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projection.py
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projection.py
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from datetime import datetime
from multiprocessing import Process
from sklearn.multioutput import MultiOutputRegressor
from sklearn.linear_model import LinearRegression
import numpy as np
import tables
import stl
import cv2
import dv
def create_labelled_data_file(f_name='./data/labelled.h5'):
f = tables.open_file(f_name, mode='w')
f_timestamp = f.create_earray(f.root, 'timestamp', tables.atom.UInt64Atom(), (0,))
f_polarity = f.create_earray(f.root, 'polarity', tables.atom.BoolAtom(), (0,))
f_x = f.create_earray(f.root, 'x', tables.atom.UInt16Atom(), (0,))
f_y = f.create_earray(f.root, 'y', tables.atom.UInt16Atom(), (0,))
f_label = f.create_earray(f.root, 'label', tables.atom.UInt8Atom(), (0,))
f.close()
def get_dv_events(address, port, record_time, camera_matrix, distortion_coefficients,
f_name='./data/dv_event.h5'):
f = tables.open_file(f_name, mode='w')
f_timestamp = f.create_earray(f.root, 'timestamp', tables.atom.UInt64Atom(), (0,))
f_polarity = f.create_earray(f.root, 'polarity', tables.atom.BoolAtom(), (0,))
f_x = f.create_earray(f.root, 'x', tables.atom.UInt16Atom(), (0,))
f_y = f.create_earray(f.root, 'y', tables.atom.UInt16Atom(), (0,))
with dv.NetworkEventInput(address=address, port=port) as event_f:
event = next(event_f)
stop_time = event.timestamp + record_time
for event in event_f:
if event.timestamp >= stop_time:
break
# undistort event
event_distorted = np.array([event.x, event.y], dtype='float64')
event_undistorted = cv2.undistortPoints(
event_distorted, camera_matrix, distortion_coefficients, None, camera_matrix)[0, 0]
f_timestamp.append([event.timestamp])
f_polarity.append([event.polarity])
f_x.append([event_undistorted[0]])
f_y.append([event_undistorted[1]])
f.close()
return
def get_dv_frames(address, port, record_time, camera_matrix, distortion_coefficients,
f_name='./data/dv_frame.h5'):
f = tables.open_file(f_name, mode='w')
f_timestamp_a = f.create_earray(f.root, 'timestamp_a', tables.atom.UInt64Atom(), (0,))
f_timestamp_b = f.create_earray(f.root, 'timestamp_b', tables.atom.UInt64Atom(), (0,))
f_image = f.create_earray(f.root, 'image', tables.atom.UInt8Atom(), (0, 260, 346, 3))
with dv.NetworkFrameInput(address=address, port=port) as frame_f:
frame = next(frame_f)
stop_time = frame.timestamp_end_of_frame + record_time
for frame in frame_f:
if frame.timestamp_end_of_frame >= stop_time:
break
# undistort frame
frame_distorted = frame.image[:, :, :]
frame_undistorted = cv2.undistort(
frame_distorted, camera_matrix, distortion_coefficients, None, camera_matrix)
f_timestamp_a.append([frame.timestamp_start_of_frame])
f_timestamp_b.append([frame.timestamp_end_of_frame])
f_image.append([frame_undistorted])
f.close()
return
def get_vicon_poses_pyvicon(address, port, record_time, prop_mesh_markers,
f_name='./data/vicon.h5'):
import pyvicon as pv
f = tables.open_file(f_name, mode='w')
f_timestamp = f.create_earray(f.root, 'timestamp', tables.atom.UInt64Atom(), (0,))
g_props = f.create_group(f.root, 'props')
for prop_name in prop_mesh_markers.keys():
g_prop = f.create_group(g_props, prop_name)
f.create_earray(g_prop, 'quality', tables.atom.Float64Atom(), (0,))
f.create_earray(g_prop, 'rotation', tables.atom.Float64Atom(), (0, 3))
g_translation = f.create_group(g_prop, 'translation')
for marker_name in prop_mesh_markers[prop_name].keys():
f.create_earray(g_translation, marker_name, tables.atom.Float64Atom(), (0, 3))
client = pv.PyVicon()
#print('version: ' + client.__version__)
result = client.connect(f'{address}:{port}')
#print('connect:', result)
result = client.enable_marker_data()
#print('enable_marker_data:', result)
result = client.enable_segment_data()
#print('enable_segment_data:', result)
sanity_check = False
if sanity_check:
while True:
result = client.get_frame()
print('get_frame:', result)
if result != pv.Result.NoFrame:
break
prop_count = client.get_subject_count()
print('prop count:', prop_count)
assert(prop_count == len(prop_mesh_markers))
for prop_i in range(prop_count):
prop_name = client.get_subject_name(prop_i)
print('prop name:', prop_name)
assert(prop_name in prop_mesh_markers.keys())
marker_count = client.get_marker_count(prop_name)
print(' ', prop_name, 'marker count:', marker_count)
assert(marker_count == len(prop_mesh_markers[prop_name]))
for marker_i in range(marker_count):
marker_name = client.get_marker_name(prop_name, marker_i)
print(' ', prop_name, 'marker', marker_i, 'name:', marker_name)
assert(marker_name in prop_mesh_markers[prop_name].keys())
timestamp = int(datetime.now().timestamp() * 1000000)
stop_time = timestamp + record_time
while timestamp < stop_time:
result = client.get_frame()
if result == pv.Result.NoFrame:
continue
timestamp = int(datetime.now().timestamp() * 1000000)
f_timestamp.append([timestamp])
prop_count = client.get_subject_count()
for prop_i in range(prop_count):
prop_name = client.get_subject_name(prop_i)
marker_count = client.get_marker_count(prop_name)
prop_quality = client.get_subject_quality(prop_name)
g_props[prop_name].quality.append([prop_quality])
if prop_quality is not None:
root_segment = client.get_subject_root_segment_name(prop_name)
rotation = client.get_segment_global_rotation_euler_xyz(prop_name, root_segment)
g_props[prop_name].rotation.append([rotation])
for marker_i in range(marker_count):
marker_name = client.get_marker_name(prop_name, marker_i)
translation = client.get_marker_global_translation(prop_name, marker_name)
g_props[prop_name].translation[marker_name].append([translation])
else:
rotation = np.full((1, 3), np.nan)
g_props[prop_name].rotation.append(rotation)
for marker_i in range(marker_count):
marker_name = client.get_marker_name(prop_name, marker_i)
translation = np.full((1, 3), np.nan)
g_props[prop_name].translation[marker_name].append(translation)
result = client.disconnect()
# #print('disconnect:', result)
f.close()
return
def get_vicon_poses(address, port, record_time, prop_mesh_markers,
f_name='./data/vicon.h5'):
from vicon_dssdk import ViconDataStream
f = tables.open_file(f_name, mode='w')
f_timestamp = f.create_earray(f.root, 'timestamp', tables.atom.UInt64Atom(), (0,))
g_props = f.create_group(f.root, 'props')
for prop_name in prop_mesh_markers.keys():
g_prop = f.create_group(g_props, prop_name)
f.create_earray(g_prop, 'quality', tables.atom.Float64Atom(), (0,))
f.create_earray(g_prop, 'rotation', tables.atom.Float64Atom(), (0, 3))
g_translation = f.create_group(g_prop, 'translation')
for marker_name in prop_mesh_markers[prop_name].keys():
f.create_earray(g_translation, marker_name, tables.atom.Float64Atom(), (0, 3))
client = ViconDataStream.Client()
#print('version: ' + str(client.GetVersion()))
client.Connect(f'{address}:{port}')
client.EnableMarkerData()
client.EnableSegmentData()
sanity_check = False
if sanity_check:
while True:
if client.GetFrame():
break
prop_names = client.GetSubjectNames()
prop_count = len(prop_names)
print('prop count:', prop_count)
assert(prop_count == len(prop_mesh_markers))
for prop_i in range(prop_count):
prop_name = prop_names[prop_i]
print('prop name:', prop_name)
assert(prop_name in prop_mesh_markers.keys())
marker_names = client.GetMarkerNames(prop_name)
marker_count = len(marker_names)
print(' ', prop_name, 'marker count:', marker_count)
assert(marker_count == len(prop_mesh_markers[prop_name]))
for marker_i in range(marker_count):
marker_name = marker_names[marker_i][0]
print(' ', prop_name, 'marker', marker_i, 'name:', marker_name)
assert(marker_name in prop_mesh_markers[prop_name].keys())
timestamp = int(datetime.now().timestamp() * 1000000)
stop_time = timestamp + record_time
while timestamp < stop_time:
if not client.GetFrame():
continue
timestamp = int(datetime.now().timestamp() * 1000000)
f_timestamp.append([timestamp])
prop_names = client.GetSubjectNames()
prop_count = len(prop_names)
for prop_i in range(prop_count):
prop_name = prop_names[prop_i]
marker_names = client.GetMarkerNames(prop_name)
marker_count = len(marker_names)
try:
prop_quality = client.GetObjectQuality(prop_name)
except ViconDataStream.DataStreamException:
prop_quality = None
g_props[prop_name].quality.append([prop_quality])
if prop_quality is not None:
root_segment = client.GetSubjectRootSegmentName(prop_name)
rotation = client.GetSegmentGlobalRotationEulerXYZ(prop_name, root_segment)[0]
g_props[prop_name].rotation.append([rotation])
for marker_i in range(marker_count):
marker_name = marker_names[marker_i][0]
translation = client.GetMarkerGlobalTranslation(prop_name, marker_name)[0]
g_props[prop_name].translation[marker_name].append([translation])
else:
rotation = np.full((1, 3), np.nan)
g_props[prop_name].rotation.append(rotation)
for marker_i in range(marker_count):
marker_name = marker_names[marker_i][0]
translation = np.full((1, 3), np.nan)
g_props[prop_name].translation[marker_name].append(translation)
client.Disconnect()
f.close()
return
def projection():
prop_mesh = stl.mesh.Mesh.from_file('./screwdriver-decimated.stl')
vicon_address, vicon_port = '127.0.0.1', 801
dv_address, dv_event_port, dv_frame_port = '127.0.0.1', 36000, 36001
dv_space_coefficients_file = './calibration/dv_space_coefficients.npy'
dv_space_constants_file = './calibration/dv_space_constants.npy'
dv_space_coefficients = np.load(dv_space_coefficients_file)
dv_space_constants = np.load(dv_space_constants_file)
prop_mesh_markers = {}
# # screwdriver mesh marker coordinates
# prop_mesh_markers['jt_screwdriver'] = {
# 'handle_1': [ 0.0, 78.0, 13.5],
# 'handle_2': [ 0.0, 78.0, -13.5],
# 'shaft_base': [ 5.0, 120.0, 0.0 ],
# 'shaft_tip': [-5.0, 164.0, 0.0 ],
# }
# PROTOTYPE: screwdriver mesh marker coordinates
prop_mesh_markers['jt_screwdriver'] = {
'handle_1': [ 0.0, 78.0, 13.5],
'handle_2': [ 0.0, 78.0, -13.5],
'shaft_base': [ 7.5, 100.0, 0.0 ], # alternate position
'shaft_tip': [-5.0, 164.0, 0.0 ],
}
# Vicon wand mesh marker coordinates
prop_mesh_markers['jt_wand'] = {
'top_left': [ 0.0, 0.0, 0.0 ],
'top_centre': [ 0.0, 0.0, 0.0 ],
'top_right': [ 0.0, 0.0, 0.0 ],
'middle': [ 0.0, 0.0, 0.0 ],
'bottom': [ 0.0, 0.0, 0.0 ],
}
#record = True
record = False
test_name = 'noise'
test_number = 1
#record_seconds = 3
record_seconds = 10
#record_seconds = 100
record_time = record_seconds * 1000000
#vicon_usec_offset = 183000
#vicon_usec_offset = 157000
#vicon_usec_offset = 69000000
vicon_usec_offset = -560000
#vicon_usec_offset = 0
distinguish_dv_event_polarity = False
dv_camera_matrix = np.load('./calibration/camera_matrix.npy')
dv_distortion_coefficients = np.load('./calibration/camera_distortion_coefficients.npy')
f_labelled_name = f'./data/labelled_{test_name}_{test_number:04}.h5'
#f_dv_event_name = f'./data/dv_event_{test_name}_{test_number:04}.h5'
f_dv_event_name = f'./data/combo_event.h5'
f_dv_frame_name = f'./data/dv_frame_{test_name}_{test_number:04}.h5'
f_vicon_name = f'./data/vicon_{test_name}_{test_number:04}.h5'
f_event_image_video = f'./data/event_image_video_{test_name}_{test_number:04}.avi'
f_frame_image_video = f'./data/frame_image_video_{test_name}_{test_number:04}.avi'
##################################################################
if record:
print('=== begin recording ===')
processes = []
processes.append(Process(target=get_dv_events,
args=(dv_address, dv_event_port, record_time,
dv_camera_matrix, dv_distortion_coefficients),
kwargs={'f_name': f_dv_event_name}))
processes.append(Process(target=get_dv_frames,
args=(dv_address, dv_frame_port, record_time,
dv_camera_matrix, dv_distortion_coefficients),
kwargs={'f_name': f_dv_frame_name}))
processes.append(Process(target=get_vicon_poses,
args=(vicon_address, vicon_port, record_time,
prop_mesh_markers),
kwargs={'f_name': f_vicon_name}))
#processes.append(Process(target=get_vicon_poses_pyvicon,
# args=(vicon_address, vicon_port, record_time,
# prop_mesh_markers),
# kwargs={'f_name': f_vicon_name}))
for p in processes:
p.start()
for p in processes:
p.join()
print('=== end recording ===')
exit(0)
##################################################################
create_labelled_data_file(f_name=f_labelled_name)
f_labelled = tables.open_file(f_labelled_name, mode='a')
f_labelled_timestamp = f_labelled.root.timestamp
f_labelled_polarity = f_labelled.root.polarity
f_labelled_x = f_labelled.root.x
f_labelled_y = f_labelled.root.y
f_labelled_label = f_labelled.root.label
f_dv_event = tables.open_file(f_dv_event_name, mode='r')
f_dv_event_timestamp = f_dv_event.root.timestamp.iterrows()
f_dv_event_polarity = f_dv_event.root.polarity.iterrows()
f_dv_event_x = f_dv_event.root.x.iterrows()
f_dv_event_y = f_dv_event.root.y.iterrows()
f_dv_frame = tables.open_file(f_dv_frame_name, mode='r')
f_dv_frame_timestamp_a = f_dv_frame.root.timestamp_a.iterrows()
f_dv_frame_timestamp_b = f_dv_frame.root.timestamp_b.iterrows()
f_dv_frame_image = f_dv_frame.root.image.iterrows()
f_vicon = tables.open_file(f_vicon_name, mode='r')
f_vicon_timestamp = f_vicon.root.timestamp.iterrows()
f_vicon_quality = {}
f_vicon_rotation = {}
f_vicon_translation = {}
for prop in f_vicon.root.props:
prop_name = prop._v_name
f_vicon_quality[prop_name] = prop.quality.iterrows()
f_vicon_rotation[prop_name] = prop.rotation.iterrows()
f_vicon_translation[prop_name] = {}
for marker in prop.translation:
marker_name = marker.name
f_vicon_translation[prop_name][marker_name] = marker.iterrows()
def get_next_dv_event(f_timestamp, f_polarity, f_x, f_y, usec_offset=0):
timestamp = np.uint64(next(f_timestamp) + usec_offset)
polarity = next(f_polarity)
x = next(f_x)
y = next(f_y)
return timestamp, polarity, x, y
def get_next_dv_frame(f_timestamp_a, f_timestamp_b, f_image, usec_offset=0):
timestamp_a = np.uint64(next(f_timestamp_a) + usec_offset)
timestamp_b = np.uint64(next(f_timestamp_b) + usec_offset)
image = next(f_image)
return timestamp_a, timestamp_b, image
def get_next_vicon(f_timestamp, f_quality, f_rotation, f_translation, usec_offset=0):
timestamp = np.uint64(next(f_timestamp) + usec_offset)
quality = {}
for prop_name in f_quality.keys():
quality[prop_name] = next(f_quality[prop_name])
rotation = {}
for prop_name in f_rotation.keys():
rotation[prop_name] = next(f_rotation[prop_name])
translation = {}
for prop_name in f_translation.keys():
translation[prop_name] = {}
for marker_name in f_translation[prop_name].keys():
translation[prop_name][marker_name] = next(f_translation[prop_name][marker_name])
return timestamp, quality, rotation, translation
blue = (255, 0, 0)
green = (0, 255, 0)
red = (0, 0, 255)
yellow = (0, 255, 255)
grey = (100, 100, 100)
dv_frame_shape = (260, 346, 3)
prop_mask = np.zeros(dv_frame_shape[:2], dtype='uint8')
event_pos = np.zeros(dv_frame_shape[:2], dtype='uint64')
event_neg = np.zeros(dv_frame_shape[:2], dtype='uint64')
event_image = np.zeros(dv_frame_shape, dtype='uint8')
frame_image = np.zeros(dv_frame_shape, dtype='uint8')
event_image_video = cv2.VideoWriter(
f_event_image_video, cv2.VideoWriter_fourcc(*'MJPG'),
30, dv_frame_shape[1::-1])
frame_image_video = cv2.VideoWriter(
f_frame_image_video, cv2.VideoWriter_fourcc(*'MJPG'),
30, dv_frame_shape[1::-1])
vicon_timestamp, vicon_quality, vicon_rotation, vicon_translation = get_next_vicon(
f_vicon_timestamp, f_vicon_quality, f_vicon_rotation, f_vicon_translation,
usec_offset=vicon_usec_offset,
)
dv_event_timestamp, dv_event_polarity, dv_event_x, dv_event_y = get_next_dv_event(
f_dv_event_timestamp, f_dv_event_polarity, f_dv_event_x, f_dv_event_y,
)
dv_frame_timestamp_a, dv_frame_timestamp_b, dv_frame_image = get_next_dv_frame(
f_dv_frame_timestamp_a, f_dv_frame_timestamp_b, f_dv_frame_image,
)
# === MAIN LOOP ===
while True:
print('vicon timestamp: ', vicon_timestamp, '\tDV frame timestamp: ', dv_frame_timestamp_a)
# TODO: loop over all props
prop_name = 'jt_screwdriver'
# get next Vicon frame
try:
vicon_timestamp_new, vicon_quality_new, vicon_rotation_new, vicon_translation_new = get_next_vicon(
f_vicon_timestamp, f_vicon_quality, f_vicon_rotation, f_vicon_translation,
usec_offset=vicon_usec_offset,
)
except StopIteration:
break
# get timestamp halfway between now and the next vicon frame
vicon_timestamp_midway = (vicon_timestamp + vicon_timestamp_new) / 2
vicon_timestamp = vicon_timestamp_new
vicon_quality = vicon_quality_new
vicon_translation = vicon_translation_new
vicon_rotation = vicon_rotation_new
# clear prop mask
prop_mask.fill(0)
# get mesh and vicon marker translations for this prop
x = np.array([translation for translation in prop_mesh_markers[prop_name].values()])
y = np.array([translation for translation in vicon_translation[prop_name].values()])
if np.isfinite(x).all() and np.isfinite(y).all():
# estimate Vicon space transformation
regressor = MultiOutputRegressor(
estimator=LinearRegression(),
).fit(x, y)
vicon_space_coefficients = np.array([re.coef_ for re in regressor.estimators_]).T
vicon_space_constants = np.array([[re.intercept_ for re in regressor.estimators_]])
# transform STL mesh space to Vicon space, then
# transform from Vicon space to DV camera space
vicon_space_p = np.matmul(prop_mesh.vectors, vicon_space_coefficients) + vicon_space_constants
dv_space_p = np.matmul(vicon_space_p, dv_space_coefficients) + dv_space_constants
dv_space_p = dv_space_p[:, :, :2] * (1.0 / dv_space_p[:, :, 2, np.newaxis])
dv_space_p_int = np.rint(dv_space_p).astype('int32')
# compute prop mask
cv2.fillPoly(prop_mask, dv_space_p_int, 255)
#prop_mask_dilation_kernel = np.ones((3, 3), 'uint8')
prop_mask_dilation_kernel = np.ones((6, 6), 'uint8')
prop_mask = cv2.dilate(prop_mask, prop_mask_dilation_kernel)
# get next DV events
event_pos.fill(0)
event_neg.fill(0)
try:
while dv_event_timestamp < vicon_timestamp_midway:
bounded_x = 0 <= dv_event_x < dv_frame_shape[1]
bounded_y = 0 <= dv_event_y < dv_frame_shape[0]
if bounded_x and bounded_y:
if dv_event_polarity:
event_pos[dv_event_y, dv_event_x] += 1
else:
event_neg[dv_event_y, dv_event_x] += 1
label = 0
if prop_mask[dv_event_y, dv_event_x]:
label = 1
f_labelled_timestamp.append([dv_event_timestamp])
f_labelled_polarity.append([dv_event_polarity])
f_labelled_x.append([dv_event_x])
f_labelled_y.append([dv_event_y])
f_labelled_label.append([label])
dv_event_timestamp, dv_event_polarity, dv_event_x, dv_event_y = get_next_dv_event(
f_dv_event_timestamp, f_dv_event_polarity, f_dv_event_x, f_dv_event_y,
)
except StopIteration:
break
# fill DV event image with events, then mask it
event_image.fill(0)
#event_image[prop_mask.astype('bool')] = grey # show prop mask?
if distinguish_dv_event_polarity:
event_mask_neg = event_neg > event_pos
event_image[(event_mask_neg & ~prop_mask.astype('bool'))] = green
event_image[(event_mask_neg & prop_mask.astype('bool'))] = blue
event_mask_pos = event_pos > event_neg
event_image[(event_mask_pos & ~prop_mask.astype('bool'))] = red
event_image[(event_mask_pos & prop_mask.astype('bool'))] = yellow
else:
event_mask = event_neg.astype('bool') | event_pos.astype('bool')
event_image[(event_mask & ~prop_mask.astype('bool'))] = green
event_image[(event_mask & prop_mask.astype('bool'))] = red
# write and show DV event image
event_image_video.write(event_image)
# cv2.imshow('event image', event_image)
# k = cv2.waitKey(1)
# if k == ord('q'):
# break
# get next DV frame
try:
while dv_frame_timestamp_b < vicon_timestamp:
dv_frame_timestamp_a, dv_frame_timestamp_b, dv_frame_image = get_next_dv_frame(
f_dv_frame_timestamp_a, f_dv_frame_timestamp_b, f_dv_frame_image,
)
except StopIteration:
break
# get DV frame image, then mask it
frame_image[:, :, :] = dv_frame_image
frame_image[prop_mask.astype('bool'), :] = blue
# write and show DV frame image
frame_image_video.write(frame_image)
# cv2.imshow('frame image', frame_image)
# k = cv2.waitKey(1)
# if k == ord('q'):
# break
event_image_video.release()
frame_image_video.release()
f_labelled.close()
f_dv_event.close()
f_dv_frame.close()
f_vicon.close()
return
if __name__ == '__main__':
projection()