def update_generator():
last_time= time.time()
rig_data = ', '.join(['{0}: {1}'.format(body.name, body.color_name) for body in rigs.values()])
while True:
m.update()
# Update Title with new FPS
try:
fps = round(1. / (time.time() - last_time))
last_time = time.time()
w.setWindowTitle('MotivePy Viewer. Rigid Bodies = {{{rigid_bodies}}}. Update Rate: {fps} fps'.format(rigid_bodies = rig_data, fps=fps))
except ZeroDivisionError:
pass
# Plot
markers = m.get_unident_markers()
if markers:
unident_markers.setData(pos=np.array(m.get_unident_markers()))
for rig, scat in zip(rigs.values(), w.items[1:-1]):
scat.setData(pos=np.array(rig.point_cloud_markers))
# Return Nothing
yield
def random_scan(window, scene, n_points=300):
circle = scene.root.children[0]
screenPos, pointPos = [], []
collect_fmt, missed_fmt, missed_cnt = ", Points Collected: ", ", Points Missed: ", 0
pbar = pb.ProgressBar(widgets=[pb.Bar(), pb.ETA(), collect_fmt +'0', missed_fmt+'0'], maxval=n_points)
pbar.start()
while len(pointPos) < n_points and 'escape' not in event.getKeys():
# Update position of circle, and draw.
circle.visible = True
homogenous_pos = np.random.random(2) - .5
circle.x, circle.y = homogenous_pos * [1.8, 1]
slow_draw(window, scene)
motive.update()
# Try to isolate a single point.
for _ in timers.countdown_timer(.2, stop_iteration=True):
motive.flush_camera_queues()
motive.update()
markers = motive.get_unident_markers()
if markers and markers[0][1] > 0.:
screenPos.append(circle.position[:2])
# Update Progress Bar
pointPos.append(markers[0])
pbar.widgets[2] = collect_fmt + str(len(pointPos))
pbar.update(len(pointPos))
break
else:
# Update Progress bar
missed_cnt += 1
pbar.widgets[3] = missed_fmt + str(missed_cnt)
pbar.update(len(pointPos))
# Hide circle, and wait again for a new update.
circle.visible = False
slow_draw(window, scene)
motive.update()
motive.flush_camera_queues()
while len(motive.get_unident_markers()) > 0:
motive.update()
motive.flush_camera_queues()
return np.array(screenPos), np.array(pointPos)
def detect_projection_point(self, dt):
"""Use Motive to detect the projected mesh in 3D space"""
motive.flush_camera_queues()
for el in range(2):
motive.update()
markers = motive.get_unident_markers()
markers = [marker for marker in markers if 0.08 < marker[1] < 0.50]
click.echo("{} markers detected.".format(len(markers)))
self.marker_pos.extend(markers)
def detect_projection_point(self, dt):
"""Use Motive to detect the projected mesh in 3D space"""
motive.flush_camera_queues()
for el in range(2):
motive.update()
markers = motive.get_unident_markers()
markers = [marker for marker in markers if marker[1] < 0.50 and marker[1] > 0.08]
if len(markers) == 1:
click.echo(markers)
self.screen_pos.append([self.mesh.x, self.mesh.y])
self.marker_pos.append(markers[0])
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)