private void ComputeAngularAccelerations(TrajectoryKinematics kinematics, CalibrationHelper calibrationHelper)
{
if (kinematics.Length <= 4)
{
PadAngularAccelerations(kinematics);
return;
}
for (int i = 2; i < kinematics.Length - 2; i++)
{
double d1 = GetDisplacementAngle(kinematics, i - 1, i - 2);
double d2 = GetDisplacementAngle(kinematics, i, i - 1);
double d3 = GetDisplacementAngle(kinematics, i + 1, i);
double d4 = GetDisplacementAngle(kinematics, i + 2, i + 1);
float t02 = calibrationHelper.GetTime(2);
float t24 = calibrationHelper.GetTime(2);
float t13 = calibrationHelper.GetTime(2);
float v1 = (float)((d1 + d2) / t02);
float v2 = (float)((d3 + d4) / t24);
float a = (float)((v2 - v1) / t13);
kinematics.AngularAcceleration[i] = calibrationHelper.ConvertAngularAcceleration(a);
}
PadAngularAccelerations(kinematics);
}
private void ComputeVelocities(TrajectoryKinematics kinematics, CalibrationHelper calibrationHelper)
{
if (kinematics.Length <= 2)
{
PadVelocities(kinematics);
return;
}
for (int i = 1; i < kinematics.Length - 1; i++)
{
PointF a = kinematics.Coordinates(i - 1);
PointF b = kinematics.Coordinates(i + 1);
float t = calibrationHelper.GetTime(2);
kinematics.Speed[i] = (double)calibrationHelper.ConvertSpeed(GetSpeed(a, b, t, Component.Magnitude));
kinematics.HorizontalVelocity[i] = (double)calibrationHelper.ConvertSpeed(GetSpeed(a, b, t, Component.Horizontal));
kinematics.VerticalVelocity[i] = (double)calibrationHelper.ConvertSpeed(GetSpeed(a, b, t, Component.Vertical));
}
PadVelocities(kinematics);
double constantVelocitySpan = 40;
MovingAverage filter = new MovingAverage();
kinematics.Speed = filter.FilterSamples(kinematics.Speed, calibrationHelper.CaptureFramesPerSecond, constantVelocitySpan, 1);
kinematics.HorizontalVelocity = filter.FilterSamples(kinematics.HorizontalVelocity, calibrationHelper.CaptureFramesPerSecond, constantVelocitySpan, 1);
kinematics.VerticalVelocity = filter.FilterSamples(kinematics.VerticalVelocity, calibrationHelper.CaptureFramesPerSecond, constantVelocitySpan, 1);
}
private void ComputeAcceleration(TimeSeriesCollection tsc, CalibrationHelper calibrationHelper)
{
if (tsc.Length <= 2)
{
PadAccelerations(tsc);
return;
}
for (int i = 1; i < tsc.Length - 1; i++)
{
float v1 = velocities[i - 1];
float v2 = velocities[i + 1];
float t = calibrationHelper.GetTime(2);
float alpha = (v2 - v1) / t;
tsc[Kinematics.AngularAcceleration][i] = (double)calibrationHelper.ConvertAngularAcceleration(alpha);
float at = radii[i] * alpha;
tsc[Kinematics.TangentialAcceleration][i] = (double)calibrationHelper.ConvertAcceleration(at);
float ac = radii[i] * velocities[i] * velocities[i];
tsc[Kinematics.CentripetalAcceleration][i] = (double)calibrationHelper.ConvertAcceleration(ac);
float a = (float)Math.Sqrt(at * at + ac * ac);
tsc[Kinematics.ResultantLinearAcceleration][i] = (double)calibrationHelper.ConvertAcceleration(a);
}
PadAccelerations(tsc);
}
private void ComputeAccelerations(TrajectoryKinematics kinematics, CalibrationHelper calibrationHelper)
{
if (kinematics.Length <= 4)
{
PadAccelerations(kinematics);
return;
}
// First pass: average speed over 2t centered on each data point.
for (int i = 2; i < kinematics.Length - 2; i++)
{
PointF p0 = kinematics.Coordinates(i - 2);
PointF p2 = kinematics.Coordinates(i);
PointF p4 = kinematics.Coordinates(i + 2);
float t02 = calibrationHelper.GetTime(2);
float t24 = calibrationHelper.GetTime(2);
float t13 = calibrationHelper.GetTime(2);
double acceleration = (kinematics.Speed[i + 1] - kinematics.Speed[i - 1]) / t13;
kinematics.Acceleration[i] = calibrationHelper.ConvertAccelerationFromVelocity((float)acceleration);
double horizontalAcceleration = (kinematics.HorizontalVelocity[i + 1] - kinematics.HorizontalVelocity[i - 1]) / t13;
kinematics.HorizontalAcceleration[i] = calibrationHelper.ConvertAccelerationFromVelocity((float)horizontalAcceleration);
double verticalAcceleration = (kinematics.VerticalVelocity[i + 1] - kinematics.VerticalVelocity[i - 1]) / t13;
kinematics.VerticalAcceleration[i] = calibrationHelper.ConvertAccelerationFromVelocity((float)verticalAcceleration);
}
PadAccelerations(kinematics);
double constantAccelerationSpan = 50;
MovingAverage filter = new MovingAverage();
kinematics.Acceleration = filter.FilterSamples(kinematics.Acceleration, calibrationHelper.CaptureFramesPerSecond, constantAccelerationSpan, 2);
kinematics.HorizontalAcceleration = filter.FilterSamples(kinematics.HorizontalAcceleration, calibrationHelper.CaptureFramesPerSecond, constantAccelerationSpan, 2);
kinematics.VerticalAcceleration = filter.FilterSamples(kinematics.VerticalAcceleration, calibrationHelper.CaptureFramesPerSecond, constantAccelerationSpan, 2);
}
private void ComputeRawAccelerations(TrajectoryKinematics kinematics, CalibrationHelper calibrationHelper)
{
if (kinematics.Length <= 4)
{
PadRawAccelerations(kinematics);
return;
}
for (int i = 2; i < kinematics.Length - 2; i++)
{
PointF p0 = kinematics.RawCoordinates(i - 2);
PointF p2 = kinematics.RawCoordinates(i);
PointF p4 = kinematics.RawCoordinates(i + 2);
float t02 = calibrationHelper.GetTime(2);
float t24 = calibrationHelper.GetTime(2);
float t13 = calibrationHelper.GetTime(2);
kinematics.RawAcceleration[i] = calibrationHelper.ConvertAcceleration(GetAcceleration(p0, p2, p4, t02, t24, t13, Component.Magnitude));
kinematics.RawHorizontalAcceleration[i] = calibrationHelper.ConvertAcceleration(GetAcceleration(p0, p2, p4, t02, t24, t13, Component.Horizontal));
kinematics.RawVerticalAcceleration[i] = calibrationHelper.ConvertAcceleration(GetAcceleration(p0, p2, p4, t02, t24, t13, Component.Vertical));
}
PadRawAccelerations(kinematics);
}
private void ComputeAccelerations(TimeSeriesCollection tsc, CalibrationHelper calibrationHelper, Func <int, PointF> getCoord)
{
if (tsc.Length <= 4)
{
PadAccelerations(tsc);
return;
}
// First pass: average speed over 2t centered on each data point.
for (int i = 2; i < tsc.Length - 2; i++)
{
float t = calibrationHelper.GetTime(2);
double acceleration = (tsc[Kinematics.LinearSpeed][i + 1] - tsc[Kinematics.LinearSpeed][i - 1]) / t;
tsc[Kinematics.LinearAcceleration][i] = calibrationHelper.ConvertAccelerationFromVelocity((float)acceleration);
double horizontalAcceleration = (tsc[Kinematics.LinearHorizontalVelocity][i + 1] - tsc[Kinematics.LinearHorizontalVelocity][i - 1]) / t;
tsc[Kinematics.LinearHorizontalAcceleration][i] = calibrationHelper.ConvertAccelerationFromVelocity((float)horizontalAcceleration);
double verticalAcceleration = (tsc[Kinematics.LinearVerticalVelocity][i + 1] - tsc[Kinematics.LinearVerticalVelocity][i - 1]) / t;
tsc[Kinematics.LinearVerticalAcceleration][i] = calibrationHelper.ConvertAccelerationFromVelocity((float)verticalAcceleration);
}
PadAccelerations(tsc);
// Second pass: extra smoothing derivatives.
// This is only applied for high speed videos where the digitization is very noisy
// due to the combination of increased time resolution and decreased spatial resolution.
double constantAccelerationSpan = 50;
MovingAverage filter = new MovingAverage();
double[] averagedAcceleration = filter.FilterSamples(tsc[Kinematics.LinearAcceleration], calibrationHelper.CaptureFramesPerSecond, constantAccelerationSpan, 2);
double[] averagedHorizontalAcceleration = filter.FilterSamples(tsc[Kinematics.LinearHorizontalAcceleration], calibrationHelper.CaptureFramesPerSecond, constantAccelerationSpan, 2);
double[] averagedVerticalAcceleration = filter.FilterSamples(tsc[Kinematics.LinearVerticalAcceleration], calibrationHelper.CaptureFramesPerSecond, constantAccelerationSpan, 2);
for (int i = 0; i < tsc.Length; i++)
{
tsc[Kinematics.LinearAcceleration][i] = averagedAcceleration[i];
tsc[Kinematics.LinearHorizontalAcceleration][i] = averagedHorizontalAcceleration[i];
tsc[Kinematics.LinearVerticalAcceleration][i] = averagedVerticalAcceleration[i];
}
}
private void ComputeRawVelocities(TrajectoryKinematics kinematics, CalibrationHelper calibrationHelper)
{
if (kinematics.Length <= 2)
{
PadRawVelocities(kinematics);
return;
}
for (int i = 1; i < kinematics.Length - 1; i++)
{
PointF a = kinematics.RawCoordinates(i - 1);
PointF b = kinematics.RawCoordinates(i + 1);
float t = calibrationHelper.GetTime(2);
kinematics.RawSpeed[i] = (double)calibrationHelper.ConvertSpeed(GetSpeed(a, b, t, Component.Magnitude));
kinematics.RawHorizontalVelocity[i] = (double)calibrationHelper.ConvertSpeed(GetSpeed(a, b, t, Component.Horizontal));
kinematics.RawVerticalVelocity[i] = (double)calibrationHelper.ConvertSpeed(GetSpeed(a, b, t, Component.Vertical));
}
PadRawVelocities(kinematics);
}
private void ComputeAngularVelocities(TrajectoryKinematics kinematics, CalibrationHelper calibrationHelper)
{
if (kinematics.Length <= 2)
{
PadAngularVelocities(kinematics);
return;
}
for (int i = 1; i < kinematics.Length - 1; i++)
{
double d1 = GetDisplacementAngle(kinematics, i, i - 1);
double d2 = GetDisplacementAngle(kinematics, i + 1, i);
float time = calibrationHelper.GetTime(2);
float inRadPerSecond = (float)((d1 + d2) / time);
kinematics.AngularVelocity[i] = calibrationHelper.ConvertAngularVelocity(inRadPerSecond);
kinematics.TangentialVelocity[i] = calibrationHelper.ConvertSpeed((float)(inRadPerSecond * kinematics.RotationRadius));
kinematics.CentripetalAcceleration[i] = calibrationHelper.ConvertAcceleration((float)(inRadPerSecond * inRadPerSecond * kinematics.RotationRadius));
}
PadAngularVelocities(kinematics);
}
private void ComputeVelocities(TimeSeriesCollection tsc, CalibrationHelper calibrationHelper, Func <int, PointF> getCoord)
{
if (tsc.Length <= 2)
{
PadVelocities(tsc);
return;
}
for (int i = 1; i < tsc.Length - 1; i++)
{
PointF a = getCoord(i - 1);
PointF b = getCoord(i + 1);
float t = calibrationHelper.GetTime(2);
tsc[Kinematics.LinearSpeed][i] = (double)calibrationHelper.ConvertSpeed(GetSpeed(a, b, t, Component.Magnitude));
tsc[Kinematics.LinearHorizontalVelocity][i] = (double)calibrationHelper.ConvertSpeed(GetSpeed(a, b, t, Component.Horizontal));
tsc[Kinematics.LinearVerticalVelocity][i] = (double)calibrationHelper.ConvertSpeed(GetSpeed(a, b, t, Component.Vertical));
}
PadVelocities(tsc);
// Second pass: apply extra smoothing to the derivatives.
// This is only applied for high speed videos where the digitization is very noisy
// due to the combination of increased time resolution and decreased spatial resolution.
double constantVelocitySpan = 40;
MovingAverage filter = new MovingAverage();
double[] averagedVelocity = filter.FilterSamples(tsc[Kinematics.LinearSpeed], calibrationHelper.CaptureFramesPerSecond, constantVelocitySpan, 1);
double[] averagedHorizontalVelocity = filter.FilterSamples(tsc[Kinematics.LinearHorizontalVelocity], calibrationHelper.CaptureFramesPerSecond, constantVelocitySpan, 1);
double[] averagedVerticalVelocity = filter.FilterSamples(tsc[Kinematics.LinearVerticalVelocity], calibrationHelper.CaptureFramesPerSecond, constantVelocitySpan, 1);
for (int i = 0; i < tsc.Length; i++)
{
tsc[Kinematics.LinearSpeed][i] = averagedVelocity[i];
tsc[Kinematics.LinearHorizontalVelocity][i] = averagedHorizontalVelocity[i];
tsc[Kinematics.LinearVerticalVelocity][i] = averagedVerticalVelocity[i];
}
}
private void ComputeVelocity(TimeSeriesCollection tsc, CalibrationHelper calibrationHelper)
{
if (tsc.Length <= 2)
{
PadVelocities(tsc);
return;
}
for (int i = 1; i < tsc.Length - 1; i++)
{
float a1 = positions[i - 1];
float a2 = positions[i + 1];
float t = calibrationHelper.GetTime(2);
float omega = (a2 - a1) / t;
velocities[i] = omega;
tsc[Kinematics.AngularVelocity][i] = (double)calibrationHelper.ConvertAngularVelocity(omega);
float v = radii[i] * omega;
tsc[Kinematics.TangentialVelocity][i] = (double)calibrationHelper.ConvertSpeed(v);
}
PadVelocities(tsc);
}