Mercurial Hosting > traffic-intelligence
view python/objectsmoothing.py @ 610:0dc36203973d
remove dublicated code for collision/crossing computations
author | MohamedGomaa |
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date | Wed, 03 Dec 2014 22:57:08 -0500 |
parents | 75ad9c0d6cc3 |
children | 6ee8765bb8db |
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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 FeatureList(obj,minLengthParam=0.7): featureList=[] for i in obj.features: if i.length>= minLengthParam*obj.length(): featureList.append(i.num) return featureList def getFeatures(obj,features,featureID): #longestFeature = utils.argmaxDict({f:f.length() for i,f in enumerate(obj.features)}) t1,t3 = features[featureID].getFirstInstant(), features[featureID].getLastInstant() listFeatures=[[features[featureID],t1,t3,moving.Point(0,0)]] # find the features to fill in the beginning of the object existence currentFeature = features[featureID] 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 = features[featureID] 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,features,featureID,num=1): listFeatures= getFeatures(obj,features,featureID) 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] #Quantitative analysis "CSJ" functions def computeVelocities (object,smoothing=True,halfWidth=3): #compute velocities from positions velocities={} for i in list(object.timeInterval)[:-1]: p1= object.getPositionAtInstant(i) p2= object.getPositionAtInstant(i+1) velocities[i]=p2-p1 velocities[object.timeInterval.last]= velocities[object.timeInterval.last-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 (object,fromPosition=True): acceleration={} if fromPosition: velocities=computeVelocities(object,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(object.timeInterval)[:-1]: v1= object.getVelocityAtInstant(i) v2= object.getVelocityAtInstant(i+1) acceleration[i]= v2-v1 return acceleration def computeJerk (object,fromPosition=True): jerk={} acceleration=computeAcceleration (object,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 (object,fromPosition=True): jerk= computeJerk (object,fromPosition=fromPosition) t=0 for i in sorted(jerk.keys()): t+= jerk[i]* jerk[i] return t def getObject(obj,features,featureID,newNum,smoothing=False,halfWidth=3,create=False): results=[] bearing={} if create: feature= buildFeature(obj,features,featureID,num=1) else: feature=features[featureID] for t in feature.getTimeInterval(): p1= feature.getPositionAtInstant(t) p2= obj.getPositionAtInstant(t) if t!=feature.timeInterval.last: 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]) 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 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.x=feature.positions.__getitem__(i).x+d1.x p2.x= feature.positions.__getitem__(-i-1).x+d2.x p1.y=feature.positions.__getitem__(i).y+d1.y p2.y= feature.positions.__getitem__(-i-1).y+d2.y translated.setPosition(i,p1) translated.setPosition(-i-1,p2) newObj= moving.MovingObject(newNum,timeInterval=feature.timeInterval,positions=translated) return newObj def smoothObjectTrajectory(obj,features,newNum,minLengthParam=0.7,smoothing=False,plotResults=True,halfWidth=3,computeVelocities=True,optimize=True,create=False): featureList=FeatureList(obj,minLengthParam=minLengthParam) if featureList==[]: featureList.append(longestFeature(obj)) create=True objs=[] for featureID in featureList: objTMP=getObject(obj,features,featureID,newNum,smoothing=smoothing,halfWidth=halfWidth,create=create) objs.append(objTMP) newTranslated = moving.Trajectory() newInterval=[] for t in obj.timeInterval: xCoord=[] yCoord=[] for i in objs: if i.existsAtInstant(t): p1= i.getPositionAtInstant(t) xCoord.append(p1.x) yCoord.append(p1.y) if xCoord!=[]: tmp= moving.Point(np.median(xCoord),np.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.features newObj.userType=obj.userType if plotResults: plt.figure() plt.title('objects_id = {}'.format(obj.num)) for i in featureList: features[i].plot('cx-') obj.plot('rx-') newObj.plot('gx-') return newObj