Mercurial Hosting > traffic-intelligence
view python/objectsmoothing.py @ 596:04a8304e13f0
removed unnecessary imports
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Sun, 07 Dec 2014 23:01:02 -0500 |
parents | ee45c6eb6d49 |
children | 3550da215e7a |
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import storage, moving, utils from math import * #atan2,asin,degrees,sin,cos,pi import numpy as np 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): longestFeature = utils.argmaxDict({f:f.length() for i,f in enumerate(obj.features)}) t1,t3 = longestFeature.getFirstInstant(), longestFeature.getLastInstant() listFeatures=[[longestFeature,t1,t3,moving.Point(0,0)]] # find the features to fill in the beginning of the object existence currentFeature = longestFeature while t1!=obj.getFirstInstant(): delta=listFeatures[-1][3] featureSet = [f for f in obj.features if f.existsAtInstant(t1-1)] feat = findNearest(currentFeature,featureSet,t1-1,reverse=True) if feat.existsAtInstant(t1): listFeatures.append([feat,feat.getFirstInstant(),t1-1,(currentFeature.getPositionAtInstant(t1)-feat.getPositionAtInstant(t1))+delta]) else: listFeatures.append([feat,feat.getFirstInstant(),t1-1,(currentFeature.getPositionAtInstant(t1)-feat.getPositionAtInstant(t1-1))+delta]) currentFeature = feat t1= feat.getFirstInstant() # find the features to fill in the end of the object existence delta=moving.Point(0,0) currentFeature = longestFeature while t3!= obj.getLastInstant(): featureSet = [f for f in obj.features if f.existsAtInstant(t3+1)] feat = findNearest(currentFeature,featureSet,t3+1,reverse=False) if feat.existsAtInstant(t3): listFeatures.append([feat,t3+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(t3)-feat.getPositionAtInstant(t3))+delta]) else: listFeatures.append([feat,t3+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(t3)-feat.getPositionAtInstant(t3+1))+delta]) currentFeature = feat t3= feat.getLastInstant() delta=listFeatures[-1][3] return listFeatures def buildFeature(obj,num=1): listFeatures= getFeatures(obj) tmp={} delta={} for i in listFeatures: for t in xrange(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] def smoothObjectTrajectory(obj,newNum,smoothing=False,plotResults=True,halfWidth=3): results=[] bearing={} feature= buildFeature(obj,1) 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=np.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]) 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 xrange(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 xrange(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,velocities=obj.getVelocities()) newObj.features=obj.features newObj.userType=obj.userType if plotResults: plt.figure() plt.title('objects_id = {}'.format(obj.num)) newObj.plot('gx-') feature.plot('cx-') obj.plot('rx-') return newObj