtInstant(last+1))+delta]) + currentFeature = feat + last= feat.getLastInstant() + delta=featureList[-1][3] + return featureList + +def buildFeature(obj, featureID, num = 1): + featureList= getFeatures(obj, featureID) + tmp={} + delta={} + for i in featureList: + for t in range(i[1],i[2]+1): + tmp[t]=[i[0],i[3]] + newTraj = moving.Trajectory() + + for instant in obj.getTimeInterval(): + newTraj.addPosition(tmp[instant][0].getPositionAtInstant(instant)+tmp[instant][1]) + newFeature= moving.MovingObject(num,timeInterval=obj.getTimeInterval(),positions=newTraj) + return newFeature + +def getBearing(p1,p2,p3): + angle = degrees(atan2(p3.y -p1.y, p3.x -p1.x)) + bearing1 = (90 - angle) % 360 + angle2 = degrees(atan2(p2.y -p1.y, p2.x -p1.x)) + bearing2 = (90 - angle2) % 360 + dist= moving.Point.distanceNorm2(p1, p2) + return [dist,bearing1,bearing2,bearing2-bearing1] + +#Quantitative analysis "CSJ" functions +def computeVelocities(obj, smoothing=True, halfWidth=3): #compute velocities from positions + velocities={} + for i in list(obj.timeInterval)[:-1]: + p1= obj.getPositionAtInstant(i) + p2= obj.getPositionAtInstant(i+1) + velocities[i]=p2-p1 + velocities[obj.getLastInstant()]= velocities[obj.getLastInstant()-1] # duplicate last point + if smoothing: + velX= [velocities[y].aslist()[0] for y in sorted(velocities.keys())] + velY= [velocities[y].aslist()[1] for y in sorted(velocities.keys())] + v1= list(utils.filterMovingWindow(velX, halfWidth)) + v2= list(utils.filterMovingWindow(velY, halfWidth)) + smoothedVelocity={} + for t,i in enumerate(sorted(velocities.keys())): + smoothedVelocity[i]=moving.Point(v1[t], v2[t]) + velocities=smoothedVelocity + return velocities + +def computeAcceleration(obj,fromPosition=True): + acceleration={} + if fromPosition: + velocities=computeVelocities(obj,False,1) + for i in sorted(velocities.keys()): + if i != sorted(velocities.keys())[-1]: + acceleration[i]= velocities[i+1]-velocities[i] + else: + for i in list(obj.timeInterval)[:-1]: + v1= obj.getVelocityAtInstant(i) + v2= obj.getVelocityAtInstant(i+1) + acceleration[i]= v2-v1 + return acceleration + +def computeJerk(obj,fromPosition=True): + jerk={} + acceleration=computeAcceleration(obj,fromPosition=fromPosition) + for i in sorted(acceleration.keys()): + if i != sorted(acceleration.keys())[-1]: + jerk[i] = (acceleration[i+1]-acceleration[i]).norm2() + return jerk + +def sumSquaredJerk(obj,fromPosition=True): + jerk= computeJerk(obj,fromPosition=fromPosition) + t=0 + for i in sorted(jerk.keys()): + t+= jerk[i]* jerk[i] + return t + +def smoothObjectTrajectory(obj, featureID,newNum,smoothing=False,halfWidth=3,create=False): + results=[] + bearing={} + if create: + feature = buildFeature(obj, featureID , num=1) # why num=1 + else: + feature = obj.getFeature(featureID) + for t in feature.getTimeInterval(): + p1= feature.getPositionAtInstant(t) + p2= obj.getPositionAtInstant(t) + if t!=feature.getLastInstant(): + p3= feature.getPositionAtInstant(t+1) + else: + p1= feature.getPositionAtInstant(t-1) + p3= feature.getPositionAtInstant(t) + bearing[t]= getBearing(p1,p2,p3)[1] + results.append(getBearing(p1,p2,p3)) + + medianResults=median(results,0) + dist= medianResults[0] + angle= medianResults[3] + + for i in sorted(bearing.keys()): + bearing[i]= bearing[i]+angle + + if smoothing: + bearingInput=[] + for i in sorted(bearing.keys()): + bearingInput.append(bearing[i]) + import utils + bearingOut=utils.filterMovingWindow(bearingInput, halfWidth) + for t,i in enumerate(sorted(bearing.keys())): + bearing[i]=bearingOut[t] + + #solve a smoothing problem in case of big drop in computing bearing (0,360) + for t,i in enumerate(sorted(bearing.keys())): + if i!= max(bearing.keys()) and abs(bearingInput[t] - bearingInput[t+1])>=340: + for x in range(max(i-halfWidth,min(bearing.keys())),min(i+halfWidth,max(bearing.keys()))+1): + bearing[x]=bearingInput[t-i+x] + + translated = moving.Trajectory() + for t in feature.getTimeInterval(): + p1= feature.getPositionAtInstant(t) + p1.x = p1.x + dist*sin(bearing[t]*pi/180) + p1.y = p1.y + dist*cos(bearing[t]*pi/180) + translated.addPosition(p1) + + #modify first and last un-smoothed positions (half width) + if smoothing: + d1= translated[halfWidth]- feature.positions[halfWidth] + d2= translated[-halfWidth-1]- feature.positions[-halfWidth-1] + for i in range(halfWidth): + p1= feature.getPositionAt(i)+d1 + p2= feature.getPositionAt(-i-1)+d2 + translated.setPosition(i,p1) + translated.setPosition(-i-1,p2) + + newObj= moving.MovingObject(newNum,timeInterval=feature.getTimeInterval(),positions=translated) + return newObj + +def smoothObject(obj, newNum, minLengthParam = 0.7, smoothing = False, plotResults = True, halfWidth = 3, _computeVelocities = True, optimize = True, create = False): + '''Computes a smoother trajectory for the object + and optionnally smoother velocities + + The object should have its features in obj.features + TODO: check whether features are necessary''' + if not obj.hasFeatures(): + print('Object {} has an empty list of features: please load and add them using obj.setFeatures(features)'.format(obj.getNum())) + from sys import exit + exit() + + featureList=[i for i,f in enumerate(obj.getFeatures()) if f.length() >= minLengthParam*obj.length()] + if featureList==[]: + featureList.append(utils.argmaxDict({i:f.length() for i,f in enumerate(obj.getFeatures())})) + create = True + newObjects = [] + for featureID in featureList: # featureID should be the index in the list of obj.features + newObjects.append(smoothObjectTrajectory(obj, featureID, newNum, smoothing = smoothing, halfWidth = halfWidth, create = create)) + + newTranslated = moving.Trajectory() + newInterval = [] + for t in obj.getTimeInterval(): + xCoord=[] + yCoord=[] + for i in newObjects: + if i.existsAtInstant(t): + p1= i.getPositionAtInstant(t) + xCoord.append(p1.x) + yCoord.append(p1.y) + if xCoord != []: + tmp= moving.Point(median(xCoord), median(yCoord)) + newInterval.append(t) + newTranslated.addPosition(tmp) + + newObj= moving.MovingObject(newNum, timeInterval = moving.TimeInterval(min(newInterval),max(newInterval)),positions=newTranslated) + + if _computeVelocities: + tmpTraj = moving.Trajectory() + velocities= computeVelocities(newObj,True,5) + for i in sorted(velocities.keys()): + tmpTraj.addPosition(velocities[i]) + newObj.velocities=tmpTraj + else: + newObj.velocities=obj.velocities + + if optimize: + csj1= sumSquaredJerk(obj,fromPosition=True) + csj2= sumSquaredJerk(newObj,fromPosition=True) + if csj1<csj2: + newObj=obj + newObj.velocities=obj.velocities + if _computeVelocities and csj1>=csj2: + csj3= sumSquaredJerk(obj,fromPosition=False) + csj4= sumSquaredJerk(newObj,fromPosition=False) + if csj4<=csj3: + newObj.velocities= obj.velocities + + newObj.featureNumbers=obj.featureNumbers + newObj.features=obj.getFeatures() + newObj.userType=obj.userType + + if plotResults: + plt.figure() + plt.title('objects_id = {}'.format(obj.num)) + for i in featureList: + obj.getFeature(i).plot('cx-') + obj.plot('rx-') + newObj.plot('gx-') + return newObj