class SpecificWorker(GenericWorker):
def __init__(self, proxy_map):
super(SpecificWorker, self).__init__(proxy_map)
self.timer.timeout.connect(self.compute)
self.Period = 20
self.timer.start(self.Period)
self.visualizer = Visualizer()
self.cam_timer = Timer(fps=30)
self.pose_timer = Timer(fps=10)
self.inference_timer = Timer(fps=10)
self.print_timer = Timer(fps=0.5)
self.camera_image = None
self.img_restored = None
self.skeleton2d = None
self.skeleton3d = None
def setParams(self, params):
return True
def adjustSkeleton(self, skeleton):
# adjust the data to fit the activity recognition inference requirements
skeleton = np.swapaxes(skeleton, 0, 1)
skel_copy = np.copy(skeleton)
torso = (skel_copy[:, 8] + skel_copy[:, 6]) / 2
skeleton = skeleton[:, _joints_order_cad]
skeleton[:, 2] = torso
# pose estimator return values in meters, activity recognition expects values in mm
skeleton = skeleton * 1000
# in CAD-60 left and right sides are mirrored and z increases in depth direction
skeleton[0, :] *= -1
skeleton[1, :] *= -1
skeleton[2, :] *= -1
# skeleton[2, 3:] += 2000
return skeleton
@QtCore.Slot()
def compute(self):
now = current_milli_time()
cam_ready = self.cam_timer.isReady(now)
if cam_ready:
try:
self.camera_image = self.camerasimple_proxy.getImage()
arr = np.fromstring(self.camera_image.image, np.uint8)
self.img_restored = np.reshape(
arr, (self.camera_image.width, self.camera_image.height,
self.camera_image.depth))
except Ice.Exception as e:
traceback.print_exc()
print(e)
if self.pose_timer.isReady(now):
skeleton2d, skeleton3d = self.poseestimation_proxy.getSkeleton(
self.img_restored.data, [
self.camera_image.width, self.camera_image.height,
self.camera_image.depth
])
self.skeleton2d = np.asarray(skeleton2d)
self.skeleton3d = np.asarray(skeleton3d, dtype=np.float32)
self.skeleton3d = self.adjustSkeleton(skeleton3d)
if cam_ready:
self.visualizer.add_img(self.img_restored)
if self.skeleton2d is not None:
self.visualizer.add_point_2d(self.skeleton2d, (255, 0, 0))
self.visualizer.show_all_imgs(pause=False)
if self.inference_timer.isReady(now):
ready = self.activityrecognition_proxy.addSkeleton(self.skeleton3d)
if ready and self.print_timer.isReady(now):
activity = self.activityrecognition_proxy.getCurrentActivity()
print
try:
activity = json.loads(activity)
for clazz, prob in sorted(activity.items(),
key=lambda x: float(x[1]),
reverse=True):
print(clazz + ': ' + prob)
except:
print(activity)
return True
