def on_change(self):
super(Logger, self).on_change()
if self._changed_observables:
motive_tt = motive.frame_time_stamp()
tt = time.clock()
for obs in self._changed_observables:
line = {}
line['MotiveTime'] = motive_tt
line['Time'] = tt
line['Name'] = obs.name
line['Class'] = obs.__class__.__name__
line['Visible'] = obs.visible
line['x'], line['y'], line['z'] = obs.position.xyz
rot_euler = obs.rotation.to_euler(units='rad')
line['rot_x'], line['rot_y'], line['rot_z'] = rot_euler.xyz
rot_quat = obs.rotation.to_quaternion()
line['quat_w'], line['quat_x'], line['quat_y'], line[
'quat_z'] = rot_quat.wxyz
line['glob_x'], line['glob_y'], line[
'glob_z'] = obs.position_global
line['ori_x'], line['ori_y'], line['ori_z'] = obs.orientation
line['glob_ori_x'], line['glob_ori_y'], line[
'glob_ori_z'] = obs.orientation_global
self.writer.writerow(line)
def ray_scan(window):
circle = window.active_scene.meshes[0]
circle.visible = True
# Do some non-random points to so human can change height range.
pointPos, screenPos = [], []
for pos in [(0, 0), (-.5, 0), (.5, 0)]:
circle.x, circle.y = pos
window.draw()
window.flip()
for _ in timers.countdown_timer(5, stop_iteration=True):
motive.update()
markers = motive.get_unident_markers()
old_time = motive.frame_time_stamp()
if motive.frame_time_stamp() > old_time + .3 and len(markers) == 1:
if markers[0][1] > 0.1:
screenPos.append(circle.position[:2])
pointPos.append(markers[0])
old_time = motive.frame_time_stamp()
return screenPos, pointPos
def scan(pointwidth=.06):
"""Project a series of points onto the arena, collect their 3d position, and save them and the associated
rigid body data into a pickled file."""
# Initialize Calibration Point Grid.
wavefront_reader = rc.WavefrontReader(rc.resources.obj_primitives)
mesh = wavefront_reader.get_mesh('Grid', scale=1.5, drawstyle='point', point_size=12, position=(0,0,-1))
# mesh.material.diffuse.rgb = 1, 1, 1
scene = rc.Scene([mesh], bgColor=(0,0,0))
scene.camera.ortho_mode = True
window = visual.Window(screen=1, fullscr=True)
# Main Loop
old_frame, clock, points = motive.frame_time_stamp(), utils.timers.countdown_timer(3.), []
for theta in np.linspace(0, 2*np.pi, 40)[:-1]:
# Update Screen
scene.camera.position = (pointwidth * np.sin(theta)), (pointwidth * np.cos(theta)), -1
scene.draw()
window.flip()
# Collect New Tracker Data
old_frame = motive.frame_time_stamp()
while motive.frame_time_stamp() == old_frame:
motive.flush_camera_queues()
motive.update()
# Collect 3D points from Tracker
markers = motive.get_unident_markers()
if markers:
points.extend(markers)
# Housekeeping
window.close()
# Data quality checks and return.
return np.array(points)
