def load_file(filename, attributes):
"""
load the space-delimited file with the given filenames assuming the
attributes given (as a pythontuple)
"""
r = Rel(attributes)
for line in open("ccat.txt"):
r.add_tuple(tuple(line.strip().split()))
return r
def load_file(filename, attributes):
"""
load the space-delimited file with the given filenames assuming the
attributes given (as a pythontuple)
"""
r = Rel(attributes)
for line in open("ccat.txt"):
r.add_tuple(tuple(line.strip().split()))
return r
def __param_init__(self, clean=False):
try:
self.dataset.close()
print('Save h5py ....')
if clean:
os.remove(self.kp.dstr + '.h5')
print('Remove h5py ....')
except:
pass
self.fig = None
self.kp = Kparam(self.exeno, username)
# self.movie = movie.Movie(self.exeno)
self.dtw = Dtw()
self.denoise = Denoise()
self.rel = Rel()
self.io = Dataoutput()
self.h_mod = Human_model()
self.skel = Skeleton()
self.fextr = Finger_extract()
from dep import DependencyAnalysis
from rel import Rel
r = Rel(("x", "y"))
r.add(x="A", y=1)
r.add(x="B", y=1)
r.add(x="C", y=1)
r.add(x="A", y=2)
r.add(x="C", y=2)
d = DependencyAnalysis(r)
# this will print "('B',) : (1,)" because the only dependency between the x
# and y columns is that if x = "B" then y can only be 1.
for t in d.find_dependencies(("x",), ("y",)):
print str(t[0]), ":", ", ".join([str(v) for v in t[1]])
r.add(x="B", y=2)
d2 = DependencyAnalysis(r)
# this will print nothing because there is now no dependency between x and y
# in other words, y can take all values regardless of what x is.
for t in d2.find_dependencies(("x",), ("y",)):
print str(t[0]), ":", ", ".join([str(v) for v in t[1]])
class BodyGameRuntime(object):
def __init__(self):
global bkimg
pygame.init()
# Used to manage how fast the screen updates
self._clock = pygame.time.Clock()
# Set the width and height of the screen [width, height]
self._infoObject = pygame.display.Info()
self._screen = pygame.display.set_mode(
(self._infoObject.current_w >> 1, self._infoObject.current_h >> 1),
pygame.HWSURFACE | pygame.DOUBLEBUF | pygame.RESIZABLE, 32)
pygame.display.set_caption("Kinect Body detection")
# Kinect runtime object, we want only color and body frames
self._kinect = PyKinectRuntime.PyKinectRuntime(
PyKinectV2.FrameSourceTypes_Color
| PyKinectV2.FrameSourceTypes_Body
| PyKinectV2.FrameSourceTypes_Depth
| PyKinectV2.FrameSourceTypes_BodyIndex)
# back buffer surface for getting Kinect color frames, 32bit color, width and height equal to the Kinect color frame size
self.default_h = self._infoObject.current_h
self.default_w = self._infoObject.current_w
self._frame_surface = pygame.Surface((self.default_w, self.default_h),
0, 32).convert()
self.h_to_w = float(self.default_h) / self.default_w
# here we will store skeleton data
self._bodies = None
self.jorder = [0, 1, 2, 3, 4, 5, 6, 8, 9, 10,
20] # upper body joints' order
time.sleep(5)
if self._kinect.has_new_color_frame():
frame = self._kinect.get_last_color_frame().reshape(
[1080, 1920, 4])[:, :, :3]
bkimg = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
print('Extract bg .....')
else:
print 'Failed to extract .....'
self.exeno = 4 # exercise number
self.__param_init__()
def __param_init__(self, clean=False):
try:
self.dataset.close()
print('Save h5py ....')
if clean:
os.remove(self.kp.dstr + '.h5')
print('Remove h5py ....')
except:
pass
self.fig = None
self.kp = Kparam(self.exeno, username)
# self.movie = movie.Movie(self.exeno)
self.dtw = Dtw()
self.denoise = Denoise()
self.rel = Rel()
self.io = Dataoutput()
self.h_mod = Human_model()
self.skel = Skeleton()
self.fextr = Finger_extract()
def draw_color_frame(self, frame, target_surface):
target_surface.lock()
address = self._kinect.surface_as_array(target_surface.get_buffer())
ctypes.memmove(address, frame.ctypes.data, frame.size)
del address
target_surface.unlock()
def reset(self, clean=False, change=False):
self.movie.stop(True)
del self.movie
self.__param_init__(clean)
def getcoord(self, data, order=[1, 4, 8, 20]):
foo = []
for i in order:
if i == 1:
foo = np.array([data[i].x, data[i].y])
else:
foo = np.vstack([foo, np.array([data[i].x, data[i].y])])
return foo
def press_event(self, press):
""" According to the button which is pressed by the user
doing correspond action
"""
if press[pygame.K_ESCAPE]:
self.kp._done = True
self.movie.stop()
if press[pygame.
K_h]: # use 'h' to open, 'ctrl+h' to close finger detection
if press[pygame.K_LCTRL] or press[pygame.K_RCTRL]:
print('Finger detection disable .....')
self.kp.handmode = False
else:
print('Finger detection enable .....')
self.kp.handmode = True
if press[pygame.K_m]: # use 'm' to open, 'ctrl+m' to close human model
if press[pygame.K_LCTRL] or press[pygame.K_RCTRL]:
print('Human model disable .....')
plt.close(self.fig)
self.kp.model_draw = False
self.kp.model_frame = False
else:
print('Human model enable .....')
self.kp.model_draw = True
if press[pygame.K_r]: # use 'r' to start video recording
if press[pygame.K_LCTRL] or press[pygame.K_RCTRL]:
print('Stop recording .....')
self.kp.vid_rcd = False
else:
if self.kp.clipNo == 0:
self.dataset = h5py.File(self.kp.dstr + '.h5', 'w')
self.dataset = h5py.File(self.kp.dstr + '.h5', 'r')
# img group
self.imgs = self.dataset.create_group('imgs')
# self.cimgs = self.imgs.create_group('cimgs')
self.dimgs = self.imgs.create_group('dimgs')
self.bdimgs = self.imgs.create_group('bdimgs')
print('recording .....')
self.kp.vid_rcd = True
self.kp.clipNo += 1
if press[pygame.
K_g]: # use 'g' to to open, 'ctrl+g' to close gpr denoise
if press[pygame.K_LCTRL] or press[pygame.K_RCTRL]:
print('Close denoising process .....')
self.denoise._done = True
else:
print('Start denoising process .....')
self.denoise._done = False
if press[pygame.K_d]: # use 'd' to to open, 'ctrl+d' to close dtw
if press[pygame.K_LCTRL] or press[pygame.K_RCTRL]:
print('Disable human behavior analyze .....')
self.dtw._done = True
self.kp.finish = True
else:
print('Enable human behavior analyze .....')
self.dtw._done = False
self.kp.finish = False
if press[pygame.K_i]: # use 'i' to reset every parameter
print('Reseting ............................')
self.reset()
if press[
pygame.
K_u]: # use 'u' to reset every parameter and remove the save data
print('Reseting & removing the saved file ................')
self.reset(True)
if press[pygame.K_b]: # use 'b' to lager the scale
self.kp.scale = min(self.kp.scale * 1.1, 1.8)
if press[pygame.K_s]: # use 's' to smaller the scale
self.kp.scale = max(self.kp.scale / 1.1, 1)
if press[pygame.K_1]: # use '1' to change to execise 1
self.exeno = 1
print('==== Doing exercise 1 ====')
self.reset(change=True)
if press[pygame.K_2]: # use '2' to change to execise 2
self.exeno = 2
print('==== Doing exercise 2 ====')
self.reset(change=True)
if press[pygame.K_3]: # use '3' to change to execise 3
self.exeno = 3
print('==== Doing exercise 3 ====')
self.reset(change=True)
if press[pygame.K_4]: # use '4' to change to execise 4
self.exeno = 4
print('==== Doing exercise 4 ====')
self.reset(change=True)
def run(self):
wait_key_cnt = 3
while not self.kp._done:
bddic = {}
jdic = {}
# === key pressing ===
if (wait_key_cnt < 3):
wait_key_cnt += 1
if (pygame.key.get_focused() and wait_key_cnt >= 3):
press = pygame.key.get_pressed()
self.press_event(press)
wait_key_cnt = 0
# === Main event loop ===
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
self._done = True # Flag that we are done so we exit this loop
self.movie.stop()
elif event.type == pygame.VIDEORESIZE: # window resized
self._screen = pygame.display.set_mode(
event.dict['size'],
pygame.HWSURFACE | pygame.DOUBLEBUF | pygame.RESIZABLE,
32)
# === extract data from kinect ===
if self._kinect.has_new_color_frame():
frame = self._kinect.get_last_color_frame()
self.draw_color_frame(frame, self._frame_surface)
frame = frame.reshape(1080, 1920, 4)[:, :, :3]
if self._kinect.has_new_body_frame():
self._bodies = self._kinect.get_last_body_frame()
timestamp = datetime.datetime.now()
if self._kinect.has_new_body_index_frame():
bodyidx = self._kinect.get_last_body_index_frame()
bodyidx = bodyidx.reshape((424, 512))
if self._kinect.has_new_depth_frame():
dframe, oridframe = self._kinect.get_last_depth_frame()
dframe = dframe.reshape((424, 512))
# === when user is detected ===
if self._bodies is not None:
closest_ID = -1
cdist = np.inf
for i in range(0, self._kinect.max_body_count):
body = self._bodies.bodies[i]
if not body.is_tracked:
continue
if body.joints[
20].Position.z <= cdist: # find the closest body
closest_ID = i
cdist = body.joints[20].Position.z
if (closest_ID != -1):
body = self._bodies.bodies[closest_ID]
joints = body.joints
rec_joints = body.joints
for ii in xrange(25):
jdic[ii] = joints[ii]
jps = self._kinect.body_joints_to_color_space(
joints) # joint points in color domain
djps = self._kinect.body_joints_to_depth_space(
joints) # joint points in depth domain
# === fingers detection ===
if self.kp.handmode: # finger detect and draw
self.fextr.run(frame, bkimg, body, bddic, jps,
SKELETON_COLORS[i], self._frame_surface)
# === joint reliability ===
Rel, Relary = self.rel.run(jdic, self.jorder)
# joint's reliability visulization
# self.skel.draw_Rel_joints(jps, Rel, self._frame_surface)
# === dtw analyze & denoising process ===
if not self.dtw._done:
modJary = self.h_mod.human_mod_pts(
joints) # modJary is 7*3 array
modJary = modJary.flatten().reshape(
-1, 21) # change shape to 1*21 array
if not self.denoise._done:
if not len(Relary) == 0:
# === GPR denoising ===
if all(ii > 0.6 for ii in Relary[limbidx]
): # all joints are reliable
reconJ = modJary # reconJ is 1*21 array
else: # contains unreliable joints
reconJ, unrelidx = self.denoise.run(
modJary, Relary)
# === recon 2D joints in color domain ===
JJ = self.h_mod.reconj2joints(
rec_joints, reconJ.reshape(7, 3))
for ii in [4, 5, 6, 8, 9, 10]:
rec_joints[ii].Position.x = JJ[i][0]
rec_joints[ii].Position.y = JJ[i][1]
rec_joints[ii].Position.z = JJ[i][2]
tmp_jps = self._kinect.body_joints_to_color_space(
rec_joints) # joints in color domain
rec_jps = jps
for ii in unrelidx:
rec_jps[ii].x = tmp_jps[ii].x
rec_jps[ii].y = tmp_jps[ii].y
self.skel.draw_body(
rec_joints, rec_jps,
SKELETON_COLORS[-1],
self._frame_surface, 15)
else:
reconJ = modJary
else:
reconJ = modJary
# === DTW matching ===
if self.exeno in [1, 2]:
bdry = self.getcoord(djps)
self.dtw.run(reconJ, gt_data[self.exeno], self.exeno,\
self._frame_surface, body.hand_left_state,
body.hand_right_state, dframe, bdry, self.kp.framecnt)
else:
self.dtw.run(reconJ, gt_data[self.exeno], self.exeno,\
body.hand_left_state, body.hand_right_state)
if (body.hand_left_state == 2): #Lhand open
Lhstatus = 'Open'
elif body.hand_left_state == 0:
Lhstatus = 'Unknown'
elif body.hand_left_state == 3:
Lhstatus = 'Closed'
elif body.hand_left_state == 4:
Lhstatus = 'Lasso'
else:
Lhstatus = 'Not detect'
if (body.hand_right_state == 2): #Lhand open
Rhstatus = 'Open'
elif body.hand_right_state == 0:
Rhstatus = 'Unknown'
elif body.hand_right_state == 3:
Rhstatus = 'Closed'
elif body.hand_right_state == 4:
Rhstatus = 'Lasso'
else:
Rhstatus = 'Not detect'
#self.io.typetext(self._frame_surface, 'Lhand : '+Lhstatus, (20, 920), (255, 69, 0), fontsize=60, bold=True)
#self.io.typetext(self._frame_surface, 'Rhand : '+Rhstatus, (20, 1000), (255, 69, 0), fontsize=60, bold=True)
if self.dtw.evalstr != '':
self.io.typetext(self._frame_surface,
self.dtw.evalstr, (20, 300),
(0, 255, 0),
fontsize=100)
self.dtw.fcnt += 1
if self.dtw.fcnt > 30:
self.dtw.evalstr = ''
self.dtw.fcnt = 0
else:
self.io.typetext(self._frame_surface,
'Exercise ' + str(self.exeno) +
' is done', (100, 20), (255, 0, 0),
fontsize=100)
if not self.kp.finish:
self.dtw.evaluation(self.exeno)
print self.dtw.idxlist
self.kp.finish = True
# draw skel
self.skel.draw_body(joints, jps, SKELETON_COLORS[i],
self._frame_surface, 8)
# === draw unify human model ===
if self.kp.model_draw:
modJoints = self.h_mod.human_mod_pts(joints,
limb=False)
if not self.kp.model_frame:
self.fig = plt.figure(1)
ax = self.fig.add_subplot(111, projection='3d')
# keys = modJoints.keys()
self.kp.model_frame = True
else:
plt.cla()
self.h_mod.draw_human_mod_pts(modJoints, ax)
# === save data ===
bddic['timestamp'] = timestamp
bddic[
'jointspts'] = jps # joints' coordinate in color space (2D)
bddic[
'depth_jointspts'] = djps # joints' coordinate in depth space (2D)
bddic[
'joints'] = jdic # joints' coordinate in camera space (3D)
bddic['vidclip'] = self.kp.clipNo
bddic['Rel'] = Rel
bddic['LHS'] = body.hand_left_state
bddic['RHS'] = body.hand_right_state
self.kp.framecnt += 1 # frame no
else:
self.io.typetext(self._frame_surface, 'No human be detected ',
(100, 100))
# === text infomation on the surface ===
if self.kp.vid_rcd: # video recoding text
#self.io.typetext(self._frame_surface, 'Video Recording', (1580, 20), (255, 0, 0))
# self.cimgs.create_dataset('img_'+repr(self.kp.fno).zfill(4), data = frame)
self.bdimgs.create_dataset('bd_' + repr(self.kp.fno).zfill(4),
data=np.dstack(
(bodyidx, bodyidx, bodyidx)))
self.dimgs.create_dataset('d_' + repr(self.kp.fno).zfill(4),
data=np.dstack(
(dframe, dframe, dframe)))
self.kp.fno += 1
self.kp.bdjoints.append(bddic)
else:
pass
#self.io.typetext(self._frame_surface, 'Not Recording', (1580, 20), (0, 255, 0))
# if size of the display window is changed
if (float(self._screen.get_height()) /
self._screen.get_width()) > self.h_to_w:
target_height = int(self.h_to_w * self._screen.get_width())
self.default_w = self._screen.get_width()
self.default_h = target_height
elif (float(self._screen.get_height()) /
self._screen.get_width()) < self.h_to_w:
target_width = int(self._screen.get_height() / self.h_to_w)
self.default_w = target_width
self.default_h = self._screen.get_height()
else: # ration not change, then check the whether the H or W change
if self._screen.get_width() != self.default_w:
target_height = int(self.h_to_w * self._screen.get_width())
self.default_w = self._screen.get_width()
self.default_h = target_height
surface_to_draw = pygame.transform.scale(
self._frame_surface, (self.default_w, self.default_h))
self._screen.blit(surface_to_draw, (0, 0))
# user change the avatar's sacle
# if self.kp.scale != self.kp.pre_scale:
# self.movie.draw(self._screen, self.default_w, self.default_h, self.kp.scale, True)
# self.kp.pre_scale = self.kp.scale
# else:
# self.movie.draw(self._screen, self.default_w, self.default_h, self.kp.scale)
# update
surface_to_draw = None
pygame.display.update()
# limit frames per second
self._clock.tick(fps)
# user end the programe
self.movie.stop(True) # close avatar
self._kinect.close() # close Kinect sensor
print self.dtw.idxlist # show the analyzed result
# save the recording data
if self.kp.bdjoints != []:
cPickle.dump(self.kp.bdjoints, file(self.kp.dstr + '.pkl', 'wb'))
try:
self.dataset.close()
except:
pass
pygame.quit() # quit
from rel import Rel, PROJECT, RESTRICT, INTERSECT, UNION, PROJECT_VIEW, RESTRICT_VIEW
dept = Rel(("DNO", "DNAME", "BUDGET"))
dept.add(DNO="D1", DNAME="Marketing", BUDGET="10M")
dept.add(DNO="D2", DNAME="Development", BUDGET="12M")
dept.add(DNO="D3", DNAME="Research", BUDGET="5M")
emp = Rel(("ENO", "ENAME", "DNO", "SALARY"))
emp.add(ENO="E1", ENAME="Lopez", DNO="D1", SALARY="40K")
emp.add(ENO="E2", ENAME="Cheng", DNO="D1", SALARY="42K")
emp.add(ENO="E3", ENAME="Finzi", DNO="D2", SALARY="30K")
emp2 = Rel(("ENO", "ENAME", "DNO", "SALARY"))
emp2.add_multiple([
dict(ENO="E3", ENAME="Finzi", DNO="D2", SALARY="30K"),
dict(ENO="E4", ENAME="Saito", DNO="D2", SALARY="35K")
])
dept.display()
emp.display()
emp2.display()
print
print "PROJECT"
PROJECT(emp, ("ENO", "ENAME")).display()
print
print "RESTRICT"
RESTRICT(emp, lambda tup: tup["SALARY"] <= "40K").display()
