diff --git a/doc/source/tutorials/04-optic-flow.ipynb b/doc/source/tutorials/04-optic-flow.ipynb
index 1699a370c07704859c8a0948a7d3868d52604911..f3cc1fa473939c455c7ec8477341651b57cb77c3 100644
--- a/doc/source/tutorials/04-optic-flow.ipynb
+++ b/doc/source/tutorials/04-optic-flow.ipynb
@@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
- "execution_count": 1,
+ "execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
@@ -306,6 +306,231 @@
"plt.ylabel('elevation [rad]');"
]
},
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Optic flow of relevant points\n",
+ "\n",
+ "We consider N relevant points, named as follow"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 87,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "points_name = ['nest', '1', '2', '3', '4']\n",
+ "relevant_points = pd.Series(index=pd.MultiIndex.from_product([points_name,['x','y','z']]))\n",
+ "relevant_points.nest=[0,0,0] # [x,y,z] of the point\n",
+ "relevant_points['1']=[1,0,0]\n",
+ "relevant_points['2']=[-1,0,0]\n",
+ "relevant_points['3']=[0,1,0]\n",
+ "relevant_points['4']=[0,-1,0]"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "and want to calculate the optic flow of these point along the following trajectory"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 88,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/html": [
+ "<div>\n",
+ "<style scoped>\n",
+ " .dataframe tbody tr th:only-of-type {\n",
+ " vertical-align: middle;\n",
+ " }\n",
+ "\n",
+ " .dataframe tbody tr th {\n",
+ " vertical-align: top;\n",
+ " }\n",
+ "\n",
+ " .dataframe thead tr th {\n",
+ " text-align: left;\n",
+ " }\n",
+ "\n",
+ " .dataframe thead tr:last-of-type th {\n",
+ " text-align: right;\n",
+ " }\n",
+ "</style>\n",
+ "<table border=\"1\" class=\"dataframe\">\n",
+ " <thead>\n",
+ " <tr>\n",
+ " <th></th>\n",
+ " <th colspan=\"3\" halign=\"left\">location</th>\n",
+ " <th colspan=\"3\" halign=\"left\">zyx</th>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th></th>\n",
+ " <th>x</th>\n",
+ " <th>y</th>\n",
+ " <th>z</th>\n",
+ " <th>alpha_0</th>\n",
+ " <th>alpha_1</th>\n",
+ " <th>alpha_2</th>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>0</th>\n",
+ " <th></th>\n",
+ " <th></th>\n",
+ " <th></th>\n",
+ " <th></th>\n",
+ " <th></th>\n",
+ " <th></th>\n",
+ " </tr>\n",
+ " </thead>\n",
+ " <tbody>\n",
+ " <tr>\n",
+ " <th>1445</th>\n",
+ " <td>64.346281</td>\n",
+ " <td>12.479517</td>\n",
+ " <td>14.689387</td>\n",
+ " <td>0.767312</td>\n",
+ " <td>0.006603</td>\n",
+ " <td>0.178150</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>1446</th>\n",
+ " <td>64.633030</td>\n",
+ " <td>12.514757</td>\n",
+ " <td>14.383999</td>\n",
+ " <td>0.738181</td>\n",
+ " <td>0.126137</td>\n",
+ " <td>0.167408</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>1447</th>\n",
+ " <td>64.781736</td>\n",
+ " <td>12.358705</td>\n",
+ " <td>14.548036</td>\n",
+ " <td>0.759602</td>\n",
+ " <td>-0.000240</td>\n",
+ " <td>0.158936</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>1448</th>\n",
+ " <td>64.908390</td>\n",
+ " <td>12.285283</td>\n",
+ " <td>14.674417</td>\n",
+ " <td>0.718028</td>\n",
+ " <td>0.099787</td>\n",
+ " <td>0.051479</td>\n",
+ " </tr>\n",
+ " <tr>\n",
+ " <th>1449</th>\n",
+ " <td>65.156870</td>\n",
+ " <td>12.207232</td>\n",
+ " <td>14.615128</td>\n",
+ " <td>0.720968</td>\n",
+ " <td>0.244536</td>\n",
+ " <td>0.256502</td>\n",
+ " </tr>\n",
+ " </tbody>\n",
+ "</table>\n",
+ "</div>"
+ ],
+ "text/plain": [
+ " location zyx \n",
+ " x y z alpha_0 alpha_1 alpha_2\n",
+ "0 \n",
+ "1445 64.346281 12.479517 14.689387 0.767312 0.006603 0.178150\n",
+ "1446 64.633030 12.514757 14.383999 0.738181 0.126137 0.167408\n",
+ "1447 64.781736 12.358705 14.548036 0.759602 -0.000240 0.158936\n",
+ "1448 64.908390 12.285283 14.674417 0.718028 0.099787 0.051479\n",
+ "1449 65.156870 12.207232 14.615128 0.720968 0.244536 0.256502"
+ ]
+ },
+ "execution_count": 88,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "mytraj=Trajectory().read_hdf('../../../navipy/resources/sample_experiment/Doussot_2018a/bodybee05.hdf')\n",
+ "mytraj.dropna().head()"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "We convert the point from the world coordinate system to the bee coordinate system, and then express them in spherical coordinates, i.e. the coordinate system used in the optic_flow functions."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 72,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "/home/bolirev/.virtualenvs/toolbox-navigation/lib/python3.6/site-packages/navipy-0.1-py3.6.egg/navipy/trajectories/__init__.py:537: UserWarning: Prior to 12/09/2018:\n",
+ "world2body was doing a reverse transformed\n",
+ "Please use body2world instead\n",
+ " warnings.warn(msg)\n"
+ ]
+ }
+ ],
+ "source": [
+ "markers2bee = mytraj.world2body(relevant_points)\n",
+ "\n",
+ "from navipy.maths.coordinates import cartesian_to_spherical\n",
+ "tmp=markers2bee.swaplevel(axis=1)\n",
+ "el,az,radius=cartesian_to_spherical(tmp.x,\n",
+ " tmp.y,\n",
+ " tmp.z)\n",
+ "markers2bee_sh = pd.DataFrame(index=markers2bee.index,\n",
+ " columns=markers2bee.columns)\n",
+ "d = dict(zip(['x','y','z'], ['elevation','azimuth','radius']))\n",
+ "markers2bee_sh = markers2bee_sh.rename(columns=d, level=1)\n",
+ "markers2bee_sh = markers2bee_sh.swaplevel(axis=1)\n",
+ "markers2bee_sh.elevation=el\n",
+ "markers2bee_sh.azimuth=az\n",
+ "markers2bee_sh.radius=radius\n",
+ "markers2bee_sh = markers2bee_sh.swaplevel(axis=1)\n",
+ "markers2bee_sh.dropna().head()\n"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "The optic flow not only need the trajectory, but also the differentiation of it. "
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 89,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "mytrajdiff = mytraj.diff(periods=1)\n",
+ "mytrajdiff.dropna().head()\n",
+ "d = dict(zip(mytrajdiff.columns.levels[1], ['d'+col for col in mytrajdiff.columns.levels[1]]))\n",
+ "mytrajdiff = mytrajdiff.rename(columns=d, level=1)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "ToDO:\n",
+ "* implement obpc in optic flow\n",
+ "* convert markers2bee_sh into obpc format. Need to create viewing dir for el and az, and scene from radius.\n"
+ ]
+ },
{
"cell_type": "markdown",
"metadata": {},
diff --git a/navipy/resources/sample_experiment/Doussot_2018a/bodybee05.hdf b/navipy/resources/sample_experiment/Doussot_2018a/bodybee05.hdf
new file mode 100644
index 0000000000000000000000000000000000000000..71bf9159d254ad09105e8696a10116c11d84cb98
Binary files /dev/null and b/navipy/resources/sample_experiment/Doussot_2018a/bodybee05.hdf differ
diff --git a/navipy/resources/sample_experiment/Doussot_2018a/markers_bee05.csv b/navipy/resources/sample_experiment/Doussot_2018a/markers_bee05.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25e9d7336f81bb2a16461306d561f27031f0a10d
--- /dev/null
+++ b/navipy/resources/sample_experiment/Doussot_2018a/markers_bee05.csv
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diff --git a/navipy/trajectories/__init__.py b/navipy/trajectories/__init__.py
index c1ec848fa6b327abe2df0e972d9731d22196778c..664f8c62f0c3627ff8b5ba27a8ac92b916ed889a 100644
--- a/navipy/trajectories/__init__.py
+++ b/navipy/trajectories/__init__.py
@@ -568,6 +568,21 @@ class Trajectory(pd.DataFrame):
dtype=float)
return transformed_markers
+ def differentiate(self, periods=1):
+ """differentiate the trajectory and rename columns as d+col
+
+ :param periods: periods as in pd.diff()
+ :returns: Diff of the trajectory
+ :rtype: pd.DataFrame with MultiIndex
+
+ """
+ mytrajdiff = self.diff(periods=1)
+ d = dict(zip(mytrajdiff.columns.levels[1],
+ ['d'+col for col in mytrajdiff.columns.levels[1]]))
+ mytrajdiff = mytrajdiff.rename(columns=d, level=1)
+ mytrajdiff.dropna().head()
+ return mytrajdiff
+
def velocity(self):
""" Calculate the velocity on a trajectory
"""