analysis/pymo/preprocessing.py

'''
Preprocessing Tranformers Based on sci-kit's API

By Omid Alemi
Created on June 12, 2017
'''
import copy
import pandas as pd
import numpy as np
import transforms3d as t3d
import scipy.ndimage.filters as filters

from sklearn.base import BaseEstimator, TransformerMixin

from analysis.pymo.rotation_tools import Rotation, euler2expmap, euler2expmap2, expmap2euler, euler_reorder, unroll
from analysis.pymo.Quaternions import Quaternions
from analysis.pymo.Pivots import Pivots

class MocapParameterizer(BaseEstimator, TransformerMixin):
    def __init__(self, param_type = 'euler'):
        '''

        param_type = {'euler', 'quat', 'expmap', 'position', 'expmap2pos'}
        '''
        self.param_type = param_type

    def fit(self, X, y=None):
        return self

    def transform(self, X, y=None):
        print("MocapParameterizer: " + self.param_type)
        if self.param_type == 'euler':
            return X
        elif self.param_type == 'expmap':
            return self._to_expmap(X)
        elif self.param_type == 'quat':
            return X
        elif self.param_type == 'position':
            return self._to_pos(X)
        elif self.param_type == 'expmap2pos':
            return self._expmap_to_pos(X)
        else:
            raise 'param types: euler, quat, expmap, position, expmap2pos'

#        return X

    def inverse_transform(self, X, copy=None):
        if self.param_type == 'euler':
            return X
        elif self.param_type == 'expmap':
            return self._expmap_to_euler(X)
        elif self.param_type == 'quat':
            raise 'quat2euler is not supported'
        elif self.param_type == 'position':
            # raise 'positions 2 eulers is not supported'
            print('positions 2 eulers is not supported')
            return X
        else:
            raise 'param types: euler, quat, expmap, position'

    def _to_pos(self, X):
        '''Converts joints rotations in Euler angles to joint positions'''

        Q = []
        for track in X:
            channels = []
            titles = []
            euler_df = track.values

            # Create a new DataFrame to store the exponential map rep
            pos_df = pd.DataFrame(index=euler_df.index)

            # Copy the root rotations into the new DataFrame
            # rxp = '%s_Xrotation'%track.root_name
            # ryp = '%s_Yrotation'%track.root_name
            # rzp = '%s_Zrotation'%track.root_name
            # pos_df[rxp] = pd.Series(data=euler_df[rxp], index=pos_df.index)
            # pos_df[ryp] = pd.Series(data=euler_df[ryp], index=pos_df.index)
            # pos_df[rzp] = pd.Series(data=euler_df[rzp], index=pos_df.index)

            # List the columns that contain rotation channels
            rot_cols = [c for c in euler_df.columns if ('rotation' in c)]

            # List the columns that contain position channels
            pos_cols = [c for c in euler_df.columns if ('position' in c)]

            # List the joints that are not end sites, i.e., have channels
            joints = (joint for joint in track.skeleton)

            tree_data = {}

            for joint in track.traverse():
                parent = track.skeleton[joint]['parent']
                rot_order = track.skeleton[joint]['order']
                #print("rot_order:" + joint + " :" + rot_order)

                # Get the rotation columns that belong to this joint
                rc = euler_df[[c for c in rot_cols if joint in c]]

                # Get the position columns that belong to this joint
                pc = euler_df[[c for c in pos_cols if joint in c]]

                # Make sure the columns are organized in xyz order
                if rc.shape[1] < 3:
                    euler_values = np.zeros((euler_df.shape[0], 3))
                    rot_order = "XYZ"
                else:
                    euler_values = np.pi/180.0*np.transpose(np.array([track.values['%s_%srotation'%(joint, rot_order[0])], track.values['%s_%srotation'%(joint, rot_order[1])], track.values['%s_%srotation'%(joint, rot_order[2])]]))

                if pc.shape[1] < 3:
                    pos_values = np.asarray([[0,0,0] for f in pc.iterrows()])
                else:
                    pos_values =np.asarray([[f[1]['%s_Xposition'%joint],
                                  f[1]['%s_Yposition'%joint],
                                  f[1]['%s_Zposition'%joint]] for f in pc.iterrows()])

                quats = Quaternions.from_euler(np.asarray(euler_values), order=rot_order.lower(), world=False)

                tree_data[joint]=[
                                    [], # to store the rotation matrix
                                    []  # to store the calculated position
                                 ]
                if track.root_name == joint:
                    tree_data[joint][0] = quats#rotmats
                    # tree_data[joint][1] = np.add(pos_values, track.skeleton[joint]['offsets'])
                    tree_data[joint][1] = pos_values
                else:
                    # for every frame i, multiply this joint's rotmat to the rotmat of its parent
                    tree_data[joint][0] = tree_data[parent][0]*quats# np.matmul(rotmats, tree_data[parent][0])

                    # add the position channel to the offset and store it in k, for every frame i
                    k = pos_values + np.asarray(track.skeleton[joint]['offsets'])

                    # multiply k to the rotmat of the parent for every frame i
                    q = tree_data[parent][0]*k #np.matmul(k.reshape(k.shape[0],1,3), tree_data[parent][0])

                    # add q to the position of the parent, for every frame i
                    tree_data[joint][1] = tree_data[parent][1] + q #q.reshape(k.shape[0],3) + tree_data[parent][1]

                # Create the corresponding columns in the new DataFrame
                pos_df['%s_Xposition'%joint] = pd.Series(data=[e[0] for e in tree_data[joint][1]], index=pos_df.index)
                pos_df['%s_Yposition'%joint] = pd.Series(data=[e[1] for e in tree_data[joint][1]], index=pos_df.index)
                pos_df['%s_Zposition'%joint] = pd.Series(data=[e[2] for e in tree_data[joint][1]], index=pos_df.index)


            new_track = track.clone()
            new_track.values = pos_df
            Q.append(new_track)
        return Q

    def _expmap2rot(self, expmap):

        theta = np.linalg.norm(expmap, axis=1, keepdims=True)
        nz = np.nonzero(theta)[0]

        expmap[nz,:] = expmap[nz,:]/theta[nz]

        nrows=expmap.shape[0]
        x = expmap[:,0]
        y = expmap[:,1]
        z = expmap[:,2]

        s = np.sin(theta*0.5).reshape(nrows)
        c = np.cos(theta*0.5).reshape(nrows)

        rotmats = np.zeros((nrows, 3, 3))

        rotmats[:,0,0] = 2*(x*x-1)*s*s+1
        rotmats[:,0,1] = 2*x*y*s*s-2*z*c*s
        rotmats[:,0,2] = 2*x*z*s*s+2*y*c*s
        rotmats[:,1,0] = 2*x*y*s*s+2*z*c*s
        rotmats[:,1,1] = 2*(y*y-1)*s*s+1
        rotmats[:,1,2] = 2*y*z*s*s-2*x*c*s
        rotmats[:,2,0] = 2*x*z*s*s-2*y*c*s
        rotmats[:,2,1] =  2*y*z*s*s+2*x*c*s
        rotmats[:,2,2] =  2*(z*z-1)*s*s+1

        return rotmats

    def _expmap_to_pos(self, X):
        '''Converts joints rotations in expmap notation to joint positions'''

        Q = []
        for track in X:
            channels = []
            titles = []
            exp_df = track.values

            # Create a new DataFrame to store the exponential map rep
            pos_df = pd.DataFrame(index=exp_df.index)

            # Copy the root rotations into the new DataFrame
            # rxp = '%s_Xrotation'%track.root_name
            # ryp = '%s_Yrotation'%track.root_name
            # rzp = '%s_Zrotation'%track.root_name
            # pos_df[rxp] = pd.Series(data=euler_df[rxp], index=pos_df.index)
            # pos_df[ryp] = pd.Series(data=euler_df[ryp], index=pos_df.index)
            # pos_df[rzp] = pd.Series(data=euler_df[rzp], index=pos_df.index)

            # List the columns that contain rotation channels
            exp_params = [c for c in exp_df.columns if ( any(p in c for p in ['alpha', 'beta','gamma']) and 'Nub' not in c)]

            # List the joints that are not end sites, i.e., have channels
            joints = (joint for joint in track.skeleton)

            tree_data = {}

            for joint in track.traverse():
                parent = track.skeleton[joint]['parent']

                if 'Nub' not in joint:
                    r = exp_df[[c for c in exp_params if joint in c]] # Get the columns that belong to this joint
                    expmap = r.values
                    #expmap = [[f[1]['%s_alpha'%joint], f[1]['%s_beta'%joint], f[1]['%s_gamma'%joint]] for f in r.iterrows()]
                else:
                    expmap = np.zeros((exp_df.shape[0], 3))

                # Convert the eulers to rotation matrices
                #rotmats = np.asarray([Rotation(f, 'expmap').rotmat for f in expmap])
                #angs = np.linalg.norm(expmap,axis=1, keepdims=True)
                rotmats = self._expmap2rot(expmap)

                tree_data[joint]=[
                                    [], # to store the rotation matrix
                                    []  # to store the calculated position
                                 ]
                pos_values = np.zeros((exp_df.shape[0], 3))

                if track.root_name == joint:
                    tree_data[joint][0] = rotmats
                    # tree_data[joint][1] = np.add(pos_values, track.skeleton[joint]['offsets'])
                    tree_data[joint][1] = pos_values
                else:
                    # for every frame i, multiply this joint's rotmat to the rotmat of its parent
                    tree_data[joint][0] = np.matmul(rotmats, tree_data[parent][0])

                    # add the position channel to the offset and store it in k, for every frame i
                    k = pos_values + track.skeleton[joint]['offsets']

                    # multiply k to the rotmat of the parent for every frame i
                    q = np.matmul(k.reshape(k.shape[0],1,3), tree_data[parent][0])

                    # add q to the position of the parent, for every frame i
                    tree_data[joint][1] = q.reshape(k.shape[0],3) + tree_data[parent][1]


                # Create the corresponding columns in the new DataFrame
                pos_df['%s_Xposition'%joint] = pd.Series(data=tree_data[joint][1][:,0], index=pos_df.index)
                pos_df['%s_Yposition'%joint] = pd.Series(data=tree_data[joint][1][:,1], index=pos_df.index)
                pos_df['%s_Zposition'%joint] = pd.Series(data=tree_data[joint][1][:,2], index=pos_df.index)

            new_track = track.clone()
            new_track.values = pos_df
            Q.append(new_track)
        return Q

    def _to_expmap(self, X):
        '''Converts Euler angles to Exponential Maps'''

        Q = []
        for track in X:
            channels = []
            titles = []
            euler_df = track.values

            # Create a new DataFrame to store the exponential map rep
            exp_df = euler_df.copy()# pd.DataFrame(index=euler_df.index)

            # Copy the root positions into the new DataFrame
            #rxp = '%s_Xposition'%track.root_name
            #ryp = '%s_Yposition'%track.root_name
            #rzp = '%s_Zposition'%track.root_name
            #exp_df[rxp] = pd.Series(data=euler_df[rxp], index=exp_df.index)
            #exp_df[ryp] = pd.Series(data=euler_df[ryp], index=exp_df.index)
            #exp_df[rzp] = pd.Series(data=euler_df[rzp], index=exp_df.index)

            # List the columns that contain rotation channels
            rots = [c for c in euler_df.columns if ('rotation' in c and 'Nub' not in c)]

            # List the joints that are not end sites, i.e., have channels
            joints = (joint for joint in track.skeleton if 'Nub' not in joint)

            for joint in joints:
                #print(joint)
                r = euler_df[[c for c in rots if joint in c]] # Get the columns that belong to this joint
                rot_order = track.skeleton[joint]['order']
                r1_col = '%s_%srotation'%(joint, rot_order[0])
                r2_col = '%s_%srotation'%(joint, rot_order[1])
                r3_col = '%s_%srotation'%(joint, rot_order[2])

                exp_df.drop([r1_col, r2_col, r3_col], axis=1, inplace=True)
                euler = [[f[1][r1_col], f[1][r2_col], f[1][r3_col]] for f in r.iterrows()]
                #exps = [Rotation(f, 'euler', from_deg=True, order=rot_order).to_expmap() for f in euler] # Convert the eulers to exp maps
                exps = unroll(np.array([euler2expmap(f, rot_order, True) for f in euler])) # Convert the exp maps to eulers
                # exps = np.array([euler2expmap(f, rot_order, True) for f in euler]) # Convert the exp maps to eulers
                #exps = euler2expmap2(euler, rot_order, True) # Convert the eulers to exp maps

                # Create the corresponding columns in the new DataFrame

                exp_df.insert(loc=0, column='%s_gamma'%joint, value=pd.Series(data=[e[2] for e in exps], index=exp_df.index))
                exp_df.insert(loc=0, column='%s_beta'%joint, value=pd.Series(data=[e[1] for e in exps], index=exp_df.index))
                exp_df.insert(loc=0, column='%s_alpha'%joint, value=pd.Series(data=[e[0] for e in exps], index=exp_df.index))

            #print(exp_df.columns)
            new_track = track.clone()
            new_track.values = exp_df
            Q.append(new_track)

        return Q

    def _expmap_to_euler(self, X):
        Q = []
        for track in X:
            channels = []
            titles = []
            exp_df = track.values

            # Create a new DataFrame to store the exponential map rep
            #euler_df = pd.DataFrame(index=exp_df.index)
            euler_df = exp_df.copy()

            # Copy the root positions into the new DataFrame
            #rxp = '%s_Xposition'%track.root_name
            #ryp = '%s_Yposition'%track.root_name
            #rzp = '%s_Zposition'%track.root_name
            #euler_df[rxp] = pd.Series(data=exp_df[rxp], index=euler_df.index)
            #euler_df[ryp] = pd.Series(data=exp_df[ryp], index=euler_df.index)
            #euler_df[rzp] = pd.Series(data=exp_df[rzp], index=euler_df.index)

            # List the columns that contain rotation channels
            exp_params = [c for c in exp_df.columns if ( any(p in c for p in ['alpha', 'beta','gamma']) and 'Nub' not in c)]

            # List the joints that are not end sites, i.e., have channels
            joints = (joint for joint in track.skeleton if 'Nub' not in joint)

            for joint in joints:
                r = exp_df[[c for c in exp_params if joint in c]] # Get the columns that belong to this joint

                euler_df.drop(['%s_alpha'%joint, '%s_beta'%joint, '%s_gamma'%joint], axis=1, inplace=True)
                expmap = [[f[1]['%s_alpha'%joint], f[1]['%s_beta'%joint], f[1]['%s_gamma'%joint]] for f in r.iterrows()] # Make sure the columsn are organized in xyz order
                rot_order = track.skeleton[joint]['order']
                #euler_rots = [Rotation(f, 'expmap').to_euler(True, rot_order) for f in expmap] # Convert the exp maps to eulers
                euler_rots = [expmap2euler(f, rot_order, True) for f in expmap] # Convert the exp maps to eulers

                # Create the corresponding columns in the new DataFrame

                euler_df['%s_%srotation'%(joint, rot_order[0])] = pd.Series(data=[e[0] for e in euler_rots], index=euler_df.index)
                euler_df['%s_%srotation'%(joint, rot_order[1])] = pd.Series(data=[e[1] for e in euler_rots], index=euler_df.index)
                euler_df['%s_%srotation'%(joint, rot_order[2])] = pd.Series(data=[e[2] for e in euler_rots], index=euler_df.index)

            new_track = track.clone()
            new_track.values = euler_df
            Q.append(new_track)

        return Q

class Mirror(BaseEstimator, TransformerMixin):
    def __init__(self, axis="X", append=True):
        """
        Mirrors the data
        """
        self.axis = axis
        self.append = append


    def fit(self, X, y=None):
        return self

    def transform(self, X, y=None):
        print("Mirror: " + self.axis)
        Q = []

        if self.append:
            for track in X:
                Q.append(track)

        for track in X:
            channels = []
            titles = []

            if self.axis == "X":
                signs = np.array([1,-1,-1])
            if self.axis == "Y":
                signs = np.array([-1,1,-1])
            if self.axis == "Z":
                signs = np.array([-1,-1,1])

            euler_df = track.values

            # Create a new DataFrame to store the exponential map rep
            new_df = pd.DataFrame(index=euler_df.index)

            # Copy the root positions into the new DataFrame
            rxp = '%s_Xposition'%track.root_name
            ryp = '%s_Yposition'%track.root_name
            rzp = '%s_Zposition'%track.root_name
            new_df[rxp] = pd.Series(data=-signs[0]*euler_df[rxp], index=new_df.index)
            new_df[ryp] = pd.Series(data=-signs[1]*euler_df[ryp], index=new_df.index)
            new_df[rzp] = pd.Series(data=-signs[2]*euler_df[rzp], index=new_df.index)

            # List the columns that contain rotation channels
            rots = [c for c in euler_df.columns if ('rotation' in c and 'Nub' not in c)]
            #lft_rots = [c for c in euler_df.columns if ('Left' in c and 'rotation' in c and 'Nub' not in c)]
            #rgt_rots = [c for c in euler_df.columns if ('Right' in c and 'rotation' in c and 'Nub' not in c)]
            lft_joints = (joint for joint in track.skeleton if 'Left' in joint and 'Nub' not in joint)
            rgt_joints = (joint for joint in track.skeleton if 'Right' in joint and 'Nub' not in joint)

            new_track = track.clone()

            for lft_joint in lft_joints:
                #lr = euler_df[[c for c in rots if lft_joint + "_" in c]]
                #rot_order = track.skeleton[lft_joint]['order']
                #lft_eulers = [[f[1]['%s_Xrotation'%lft_joint], f[1]['%s_Yrotation'%lft_joint], f[1]['%s_Zrotation'%lft_joint]] for f in lr.iterrows()]

                rgt_joint = lft_joint.replace('Left', 'Right')
                #rr = euler_df[[c for c in rots if rgt_joint + "_" in c]]
                #rot_order = track.skeleton[rgt_joint]['order']
#                rgt_eulers = [[f[1]['%s_Xrotation'%rgt_joint], f[1]['%s_Yrotation'%rgt_joint], f[1]['%s_Zrotation'%rgt_joint]] for f in rr.iterrows()]

                # Create the corresponding columns in the new DataFrame

                new_df['%s_Xrotation'%lft_joint] = pd.Series(data=signs[0]*track.values['%s_Xrotation'%rgt_joint], index=new_df.index)
                new_df['%s_Yrotation'%lft_joint] = pd.Series(data=signs[1]*track.values['%s_Yrotation'%rgt_joint], index=new_df.index)
                new_df['%s_Zrotation'%lft_joint] = pd.Series(data=signs[2]*track.values['%s_Zrotation'%rgt_joint], index=new_df.index)

                new_df['%s_Xrotation'%rgt_joint] = pd.Series(data=signs[0]*track.values['%s_Xrotation'%lft_joint], index=new_df.index)
                new_df['%s_Yrotation'%rgt_joint] = pd.Series(data=signs[1]*track.values['%s_Yrotation'%lft_joint], index=new_df.index)
                new_df['%s_Zrotation'%rgt_joint] = pd.Series(data=signs[2]*track.values['%s_Zrotation'%lft_joint], index=new_df.index)

            # List the joints that are not left or right, i.e. are on the trunk
            joints = (joint for joint in track.skeleton if 'Nub' not in joint and 'Left' not in joint and 'Right' not in joint)

            for joint in joints:
                #r = euler_df[[c for c in rots if joint in c]] # Get the columns that belong to this joint
                #rot_order = track.skeleton[joint]['order']

                #eulers = [[f[1]['%s_Xrotation'%joint], f[1]['%s_Yrotation'%joint], f[1]['%s_Zrotation'%joint]] for f in r.iterrows()]

                # Create the corresponding columns in the new DataFrame
                new_df['%s_Xrotation'%joint] = pd.Series(data=signs[0]*track.values['%s_Xrotation'%joint], index=new_df.index)
                new_df['%s_Yrotation'%joint] = pd.Series(data=signs[1]*track.values['%s_Yrotation'%joint], index=new_df.index)
                new_df['%s_Zrotation'%joint] = pd.Series(data=signs[2]*track.values['%s_Zrotation'%joint], index=new_df.index)

            new_track.values = new_df
            Q.append(new_track)

        return Q

    def inverse_transform(self, X, copy=None, start_pos=None):
        return X

class EulerReorder(BaseEstimator, TransformerMixin):
    def __init__(self, new_order):
        """
        Add a
        """
        self.new_order = new_order


    def fit(self, X, y=None):
        self.orig_skeleton = copy.deepcopy(X[0].skeleton)
        print(self.orig_skeleton)
        return self

    def transform(self, X, y=None):
        Q = []

        for track in X:
            channels = []
            titles = []
            euler_df = track.values

            # Create a new DataFrame to store the exponential map rep
            new_df = pd.DataFrame(index=euler_df.index)

            # Copy the root positions into the new DataFrame
            rxp = '%s_Xposition'%track.root_name
            ryp = '%s_Yposition'%track.root_name
            rzp = '%s_Zposition'%track.root_name
            new_df[rxp] = pd.Series(data=euler_df[rxp], index=new_df.index)
            new_df[ryp] = pd.Series(data=euler_df[ryp], index=new_df.index)
            new_df[rzp] = pd.Series(data=euler_df[rzp], index=new_df.index)

            # List the columns that contain rotation channels
            rots = [c for c in euler_df.columns if ('rotation' in c and 'Nub' not in c)]

            # List the joints that are not end sites, i.e., have channels
            joints = (joint for joint in track.skeleton if 'Nub' not in joint)

            new_track = track.clone()
            for joint in joints:
                r = euler_df[[c for c in rots if joint in c]] # Get the columns that belong to this joint
                rot_order = track.skeleton[joint]['order']

                euler = [[f[1]['%s_Xrotation'%(joint)], f[1]['%s_Yrotation'%(joint)], f[1]['%s_Zrotation'%(joint)]] for f in r.iterrows()]
                new_euler = [euler_reorder(f, rot_order, self.new_order, True) for f in euler]
                #new_euler = euler_reorder2(np.array(euler), rot_order, self.new_order, True)

                # Create the corresponding columns in the new DataFrame
                new_df['%s_%srotation'%(joint, self.new_order[0])] = pd.Series(data=[e[0] for e in new_euler], index=new_df.index)
                new_df['%s_%srotation'%(joint, self.new_order[1])] = pd.Series(data=[e[1] for e in new_euler], index=new_df.index)
                new_df['%s_%srotation'%(joint, self.new_order[2])] = pd.Series(data=[e[2] for e in new_euler], index=new_df.index)

                new_track.skeleton[joint]['order'] = self.new_order

            new_track.values = new_df
            Q.append(new_track)

        return Q

    def inverse_transform(self, X, copy=None, start_pos=None):
        return X
#        Q = []
#
#        for track in X:
#            channels = []
#            titles = []
#            euler_df = track.values
#
#            # Create a new DataFrame to store the exponential map rep
#            new_df = pd.DataFrame(index=euler_df.index)
#
#            # Copy the root positions into the new DataFrame
#            rxp = '%s_Xposition'%track.root_name
#            ryp = '%s_Yposition'%track.root_name
#            rzp = '%s_Zposition'%track.root_name
#            new_df[rxp] = pd.Series(data=euler_df[rxp], index=new_df.index)
#            new_df[ryp] = pd.Series(data=euler_df[ryp], index=new_df.index)
#            new_df[rzp] = pd.Series(data=euler_df[rzp], index=new_df.index)
#
#            # List the columns that contain rotation channels
#            rots = [c for c in euler_df.columns if ('rotation' in c and 'Nub' not in c)]
#
#            # List the joints that are not end sites, i.e., have channels
#            joints = (joint for joint in track.skeleton if 'Nub' not in joint)
#
#            new_track = track.clone()
#            for joint in joints:
#                r = euler_df[[c for c in rots if joint in c]] # Get the columns that belong to this joint
#                rot_order = track.skeleton[joint]['order']
#                new_order = self.orig_skeleton[joint]['order']
#                print("rot_order:" + str(rot_order))
#                print("new_order:" + str(new_order))
#
#                euler = [[f[1]['%s_%srotation'%(joint, rot_order[0])], f[1]['%s_%srotation'%(joint, rot_order[1])], f[1]['%s_%srotation'%(joint, rot_order[2])]] for f in r.iterrows()]
#                #new_euler = [euler_reorder(f, rot_order, new_order, True) for f in euler]
#                new_euler = euler_reorder2(np.array(euler), rot_order, self.new_order, True)
#
#                # Create the corresponding columns in the new DataFrame
#                new_df['%s_%srotation'%(joint, new_order[0])] = pd.Series(data=[e[0] for e in new_euler], index=new_df.index)
#                new_df['%s_%srotation'%(joint, new_order[1])] = pd.Series(data=[e[1] for e in new_euler], index=new_df.index)
#                new_df['%s_%srotation'%(joint, new_order[2])] = pd.Series(data=[e[2] for e in new_euler], index=new_df.index)
#
#                new_track.skeleton[joint]['order'] = new_order
#
#            new_track.values = new_df
#            Q.append(new_track)
#        return Q

class JointSelector(BaseEstimator, TransformerMixin):
    '''
    Allows for filtering the mocap data to include only the selected joints
    '''
    def __init__(self, joints, include_root=False):
        self.joints = joints
        self.include_root = include_root

    def fit(self, X, y=None):
        selected_joints = []
        selected_channels = []

        if self.include_root:
            selected_joints.append(X[0].root_name)

        selected_joints.extend(self.joints)

        for joint_name in selected_joints:
            selected_channels.extend([o for o in X[0].values.columns if (joint_name + "_") in o and 'Nub' not in o])

        self.selected_joints = selected_joints
        self.selected_channels = selected_channels
        self.not_selected = X[0].values.columns.difference(selected_channels)
        self.not_selected_values = {c:X[0].values[c].values[0] for c in self.not_selected}

        self.orig_skeleton = X[0].skeleton
        return self

    def transform(self, X, y=None):
        print("JointSelector")
        Q = []
        for track in X:
            t2 = track.clone()
            for key in track.skeleton.keys():
                if key not in self.selected_joints:
                    parent = t2.skeleton[key]['parent']
                    if parent in t2.skeleton:
                        t2.skeleton[parent]['children'].remove(key)
                    t2.skeleton.pop(key)
            t2.values = track.values[self.selected_channels]

            Q.append(t2)


        return Q

    def inverse_transform(self, X, copy=None):
        Q = []

        for track in X:
            t2 = track.clone()
            t2.skeleton = self.orig_skeleton
            for d in self.not_selected:
                t2.values[d] = self.not_selected_values[d]
            Q.append(t2)

        return Q


class Numpyfier(BaseEstimator, TransformerMixin):
    '''
    Just converts the values in a MocapData object into a numpy array
    Useful for the final stage of a pipeline before training
    '''
    def __init__(self):
        pass

    def fit(self, X, y=None):
        self.org_mocap_ = X[0].clone()
        self.org_mocap_.values.drop(self.org_mocap_.values.index, inplace=True)

        return self

    def transform(self, X, y=None):
        print("Numpyfier")
        Q = []

        for track in X:
            Q.append(track.values.values)
            #print("Numpyfier:" + str(track.values.columns))

        return np.array(Q)

    def inverse_transform(self, X, copy=None):
        Q = []

        for track in X:

            new_mocap = self.org_mocap_.clone()
            time_index = pd.to_timedelta([f for f in range(track.shape[0])], unit='s')

            # print(self.org_mocap_.values.columns)
            # import pdb;pdb.set_trace()
            new_df =  pd.DataFrame(data=track, index=time_index, columns=self.org_mocap_.values.columns)

            new_mocap.values = new_df


            Q.append(new_mocap)

        return Q

class Slicer(BaseEstimator, TransformerMixin):
    '''
    Slice the data into intervals of equal size
    '''
    def __init__(self, window_size, overlap=0.5):
        self.window_size = window_size
        self.overlap = overlap
        pass

    def fit(self, X, y=None):
        self.org_mocap_ = X[0].clone()
        self.org_mocap_.values.drop(self.org_mocap_.values.index, inplace=True)

        return self

    def transform(self, X, y=None):
        print("Slicer")
        Q = []

        for track in X:
            vals = track.values.values
            nframes = vals.shape[0]
            overlap_frames = (int)(self.overlap*self.window_size)

            n_sequences = (nframes-overlap_frames)//(self.window_size-overlap_frames)

            if n_sequences>0:
                y = np.zeros((n_sequences, self.window_size, vals.shape[1]))

                # extract sequences from the input data
                for i in range(0,n_sequences):
                    frameIdx = (self.window_size-overlap_frames) * i
                    Q.append(vals[frameIdx:frameIdx+self.window_size,:])

        return np.array(Q)

    def inverse_transform(self, X, copy=None):
        Q = []

        for track in X:

            new_mocap = self.org_mocap_.clone()
            time_index = pd.to_timedelta([f for f in range(track.shape[0])], unit='s')

            new_df =  pd.DataFrame(data=track, index=time_index, columns=self.org_mocap_.values.columns)

            new_mocap.values = new_df


            Q.append(new_mocap)

        return Q

class RootTransformer(BaseEstimator, TransformerMixin):
    def __init__(self, method, position_smoothing=0, rotation_smoothing=0):
        """
        Accepted methods:
            abdolute_translation_deltas
            pos_rot_deltas
        """
        self.method = method
        self.position_smoothing=position_smoothing
        self.rotation_smoothing=rotation_smoothing

    def fit(self, X, y=None):
        return self

    def transform(self, X, y=None):
        print("RootTransformer")
        Q = []

        for track in X:
            if self.method == 'abdolute_translation_deltas':
                new_df = track.values.copy()
                xpcol = '%s_Xposition'%track.root_name
                ypcol = '%s_Yposition'%track.root_name
                zpcol = '%s_Zposition'%track.root_name


                dxpcol = '%s_dXposition'%track.root_name
                dzpcol = '%s_dZposition'%track.root_name

                x=track.values[xpcol].copy()
                z=track.values[zpcol].copy()

                if self.position_smoothing>0:
                    x_sm = filters.gaussian_filter1d(x, self.position_smoothing, axis=0, mode='nearest')
                    z_sm = filters.gaussian_filter1d(z, self.position_smoothing, axis=0, mode='nearest')
                    dx = pd.Series(data=x_sm, index=new_df.index).diff()
                    dz = pd.Series(data=z_sm, index=new_df.index).diff()
                    new_df[xpcol] = x-x_sm
                    new_df[zpcol] = z-z_sm
                else:
                    dx = x.diff()
                    dz = z.diff()
                    new_df.drop([xpcol, zpcol], axis=1, inplace=True)

                dx[0] = dx[1]
                dz[0] = dz[1]

                new_df[dxpcol] = dx
                new_df[dzpcol] = dz

                new_track = track.clone()
                new_track.values = new_df
            # end of abdolute_translation_deltas

            elif self.method == 'pos_rot_deltas':
                new_track = track.clone()

                # Absolute columns
                xp_col = '%s_Xposition'%track.root_name
                yp_col = '%s_Yposition'%track.root_name
                zp_col = '%s_Zposition'%track.root_name

                #rot_order = track.skeleton[track.root_name]['order']
                #%(joint, rot_order[0])

                rot_order = track.skeleton[track.root_name]['order']
                r1_col = '%s_%srotation'%(track.root_name, rot_order[0])
                r2_col = '%s_%srotation'%(track.root_name, rot_order[1])
                r3_col = '%s_%srotation'%(track.root_name, rot_order[2])

                # Delta columns
                dxp_col = '%s_dXposition'%track.root_name
                dzp_col = '%s_dZposition'%track.root_name

                dxr_col = '%s_dXrotation'%track.root_name
                dyr_col = '%s_dYrotation'%track.root_name
                dzr_col = '%s_dZrotation'%track.root_name

                positions = np.transpose(np.array([track.values[xp_col], track.values[yp_col], track.values[zp_col]]))
                rotations = np.pi/180.0*np.transpose(np.array([track.values[r1_col], track.values[r2_col], track.values[r3_col]]))

                """ Get Trajectory and smooth it"""
                trajectory_filterwidth = self.position_smoothing
                reference = positions.copy()*np.array([1,0,1])
                if trajectory_filterwidth>0:
                    reference = filters.gaussian_filter1d(reference, trajectory_filterwidth, axis=0, mode='nearest')

                """ Get Root Velocity """
                velocity = np.diff(reference, axis=0)
                velocity = np.vstack((velocity[0,:], velocity))

                """ Remove Root Translation """
                positions = positions-reference

                """ Get Forward Direction along the x-z plane, assuming character is facig z-forward """
                #forward = [Rotation(f, 'euler', from_deg=True, order=rot_order).rotmat[:,2] for f in rotations] # get the z-axis of the rotation matrix, assuming character is facig z-forward
                #print("order:" + rot_order.lower())
                quats = Quaternions.from_euler(rotations, order=rot_order.lower(), world=False)
                forward = quats*np.array([[0,0,1]])
                forward[:,1] = 0

                """ Smooth Forward Direction """
                direction_filterwidth = self.rotation_smoothing
                if direction_filterwidth>0:
                    forward = filters.gaussian_filter1d(forward, direction_filterwidth, axis=0, mode='nearest')

                forward = forward / np.sqrt((forward**2).sum(axis=-1))[...,np.newaxis]

                """ Remove Y Rotation """
                target = np.array([[0,0,1]]).repeat(len(forward), axis=0)
                rotation = Quaternions.between(target, forward)[:,np.newaxis]
                positions = (-rotation[:,0]) * positions
                new_rotations = (-rotation[:,0]) * quats
                velocity = (-rotation[:,0]) * velocity

                """ Get Root Rotation """
                #print(rotation[:,0])
                rvelocity = Pivots.from_quaternions(rotation[1:] * -rotation[:-1]).ps
                rvelocity = np.vstack((rvelocity[0], rvelocity))

                eulers = np.array([t3d.euler.quat2euler(q, axes=('s'+rot_order.lower()[::-1]))[::-1] for q in new_rotations])*180.0/np.pi

                new_df = track.values.copy()

                root_pos_x = pd.Series(data=positions[:,0], index=new_df.index)
                root_pos_y = pd.Series(data=positions[:,1], index=new_df.index)
                root_pos_z = pd.Series(data=positions[:,2], index=new_df.index)
                root_pos_x_diff = pd.Series(data=velocity[:,0], index=new_df.index)
                root_pos_z_diff = pd.Series(data=velocity[:,2], index=new_df.index)

                root_rot_1 = pd.Series(data=eulers[:,0], index=new_df.index)
                root_rot_2 = pd.Series(data=eulers[:,1], index=new_df.index)
                root_rot_3 = pd.Series(data=eulers[:,2], index=new_df.index)
                root_rot_y_diff = pd.Series(data=rvelocity[:,0], index=new_df.index)

                #new_df.drop([xr_col, yr_col, zr_col, xp_col, zp_col], axis=1, inplace=True)

                new_df[xp_col] = root_pos_x
                new_df[yp_col] = root_pos_y
                new_df[zp_col] = root_pos_z
                new_df[dxp_col] = root_pos_x_diff
                new_df[dzp_col] = root_pos_z_diff

                new_df[r1_col] = root_rot_1
                new_df[r2_col] = root_rot_2
                new_df[r3_col] = root_rot_3
                #new_df[dxr_col] = root_rot_x_diff
                new_df[dyr_col] = root_rot_y_diff
                #new_df[dzr_col] = root_rot_z_diff

                new_track.values = new_df


            elif self.method == 'hip_centric':
                new_track = track.clone()

                # Absolute columns
                xp_col = '%s_Xposition'%track.root_name
                yp_col = '%s_Yposition'%track.root_name
                zp_col = '%s_Zposition'%track.root_name

                xr_col = '%s_Xrotation'%track.root_name
                yr_col = '%s_Yrotation'%track.root_name
                zr_col = '%s_Zrotation'%track.root_name

                new_df = track.values.copy()

                all_zeros = np.zeros(track.values[xp_col].values.shape)

                new_df[xp_col] = pd.Series(data=all_zeros, index=new_df.index)
                new_df[yp_col] = pd.Series(data=all_zeros, index=new_df.index)
                new_df[zp_col] = pd.Series(data=all_zeros, index=new_df.index)

                new_df[xr_col] = pd.Series(data=all_zeros, index=new_df.index)
                new_df[yr_col] = pd.Series(data=all_zeros, index=new_df.index)
                new_df[zr_col] = pd.Series(data=all_zeros, index=new_df.index)

                new_track.values = new_df

            #print(new_track.values.columns)
            Q.append(new_track)

        return Q

    def inverse_transform(self, X, copy=None, start_pos=None):
        Q = []

        #TODO: simplify this implementation

        startx = 0
        startz = 0

        if start_pos is not None:
            startx, startz = start_pos

        for track in X:
            new_track = track.clone()
            if self.method == 'abdolute_translation_deltas':
                new_df = new_track.values
                xpcol = '%s_Xposition'%track.root_name
                ypcol = '%s_Yposition'%track.root_name
                zpcol = '%s_Zposition'%track.root_name


                dxpcol = '%s_dXposition'%track.root_name
                dzpcol = '%s_dZposition'%track.root_name

                dx = track.values[dxpcol].values
                dz = track.values[dzpcol].values

                recx = [startx]
                recz = [startz]

                for i in range(dx.shape[0]-1):
                    recx.append(recx[i]+dx[i+1])
                    recz.append(recz[i]+dz[i+1])

                # recx = [recx[i]+dx[i+1] for i in range(dx.shape[0]-1)]
                # recz = [recz[i]+dz[i+1] for i in range(dz.shape[0]-1)]
                # recx = dx[:-1] + dx[1:]
                # recz = dz[:-1] + dz[1:]
                if self.position_smoothing > 0:
                    new_df[xpcol] = pd.Series(data=new_df[xpcol]+recx, index=new_df.index)
                    new_df[zpcol] = pd.Series(data=new_df[zpcol]+recz, index=new_df.index)
                else:
                    new_df[xpcol] = pd.Series(data=recx, index=new_df.index)
                    new_df[zpcol] = pd.Series(data=recz, index=new_df.index)

                new_df.drop([dxpcol, dzpcol], axis=1, inplace=True)

                new_track.values = new_df
            # end of abdolute_translation_deltas

            elif self.method == 'pos_rot_deltas':
                # Absolute columns
                rot_order = track.skeleton[track.root_name]['order']
                xp_col = '%s_Xposition'%track.root_name
                yp_col = '%s_Yposition'%track.root_name
                zp_col = '%s_Zposition'%track.root_name

                xr_col = '%s_Xrotation'%track.root_name
                yr_col = '%s_Yrotation'%track.root_name
                zr_col = '%s_Zrotation'%track.root_name
                r1_col = '%s_%srotation'%(track.root_name, rot_order[0])
                r2_col = '%s_%srotation'%(track.root_name, rot_order[1])
                r3_col = '%s_%srotation'%(track.root_name, rot_order[2])

                # Delta columns
                dxp_col = '%s_dXposition'%track.root_name
                dzp_col = '%s_dZposition'%track.root_name

                dyr_col = '%s_dYrotation'%track.root_name

                positions = np.transpose(np.array([track.values[xp_col], track.values[yp_col], track.values[zp_col]]))
                rotations = np.pi/180.0*np.transpose(np.array([track.values[r1_col], track.values[r2_col], track.values[r3_col]]))
                quats = Quaternions.from_euler(rotations, order=rot_order.lower(), world=False)

                new_df = track.values.copy()

                dx = track.values[dxp_col].values
                dz = track.values[dzp_col].values

                dry = track.values[dyr_col].values

                #rec_p = np.array([startx, 0, startz])+positions[0,:]
                rec_ry = Quaternions.id(quats.shape[0])
                rec_xp = [0]
                rec_zp = [0]

                #rec_r = Quaternions.id(quats.shape[0])

                for i in range(dx.shape[0]-1):
                    #print(dry[i])
                    q_y = Quaternions.from_angle_axis(np.array(dry[i+1]), np.array([0,1,0]))
                    rec_ry[i+1] = q_y*rec_ry[i]
                    #print("dx: + " + str(dx[i+1]))
                    dp = rec_ry[i+1]*np.array([dx[i+1], 0, dz[i+1]])
                    rec_xp.append(rec_xp[i]+dp[0,0])
                    rec_zp.append(rec_zp[i]+dp[0,2])

                rec_r=rec_ry*quats
                pp=rec_ry*positions
                rec_xp = rec_xp + pp[:,0]
                rec_zp = rec_zp + pp[:,2]

                eulers = np.array([t3d.euler.quat2euler(q, axes=('s'+rot_order.lower()[::-1]))[::-1] for q in rec_r])*180.0/np.pi

                new_df = track.values.copy()

                root_rot_1 = pd.Series(data=eulers[:,0], index=new_df.index)
                root_rot_2 = pd.Series(data=eulers[:,1], index=new_df.index)
                root_rot_3 = pd.Series(data=eulers[:,2], index=new_df.index)

                new_df[xp_col] = pd.Series(data=rec_xp, index=new_df.index)
                new_df[zp_col] = pd.Series(data=rec_zp, index=new_df.index)

                new_df[r1_col] = pd.Series(data=root_rot_1, index=new_df.index)
                new_df[r2_col] = pd.Series(data=root_rot_2, index=new_df.index)
                new_df[r3_col] = pd.Series(data=root_rot_3, index=new_df.index)

                new_df.drop([dyr_col, dxp_col, dzp_col], axis=1, inplace=True)


                new_track.values = new_df

            #print(new_track.values.columns)
            Q.append(new_track)

        return Q


class RootCentricPositionNormalizer(BaseEstimator, TransformerMixin):
    def __init__(self):
        pass

    def fit(self, X, y=None):
        return self

    def transform(self, X, y=None):
        Q = []

        for track in X:
            new_track = track.clone()

            rxp = '%s_Xposition'%track.root_name
            ryp = '%s_Yposition'%track.root_name
            rzp = '%s_Zposition'%track.root_name

            projected_root_pos = track.values[[rxp, ryp, rzp]]

            projected_root_pos.loc[:,ryp] = 0 # we want the root's projection on the floor plane as the ref

            new_df = pd.DataFrame(index=track.values.index)

            all_but_root = [joint for joint in track.skeleton if track.root_name not in joint]
            # all_but_root = [joint for joint in track.skeleton]
            for joint in all_but_root:
                new_df['%s_Xposition'%joint] = pd.Series(data=track.values['%s_Xposition'%joint]-projected_root_pos[rxp], index=new_df.index)
                new_df['%s_Yposition'%joint] = pd.Series(data=track.values['%s_Yposition'%joint]-projected_root_pos[ryp], index=new_df.index)
                new_df['%s_Zposition'%joint] = pd.Series(data=track.values['%s_Zposition'%joint]-projected_root_pos[rzp], index=new_df.index)


            # keep the root as it is now
            new_df[rxp] = track.values[rxp]
            new_df[ryp] = track.values[ryp]
            new_df[rzp] = track.values[rzp]

            new_track.values = new_df

            Q.append(new_track)

        return Q

    def inverse_transform(self, X, copy=None):
        Q = []

        for track in X:
            new_track = track.clone()

            rxp = '%s_Xposition'%track.root_name
            ryp = '%s_Yposition'%track.root_name
            rzp = '%s_Zposition'%track.root_name

            projected_root_pos = track.values[[rxp, ryp, rzp]]

            projected_root_pos.loc[:,ryp] = 0 # we want the root's projection on the floor plane as the ref

            new_df = pd.DataFrame(index=track.values.index)

            for joint in track.skeleton:
                new_df['%s_Xposition'%joint] = pd.Series(data=track.values['%s_Xposition'%joint]+projected_root_pos[rxp], index=new_df.index)
                new_df['%s_Yposition'%joint] = pd.Series(data=track.values['%s_Yposition'%joint]+projected_root_pos[ryp], index=new_df.index)
                new_df['%s_Zposition'%joint] = pd.Series(data=track.values['%s_Zposition'%joint]+projected_root_pos[rzp], index=new_df.index)


            new_track.values = new_df

            Q.append(new_track)

        return Q

class Flattener(BaseEstimator, TransformerMixin):
    def __init__(self):
        pass

    def fit(self, X, y=None):
        return self

    def transform(self, X, y=None):
        return np.concatenate(X, axis=0)

class ConstantsRemover(BaseEstimator, TransformerMixin):
    '''
    For now it just looks at the first track
    '''

    def __init__(self, eps = 1e-6, only_cols=None):
        self.eps = eps
        self.only_cols = only_cols


    def fit(self, X, y=None):
        stds = X[0].values.std()
        cols = X[0].values.columns.values
        if self.only_cols is not None:
            self.const_dims_ = [c for c in cols if ((stds[c] < self.eps).any()) and c in self.only_cols]
        else:
            self.const_dims_ = [c for c in cols if (stds[c] < self.eps).any()]
        # self.const_values_ = {c:X[0].values[c].values[0] for c in cols if (stds[c] < self.eps).any()}
        self.const_values_ = {c:X[0].values[c].values[0] for c in cols if self.const_dims_}
        return self

    def transform(self, X, y=None):
        Q = []


        for track in X:
            t2 = track.clone()
            #for key in t2.skeleton.keys():
            #    if key in self.ConstDims_:
            #        t2.skeleton.pop(key)
            #print(track.values.columns.difference(self.const_dims_))
            t2.values.drop(self.const_dims_, axis=1, inplace=True)
            #t2.values = track.values[track.values.columns.difference(self.const_dims_)]
            Q.append(t2)

        return Q

    def inverse_transform(self, X, copy=None):
        Q = []

        for track in X:
            t2 = track.clone()
            for d in self.const_dims_:
                t2.values[d] = self.const_values_[d]
#                t2.values.assign(d=pd.Series(data=self.const_values_[d], index = t2.values.index))
            Q.append(t2)

        return Q

class ListStandardScaler(BaseEstimator, TransformerMixin):
    def __init__(self, is_DataFrame=False):
        self.is_DataFrame = is_DataFrame

    def fit(self, X, y=None):
        if self.is_DataFrame:
            X_train_flat = np.concatenate([m.values for m in X], axis=0)
        else:
            X_train_flat = np.concatenate([m for m in X], axis=0)

        self.data_mean_ = np.mean(X_train_flat, axis=0)
        self.data_std_ = np.std(X_train_flat, axis=0)

        return self

    def transform(self, X, y=None):
        Q = []

        for track in X:
            if self.is_DataFrame:
                normalized_track = track.copy()
                normalized_track.values = (track.values - self.data_mean_) / self.data_std_
            else:
                normalized_track = (track - self.data_mean_) / self.data_std_

            Q.append(normalized_track)

        if self.is_DataFrame:
            return Q
        else:
            return np.array(Q)

    def inverse_transform(self, X, copy=None):
        Q = []

        for track in X:

            if self.is_DataFrame:
                unnormalized_track = track.copy()
                unnormalized_track.values = (track.values * self.data_std_) + self.data_mean_
            else:
                unnormalized_track = (track * self.data_std_) + self.data_mean_

            Q.append(unnormalized_track)

        if self.is_DataFrame:
            return Q
        else:
            return np.array(Q)

class ListMinMaxScaler(BaseEstimator, TransformerMixin):
    def __init__(self, is_DataFrame=False):
        self.is_DataFrame = is_DataFrame

    def fit(self, X, y=None):
        if self.is_DataFrame:
            X_train_flat = np.concatenate([m.values for m in X], axis=0)
        else:
            X_train_flat = np.concatenate([m for m in X], axis=0)

        self.data_max_ = np.max(X_train_flat, axis=0)
        self.data_min_ = np.min(X_train_flat, axis=0)

        return self

    def transform(self, X, y=None):
        Q = []

        for track in X:
            if self.is_DataFrame:
                normalized_track = track.copy()
                normalized_track.values = (track.values - self.data_min_) / (self.data_max_ - self.data_min_)
            else:
                normalized_track = (track - self.data_min_) / (self.data_max_ - self.data_min_)

            Q.append(normalized_track)

        if self.is_DataFrame:
            return Q
        else:
            return np.array(Q)

    def inverse_transform(self, X, copy=None):
        Q = []

        for track in X:

            if self.is_DataFrame:
                unnormalized_track = track.copy()
                unnormalized_track.values = (track.values * (self.data_max_ - self.data_min_)) + self.data_min_
            else:
                unnormalized_track = (track * (self.data_max_ - self.data_min_)) + self.data_min_

            Q.append(unnormalized_track)

        if self.is_DataFrame:
            return Q
        else:
            return np.array(Q)

class DownSampler(BaseEstimator, TransformerMixin):
    def __init__(self, tgt_fps, keep_all=False):
        self.tgt_fps = tgt_fps
        self.keep_all = keep_all


    def fit(self, X, y=None):

        return self

    def transform(self, X, y=None):
        Q = []

        for track in X:
            orig_fps=round(1.0/track.framerate)
            rate = orig_fps//self.tgt_fps
            if orig_fps%self.tgt_fps!=0:
                print("error orig_fps (" + str(orig_fps) + ") is not dividable with tgt_fps (" + str(self.tgt_fps) + ")")
            else:
                print("downsampling with rate: " + str(rate))

            #print(track.values.size)
            for ii in range(0,rate):
                new_track = track.clone()
                new_track.values = track.values[ii:-1:rate].copy()
                #print(new_track.values.size)
                #new_track = track[0:-1:self.rate]
                new_track.framerate = 1.0/self.tgt_fps
                Q.append(new_track)
                if not self.keep_all:
                    break

        return Q

    def inverse_transform(self, X, copy=None):
      return X

class ReverseTime(BaseEstimator, TransformerMixin):
    def __init__(self, append=True):
        self.append = append


    def fit(self, X, y=None):

        return self

    def transform(self, X, y=None):
        Q = []
        if self.append:
            for track in X:
                Q.append(track)
        for track in X:
            new_track = track.clone()
            new_track.values = track.values[-1::-1]
            Q.append(new_track)

        return Q

    def inverse_transform(self, X, copy=None):
      return X

#TODO: JointsSelector (x)
#TODO: SegmentMaker
#TODO: DynamicFeaturesAdder
#TODO: ShapeFeaturesAdder
#TODO: DataFrameNumpier (x)

class TemplateTransform(BaseEstimator, TransformerMixin):
    def __init__(self):
        pass

    def fit(self, X, y=None):
        return self

    def transform(self, X, y=None):
        return X