def __init__(self):
ShowBase.__init__(self)
self.bandit = Actor("banditRiggedNoHat.egg")
self.bandit.makeSubpart("r_leg", self.R_LEG_JOINTS)
self.bandit.makeSubpart("l_leg", self.L_LEG_JOINTS)
headJoint = self.bandit.exposeJoint(None, "modelRoot", "joint5")
hat = loader.loadModel("{}_hat.egg".format(random.randint(0, 7)))
hat.setPos(0, 0, -0.08)
hat.setHpr(-90, 0, 0)
hat.setScale(0.35)
hat.reparentTo(headJoint)
self.bandit.reparentTo(render)
r_hip_ro = self.bandit.exposeJoint(None, "modelRoot",
self.R_LEG_JOINTS[0])
r_hip_wo = self.bandit.controlJoint(None, "modelRoot",
self.R_LEG_JOINTS[0])
r_knee_ro = self.bandit.exposeJoint(None, "modelRoot",
self.R_LEG_JOINTS[1])
r_knee_wo = self.bandit.controlJoint(None, "modelRoot",
self.R_LEG_JOINTS[1])
r_ankle_ro = self.bandit.exposeJoint(None, "modelRoot",
self.R_LEG_JOINTS[2])
r_ankle_wo = self.bandit.controlJoint(None, "modelRoot",
self.R_LEG_JOINTS[2])
distances = np.array([
r_hip_ro.getDistance(r_knee_ro),
r_knee_ro.getDistance(r_ankle_ro)
])
self.r_leg = Leg.Leg(r_hip_ro, r_hip_wo, r_knee_ro, r_knee_wo,
r_ankle_ro, r_ankle_wo, distances)
l_hip = self.bandit.controlJoint(None, "modelRoot",
self.L_LEG_JOINTS[0])
l_knee = self.bandit.controlJoint(None, "modelRoot",
self.L_LEG_JOINTS[1])
l_ankle = self.bandit.exposeJoint(None, "modelRoot",
self.L_LEG_JOINTS[2])
distances = np.array(
[l_hip.getDistance(l_knee),
l_knee.getDistance(l_ankle)])
#self.l_leg = Leg.Leg(l_hip, l_knee, l_ankle, distances)
self.accept("arrow_up", self.r_leg.moveAnkle, [(0, 0, 0.1)])
self.accept("arrow_down", self.r_leg.moveAnkle, [(0, 0, -0.1)])
self.accept("arrow_left", self.r_leg.rotateAnkle, [(0, 0, 10)])
self.accept("arrow_right", self.r_leg.rotateAnkle, [(0, 0, -10)])
# Draws debug skeleton
self.bandit.setBin('background', 1)
self.walkJointHierarchy(self.bandit,
self.bandit.getPartBundle('modelRoot'))
self.stream = StreamRead("/dev/input/smartshoes")
self.last_t = time.time()
taskMgr.add(self.getDeviceData, 'Stream reader')
def main(args):
maya = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# Connect to Maya (Maya must be listening)
maya.connect(("127.0.0.1", 7777))
vals = {"tx" : 0, "ty" : 0, "tz" : 0, "rx" : 0, "ry" : 0, "rz" : 0}
data = {"ANKLE_L" : vals.copy(), "TOE_L" : vals.copy(), "ANKLE_R" : vals.copy(), "TOE_R" : vals.copy()}
startTime = time.time()
duration = 60
stream = StreamRead("/dev/input/smartshoes")
# DEBUGGING (RUN WITHOUT DEVICE)
if args.debug:
while time.time() < startTime + duration:
# Random rotation values
data["ANKLE_L"]["rx"] = random.uniform(0,20)
data["ANKLE_L"]["ry"] = random.uniform(0,20)
data["ANKLE_L"]["rz"] = random.uniform(0,20)
data["ANKLE_L"]["tx"] = random.uniform(0,10)
data["ANKLE_L"]["ty"] = random.uniform(0,10)
data["ANKLE_L"]["tz"] = random.uniform(0,10)
data["ANKLE_R"]["rx"] = random.uniform(0,20)
data["ANKLE_R"]["ry"] = random.uniform(0,20)
data["ANKLE_R"]["rz"] = random.uniform(0,20)
data["ANKLE_R"]["tx"] = random.uniform(0,10)
data["ANKLE_R"]["ty"] = random.uniform(0,10)
data["ANKLE_R"]["tz"] = random.uniform(0,10)
jsonData = re.sub(r"\"", "\'", json.dumps(data))
print(jsonData)
maya.send(jsonData)
time.sleep(0.1)
return
r_leg_rotation = RotationCorrector()
while time.time() < startTime + duration:
records = stream.readFromStream()
if records and len(records[0]) == 10:
records = map(float, records[0])
angular_velocity, acceleration, magnetic_field = [records[x:x+3] for x in range(0, 9, 3)]
# Switch axis orientations
#angular_velocity[2], angular_velocity[0] = angular_velocity[0], angular_velocity[2]
#acceleration[2], acceleration[0] = acceleration[0], acceleration[2]
#magnetic_field[2], magnetic_field[0] = magnetic_field[0], magnetic_field[2]
r_leg_rotation.rotationMagic(records[9], angular_velocity, acceleration, magnetic_field)
data["ANKLE_R"]["ry"], data["ANKLE_R"]["rx"], data["ANKLE_R"]["rz"] = r_leg_rotation.getHpr()
jsonData = re.sub(r"\"", "\'", json.dumps(data))
maya.send(jsonData)
def __init__(self):
ShowBase.__init__(self)
self.bandit = Actor("banditRiggedNoHat.egg")
self.bandit.makeSubpart("r_leg", self.R_LEG_JOINTS)
self.bandit.makeSubpart("l_leg", self.L_LEG_JOINTS)
headJoint = self.bandit.exposeJoint(None, "modelRoot", "joint5")
hat = loader.loadModel("{}_hat.egg".format(random.randint(0, 7)))
hat.setPos(0, 0, -0.08)
hat.setHpr(-90, 0, 0)
hat.setScale(0.35)
hat.reparentTo(headJoint)
self.bandit.reparentTo(render)
r_hip_ro = self.bandit.exposeJoint(None, "modelRoot", self.R_LEG_JOINTS[0])
r_hip_wo = self.bandit.controlJoint(None, "modelRoot", self.R_LEG_JOINTS[0])
r_knee_ro = self.bandit.exposeJoint(None, "modelRoot", self.R_LEG_JOINTS[1])
r_knee_wo = self.bandit.controlJoint(None, "modelRoot", self.R_LEG_JOINTS[1])
r_ankle_ro = self.bandit.exposeJoint(None, "modelRoot", self.R_LEG_JOINTS[2])
r_ankle_wo = self.bandit.controlJoint(None, "modelRoot", self.R_LEG_JOINTS[2])
distances = np.array([r_hip_ro.getDistance(r_knee_ro), r_knee_ro.getDistance(r_ankle_ro)])
self.r_leg = Leg.Leg(r_hip_ro, r_hip_wo, r_knee_ro, r_knee_wo, r_ankle_ro, r_ankle_wo, distances)
l_hip = self.bandit.controlJoint(None, "modelRoot", self.L_LEG_JOINTS[0])
l_knee = self.bandit.controlJoint(None, "modelRoot", self.L_LEG_JOINTS[1])
l_ankle = self.bandit.exposeJoint(None, "modelRoot", self.L_LEG_JOINTS[2])
distances = np.array([l_hip.getDistance(l_knee), l_knee.getDistance(l_ankle)])
#self.l_leg = Leg.Leg(l_hip, l_knee, l_ankle, distances)
self.accept("arrow_up", self.r_leg.moveAnkle, [(0, 0, 0.1)])
self.accept("arrow_down", self.r_leg.moveAnkle, [(0, 0, -0.1)])
self.accept("arrow_left", self.r_leg.rotateAnkle, [(0, 0, 10)])
self.accept("arrow_right", self.r_leg.rotateAnkle, [(0, 0, -10)])
# Draws debug skeleton
self.bandit.setBin('background', 1)
self.walkJointHierarchy(self.bandit, self.bandit.getPartBundle('modelRoot'))
self.stream = StreamRead("/dev/input/smartshoes")
self.last_t = time.time()
taskMgr.add(self.getDeviceData, 'Stream reader')
# Prints out the calibration values for the gyro
# This can be terminated early with Ctrl+C and still print out the values
#Allows for relative import
import sys, os, argparse
sys.path.append(os.path.abspath("../"))
from utils.streamUtils.StreamRead import StreamRead
parser = argparse.ArgumentParser(description = "Demo stream reading application - reads data from smart shoes stream and print to terminal")
parser.add_argument("-s", action = "store", default = "/dev/input/smartshoes", type = str, dest = "streamFile", help = "The Name of the stream to write to (default: /dev/input/smartshoes)")
inputArgs = parser.parse_args()
#open stream reader
stream = StreamRead(inputArgs.streamFile)
#continually poll stream
iterations = 0
x = 0.0
y = 0.0
z = 0.0
while iterations < 32:
records = stream.readFromStream()
if records and len(records[0]) == 10:
x += float(records[0][3])
y += float(records[0][4])
z += float(records[0][5])
iterations += 1
print "Offsets: {}, {}, {}".format(x/iterations, y/iterations, z/iterations)
def main(args):
maya = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# Connect to Maya (Maya must be listening)
maya.connect(("127.0.0.1", 7777))
vals = {"tx": 0, "ty": 0, "tz": 0, "rx": 0, "ry": 0, "rz": 0}
data = {
"ANKLE_L": vals.copy(),
"TOE_L": vals.copy(),
"ANKLE_R": vals.copy(),
"TOE_R": vals.copy()
}
startTime = time.time()
duration = 60
stream = StreamRead("/dev/input/smartshoes")
# DEBUGGING (RUN WITHOUT DEVICE)
if args.debug:
while time.time() < startTime + duration:
# Random rotation values
data["ANKLE_L"]["rx"] = random.uniform(0, 20)
data["ANKLE_L"]["ry"] = random.uniform(0, 20)
data["ANKLE_L"]["rz"] = random.uniform(0, 20)
data["ANKLE_L"]["tx"] = random.uniform(0, 10)
data["ANKLE_L"]["ty"] = random.uniform(0, 10)
data["ANKLE_L"]["tz"] = random.uniform(0, 10)
data["ANKLE_R"]["rx"] = random.uniform(0, 20)
data["ANKLE_R"]["ry"] = random.uniform(0, 20)
data["ANKLE_R"]["rz"] = random.uniform(0, 20)
data["ANKLE_R"]["tx"] = random.uniform(0, 10)
data["ANKLE_R"]["ty"] = random.uniform(0, 10)
data["ANKLE_R"]["tz"] = random.uniform(0, 10)
jsonData = re.sub(r"\"", "\'", json.dumps(data))
print(jsonData)
maya.send(jsonData)
time.sleep(0.1)
return
r_leg_rotation = RotationCorrector()
while time.time() < startTime + duration:
records = stream.readFromStream()
if records and len(records[0]) == 10:
records = map(float, records[0])
angular_velocity, acceleration, magnetic_field = [
records[x:x + 3] for x in range(0, 9, 3)
]
# Switch axis orientations
#angular_velocity[2], angular_velocity[0] = angular_velocity[0], angular_velocity[2]
#acceleration[2], acceleration[0] = acceleration[0], acceleration[2]
#magnetic_field[2], magnetic_field[0] = magnetic_field[0], magnetic_field[2]
r_leg_rotation.rotationMagic(records[9], angular_velocity,
acceleration, magnetic_field)
data["ANKLE_R"]["ry"], data["ANKLE_R"]["rx"], data["ANKLE_R"][
"rz"] = r_leg_rotation.getHpr()
jsonData = re.sub(r"\"", "\'", json.dumps(data))
maya.send(jsonData)
class MayaDemo(ShowBase):
R_LEG_JOINTS = ["joint6", "joint7", "joint8"]
L_LEG_JOINTS = ["joint10", "joint11", "joint12"]
def __init__(self):
ShowBase.__init__(self)
self.bandit = Actor("banditRiggedNoHat.egg")
self.bandit.makeSubpart("r_leg", self.R_LEG_JOINTS)
self.bandit.makeSubpart("l_leg", self.L_LEG_JOINTS)
headJoint = self.bandit.exposeJoint(None, "modelRoot", "joint5")
hat = loader.loadModel("{}_hat.egg".format(random.randint(0, 7)))
hat.setPos(0, 0, -0.08)
hat.setHpr(-90, 0, 0)
hat.setScale(0.35)
hat.reparentTo(headJoint)
self.bandit.reparentTo(render)
r_hip_ro = self.bandit.exposeJoint(None, "modelRoot",
self.R_LEG_JOINTS[0])
r_hip_wo = self.bandit.controlJoint(None, "modelRoot",
self.R_LEG_JOINTS[0])
r_knee_ro = self.bandit.exposeJoint(None, "modelRoot",
self.R_LEG_JOINTS[1])
r_knee_wo = self.bandit.controlJoint(None, "modelRoot",
self.R_LEG_JOINTS[1])
r_ankle_ro = self.bandit.exposeJoint(None, "modelRoot",
self.R_LEG_JOINTS[2])
r_ankle_wo = self.bandit.controlJoint(None, "modelRoot",
self.R_LEG_JOINTS[2])
distances = np.array([
r_hip_ro.getDistance(r_knee_ro),
r_knee_ro.getDistance(r_ankle_ro)
])
self.r_leg = Leg.Leg(r_hip_ro, r_hip_wo, r_knee_ro, r_knee_wo,
r_ankle_ro, r_ankle_wo, distances)
l_hip = self.bandit.controlJoint(None, "modelRoot",
self.L_LEG_JOINTS[0])
l_knee = self.bandit.controlJoint(None, "modelRoot",
self.L_LEG_JOINTS[1])
l_ankle = self.bandit.exposeJoint(None, "modelRoot",
self.L_LEG_JOINTS[2])
distances = np.array(
[l_hip.getDistance(l_knee),
l_knee.getDistance(l_ankle)])
#self.l_leg = Leg.Leg(l_hip, l_knee, l_ankle, distances)
self.accept("arrow_up", self.r_leg.moveAnkle, [(0, 0, 0.1)])
self.accept("arrow_down", self.r_leg.moveAnkle, [(0, 0, -0.1)])
self.accept("arrow_left", self.r_leg.rotateAnkle, [(0, 0, 10)])
self.accept("arrow_right", self.r_leg.rotateAnkle, [(0, 0, -10)])
# Draws debug skeleton
self.bandit.setBin('background', 1)
self.walkJointHierarchy(self.bandit,
self.bandit.getPartBundle('modelRoot'))
self.stream = StreamRead("/dev/input/smartshoes")
self.last_t = time.time()
taskMgr.add(self.getDeviceData, 'Stream reader')
def getDeviceData(self, task):
records = self.stream.readFromStream()
if records and len(records[0]) == 10:
records = map(float, records[0])
angular_velocity, acceleration, magnetic_field = [
records[x:x + 3] for x in range(0, 9, 3)
]
# Switch axis orientations
angular_velocity[2], angular_velocity[0] = angular_velocity[
0], angular_velocity[2]
acceleration[2], acceleration[0] = acceleration[0], acceleration[2]
magnetic_field[2], magnetic_field[0] = magnetic_field[
0], magnetic_field[2]
self.r_leg.ankle_rotation.rotationMagic(records[9],
angular_velocity,
acceleration,
magnetic_field)
self.r_leg.updateAnkleRotation()
return task.again
def walkJointHierarchy(self, actor, part, parentNode=None, indent=""):
if isinstance(part, CharacterJoint):
np = actor.exposeJoint(None, 'modelRoot', part.getName())
if parentNode and parentNode.getName() != "root":
lines = LineSegs()
lines.setThickness(3.0)
lines.setColor(random.random(), random.random(),
random.random())
lines.moveTo(0, 0, 0)
lines.drawTo(np.getPos(parentNode))
lnp = parentNode.attachNewNode(lines.create())
lnp.setBin("fixed", 40)
lnp.setDepthWrite(False)
lnp.setDepthTest(False)
parentNode = np
for child in part.getChildren():
self.walkJointHierarchy(actor, child, parentNode, indent + " ")
class MayaDemo(ShowBase):
R_LEG_JOINTS = ["joint6", "joint7", "joint8"]
L_LEG_JOINTS = ["joint10", "joint11", "joint12"]
def __init__(self):
ShowBase.__init__(self)
self.bandit = Actor("banditRiggedNoHat.egg")
self.bandit.makeSubpart("r_leg", self.R_LEG_JOINTS)
self.bandit.makeSubpart("l_leg", self.L_LEG_JOINTS)
headJoint = self.bandit.exposeJoint(None, "modelRoot", "joint5")
hat = loader.loadModel("{}_hat.egg".format(random.randint(0, 7)))
hat.setPos(0, 0, -0.08)
hat.setHpr(-90, 0, 0)
hat.setScale(0.35)
hat.reparentTo(headJoint)
self.bandit.reparentTo(render)
r_hip_ro = self.bandit.exposeJoint(None, "modelRoot", self.R_LEG_JOINTS[0])
r_hip_wo = self.bandit.controlJoint(None, "modelRoot", self.R_LEG_JOINTS[0])
r_knee_ro = self.bandit.exposeJoint(None, "modelRoot", self.R_LEG_JOINTS[1])
r_knee_wo = self.bandit.controlJoint(None, "modelRoot", self.R_LEG_JOINTS[1])
r_ankle_ro = self.bandit.exposeJoint(None, "modelRoot", self.R_LEG_JOINTS[2])
r_ankle_wo = self.bandit.controlJoint(None, "modelRoot", self.R_LEG_JOINTS[2])
distances = np.array([r_hip_ro.getDistance(r_knee_ro), r_knee_ro.getDistance(r_ankle_ro)])
self.r_leg = Leg.Leg(r_hip_ro, r_hip_wo, r_knee_ro, r_knee_wo, r_ankle_ro, r_ankle_wo, distances)
l_hip = self.bandit.controlJoint(None, "modelRoot", self.L_LEG_JOINTS[0])
l_knee = self.bandit.controlJoint(None, "modelRoot", self.L_LEG_JOINTS[1])
l_ankle = self.bandit.exposeJoint(None, "modelRoot", self.L_LEG_JOINTS[2])
distances = np.array([l_hip.getDistance(l_knee), l_knee.getDistance(l_ankle)])
#self.l_leg = Leg.Leg(l_hip, l_knee, l_ankle, distances)
self.accept("arrow_up", self.r_leg.moveAnkle, [(0, 0, 0.1)])
self.accept("arrow_down", self.r_leg.moveAnkle, [(0, 0, -0.1)])
self.accept("arrow_left", self.r_leg.rotateAnkle, [(0, 0, 10)])
self.accept("arrow_right", self.r_leg.rotateAnkle, [(0, 0, -10)])
# Draws debug skeleton
self.bandit.setBin('background', 1)
self.walkJointHierarchy(self.bandit, self.bandit.getPartBundle('modelRoot'))
self.stream = StreamRead("/dev/input/smartshoes")
self.last_t = time.time()
taskMgr.add(self.getDeviceData, 'Stream reader')
def getDeviceData(self, task):
records = self.stream.readFromStream()
if records and len(records[0]) == 10:
records = map(float, records[0])
angular_velocity, acceleration, magnetic_field = [records[x:x+3] for x in range(0, 9, 3)]
# Switch axis orientations
angular_velocity[2], angular_velocity[0] = angular_velocity[0], angular_velocity[2]
acceleration[2], acceleration[0] = acceleration[0], acceleration[2]
magnetic_field[2], magnetic_field[0] = magnetic_field[0], magnetic_field[2]
self.r_leg.ankle_rotation.rotationMagic(records[9], angular_velocity, acceleration, magnetic_field)
self.r_leg.updateAnkleRotation()
return task.again
def walkJointHierarchy(self, actor, part, parentNode = None, indent = ""):
if isinstance(part, CharacterJoint):
np = actor.exposeJoint(None, 'modelRoot', part.getName())
if parentNode and parentNode.getName() != "root":
lines = LineSegs()
lines.setThickness(3.0)
lines.setColor(random.random(), random.random(), random.random())
lines.moveTo(0, 0, 0)
lines.drawTo(np.getPos(parentNode))
lnp = parentNode.attachNewNode(lines.create())
lnp.setBin("fixed", 40)
lnp.setDepthWrite(False)
lnp.setDepthTest(False)
parentNode = np
for child in part.getChildren():
self.walkJointHierarchy(actor, child, parentNode, indent + " ")
#Allows for relative import
import sys, os, argparse
sys.path.append(os.path.abspath("../"))
from utils.streamUtils.StreamRead import StreamRead
parser = argparse.ArgumentParser(
description=
"Demo stream reading application - reads data from smart shoes stream and print to terminal"
)
parser.add_argument(
"-s",
action="store",
default="/dev/input/smartshoes",
type=str,
dest="streamFile",
help="The Name of the stream to write to (default: /dev/input/smartshoes)")
inputArgs = parser.parse_args()
#open stream reader
stream = StreamRead(inputArgs.streamFile)
#continually poll stream
while True:
records = stream.readFromStream()
if records:
for recordList in records:
print recordList
#print map((lambda x: "%05d" % int(x)), recordList)
def __init__(self, inputArgs):
self.debug = inputArgs.debug
exclude_idxs = [9]
# Value to determine how long to wait for hold gestures, and how many
# samples to take for explicit gestures
self.numSamples = 5
# Timeout for taking explicit samples
self.ExplTimeout = 3
# Center the window on the screen
os.environ['SDL_VIDEO_CENTERED'] = '1'
pygame.init()
size = width, height = 1500, 800
speed = [2, 2]
black = 0, 0, 0
self.screen = pygame.display.set_mode(size)
pygame.display.set_caption('FootGest Data capture')
# Fill background
self.background = pygame.Surface(self.screen.get_size())
self.background = self.background.convert()
self.background.fill((250, 250, 250))
# Blit everything to the screen
self.screen.blit(self.background, (0, 0))
pygame.display.flip()
#self.c = calibration.Calibration()
# Open input file
if not self.debug:
self.stream = StreamRead(inputArgs.streamFile, exclude_indexes = exclude_idxs)
self.gesture_classes = [{
"className" : "REST",
"type" : "HOLD",
"desc" : "keep your feet at rest"},
{
"className" : "LEFT-FOOT-STOMP",
"type" : "EXPL",
"desc" : "stamp your left foot"},
{
"className" : "LEFT-TOE-UP",
"type" : "HOLD",
"desc" : "raise your left toe while your heel is on the ground"},
{
"className" : "LEFT-TOE-TAP",
"type" : "EXPL",
"desc" : "tap your left toe once"},
{
"className" : "LEFT-HEEL-TAP",
"type" : "EXPL",
"desc" : "tap your left heel once"},
{
"className" : "LEFT-HEEL-RAISE",
"type" : "HOLD",
"desc" : "raise your left heel"},
{
"className" : "LEFT-FOOT-FLICKLEFT",
"type" : "EXPL",
"desc" : "flick your left foot to the left"},
{
"className" : "LEFT-FOOT-FLICKRIGHT",
"type" : "EXPL",
"desc" : "flick your left foot to the right"},
]
#generate trial orders
trials = self.genTrials(inputArgs.num_trials)
#run trials
for trial in trials:
print "Capturing Gesture:", trial["className"]
if trial["type"] == "HOLD":
self.captureHold(inputArgs.DIR, trial["className"], trial["desc"])
self.endTrial()
else:
# Explicit gesture movement
for i in xrange(0, self.numSamples):
self.captureExplicit(inputArgs.DIR, trial["className"], trial["desc"])
self.endTrial()
class main():
def __init__(self, inputArgs):
self.debug = inputArgs.debug
exclude_idxs = [9]
# Value to determine how long to wait for hold gestures, and how many
# samples to take for explicit gestures
self.numSamples = 5
# Timeout for taking explicit samples
self.ExplTimeout = 3
# Center the window on the screen
os.environ['SDL_VIDEO_CENTERED'] = '1'
pygame.init()
size = width, height = 1500, 800
speed = [2, 2]
black = 0, 0, 0
self.screen = pygame.display.set_mode(size)
pygame.display.set_caption('FootGest Data capture')
# Fill background
self.background = pygame.Surface(self.screen.get_size())
self.background = self.background.convert()
self.background.fill((250, 250, 250))
# Blit everything to the screen
self.screen.blit(self.background, (0, 0))
pygame.display.flip()
#self.c = calibration.Calibration()
# Open input file
if not self.debug:
self.stream = StreamRead(inputArgs.streamFile, exclude_indexes = exclude_idxs)
self.gesture_classes = [{
"className" : "REST",
"type" : "HOLD",
"desc" : "keep your feet at rest"},
{
"className" : "LEFT-FOOT-STOMP",
"type" : "EXPL",
"desc" : "stamp your left foot"},
{
"className" : "LEFT-TOE-UP",
"type" : "HOLD",
"desc" : "raise your left toe while your heel is on the ground"},
{
"className" : "LEFT-TOE-TAP",
"type" : "EXPL",
"desc" : "tap your left toe once"},
{
"className" : "LEFT-HEEL-TAP",
"type" : "EXPL",
"desc" : "tap your left heel once"},
{
"className" : "LEFT-HEEL-RAISE",
"type" : "HOLD",
"desc" : "raise your left heel"},
{
"className" : "LEFT-FOOT-FLICKLEFT",
"type" : "EXPL",
"desc" : "flick your left foot to the left"},
{
"className" : "LEFT-FOOT-FLICKRIGHT",
"type" : "EXPL",
"desc" : "flick your left foot to the right"},
]
#generate trial orders
trials = self.genTrials(inputArgs.num_trials)
#run trials
for trial in trials:
print "Capturing Gesture:", trial["className"]
if trial["type"] == "HOLD":
self.captureHold(inputArgs.DIR, trial["className"], trial["desc"])
self.endTrial()
else:
# Explicit gesture movement
for i in xrange(0, self.numSamples):
self.captureExplicit(inputArgs.DIR, trial["className"], trial["desc"])
self.endTrial()
## Utility Methods ##
#generate a random ordering of trials
def genTrials(self, num_trials):
trials = []
for c in self.gesture_classes:
for i in xrange(0, num_trials):
trials.append(c)
random.shuffle(trials)
return trials
#Write test message to screen
def textToScreen(self, text, y_pos=10):
self.background = pygame.Surface(self.screen.get_size())
self.background = self.background.convert()
self.background.fill((250, 250, 250))
font = pygame.font.Font(None, 28)
text = font.render(text, 1, (10, 10, 10))
textpos = text.get_rect()
textpos.centerx = self.background.get_rect().centerx
self.background.blit(text, textpos)
self.screen.blit(self.background, (0, y_pos))
pygame.display.flip()
#Display message and wait for next test
def endTrial(self):
self.textToScreen("Thank you. Please rest your feet and wait for the next test.")
sleepEnd = time.time() + 2
while time.time() < sleepEnd:
for event in pygame.event.get():
if event.type == pygame.KEYDOWN :
# Means that spaces don't carry over to next trial
pass
## File Utilities ##
#make data file with Class name an Uniqie ID
def makeFile(self, dir_name, class_name):
return file(os.path.join(dir_name, class_name + '_' + str(uuid.uuid1()) + '.csv'), 'w+')
#Write list of data points to file
def writeData(self, file, data):
enc_data = ','.join(map(str,data)) + '\n'
file.write(enc_data)
## Trial Methods ##
# Base capture method - Press space, do gesture and hold
def captureHold(self, dir_name, gesture, displayText):
self.textToScreen("Press SPACE, " + displayText + ", and hold for the next " + str(self.numSamples) + " seconds")
mov = GestVid(gesture, self.screen)
ready = False
# Wait for user to begin test
while not ready:
mov.update()
for event in pygame.event.get():
if event.type == pygame.KEYDOWN :
if event.key == pygame.K_SPACE :
ready = True
if self.debug:
for i in xrange(0, self.numSamples):
self.textToScreen("Please wait " + str(self.numSamples-i) + " seconds")
# Don't capture data
time.sleep(1)
return
# Capture data for as long as holdLength (seconds)
for i in xrange(0, self.numSamples):
self.textToScreen("Please wait " + str(self.numSamples-i) + " seconds")
output_file = self.makeFile(dir_name, gesture)
#output_file_calibrated = self.makeFile(dir_name + "_calib", gesture)
self.stream.emptyStreamBuffer()
stop = time.time() + 1
while time.time() < stop:
records = self.stream.readFromStream()
for record in records:
self.writeData(output_file, record)
#if len(record) < 9:
# self.writeData(output_file_calibrated, record)
#else:
# self.writeData(output_file_calibrated, list(self.c.process(*[float(i) for i in record])))
# Base capture method - Press space, do gesture, then press space
def captureExplicit(self, dir_name, gesture, displayText):
self.textToScreen("Press SPACE, " + displayText + ", and then press SPACE as soon as you are done")
mov = GestVid(gesture, self.screen)
if not self.debug:
output_file = self.makeFile(dir_name, gesture)
#output_file_calibrated = self.makeFile(dir_name + "_calib", gesture)
ready = False
done = False
# Wait for user to begin test
while not ready:
mov.update()
for event in pygame.event.get():
if event.type == pygame.KEYDOWN :
if event.key == pygame.K_SPACE :
ready = True
startTime = time.time()
if not self.debug:
self.stream.emptyStreamBuffer()
self.textToScreen(displayText + ", and then press SPACE as soon as you are done")
# Capture data until space is pressed or reached timeout
while not done and time.time() < startTime+self.ExplTimeout :
if not self.debug:
records = self.stream.readFromStream()
for record in records:
self.writeData(output_file, record)
#if len(record) < 9:
# self.writeData(output_file_calibrated, record)
#else:
# self.writeData(output_file_calibrated, list(self.c.process(*[float(i) for i in record])))
for event in pygame.event.get():
if event.type == pygame.KEYDOWN :
# Check that we've captured data for at least 0.3 seconds before quitting
if event.key == pygame.K_SPACE and time.time() > startTime+0.3 :
done = True
parser = argparse.ArgumentParser(
description=
"Demo stream reading application - reads data from smart shoes stream and print to terminal"
)
parser.add_argument(
"-s",
action="store",
default="/dev/input/smartshoes",
type=str,
dest="streamFile",
help="The Name of the stream to write to (default: /dev/input/smartshoes)")
inputArgs = parser.parse_args()
#open stream reader
stream = StreamRead(inputArgs.streamFile)
class SubplotAnimation(animation.TimedAnimation):
def __init__(self):
fig = plt.figure()
self.axes = []
self.lines = []
self.annotations = []
for i in xrange(0, 9):
axis = fig.add_subplot(3, 3, i + 1)
axis.set_ylim(-1, 1)
axis.set_xlim(0, 50)
axis.grid()
self.axes.append(axis)
class main():
def __init__(self, inputArgs):
self.debug = inputArgs.debug
exclude_idxs = [9]
# Value to determine how long to wait for hold gestures, and how many
# samples to take for explicit gestures
self.numSamples = 5
# Timeout for taking explicit samples
self.ExplTimeout = 3
# Center the window on the screen
os.environ['SDL_VIDEO_CENTERED'] = '1'
pygame.init()
size = width, height = 1500, 800
speed = [2, 2]
black = 0, 0, 0
self.screen = pygame.display.set_mode(size)
pygame.display.set_caption('FootGest Data capture')
# Fill background
self.background = pygame.Surface(self.screen.get_size())
self.background = self.background.convert()
self.background.fill((250, 250, 250))
# Blit everything to the screen
self.screen.blit(self.background, (0, 0))
pygame.display.flip()
#self.c = calibration.Calibration()
# Open input file
if not self.debug:
self.stream = StreamRead(inputArgs.streamFile,
exclude_indexes=exclude_idxs)
self.gesture_classes = [
{
"className": "REST",
"type": "HOLD",
"desc": "keep your feet at rest"
},
{
"className": "LEFT-FOOT-STOMP",
"type": "EXPL",
"desc": "stamp your left foot"
},
{
"className": "LEFT-TOE-UP",
"type": "HOLD",
"desc": "raise your left toe while your heel is on the ground"
},
{
"className": "LEFT-TOE-TAP",
"type": "EXPL",
"desc": "tap your left toe once"
},
{
"className": "LEFT-HEEL-TAP",
"type": "EXPL",
"desc": "tap your left heel once"
},
{
"className": "LEFT-HEEL-RAISE",
"type": "HOLD",
"desc": "raise your left heel"
},
{
"className": "LEFT-FOOT-FLICKLEFT",
"type": "EXPL",
"desc": "flick your left foot to the left"
},
{
"className": "LEFT-FOOT-FLICKRIGHT",
"type": "EXPL",
"desc": "flick your left foot to the right"
},
]
#generate trial orders
trials = self.genTrials(inputArgs.num_trials)
#run trials
for trial in trials:
print "Capturing Gesture:", trial["className"]
if trial["type"] == "HOLD":
self.captureHold(inputArgs.DIR, trial["className"],
trial["desc"])
self.endTrial()
else:
# Explicit gesture movement
for i in xrange(0, self.numSamples):
self.captureExplicit(inputArgs.DIR, trial["className"],
trial["desc"])
self.endTrial()
## Utility Methods ##
#generate a random ordering of trials
def genTrials(self, num_trials):
trials = []
for c in self.gesture_classes:
for i in xrange(0, num_trials):
trials.append(c)
random.shuffle(trials)
return trials
#Write test message to screen
def textToScreen(self, text, y_pos=10):
self.background = pygame.Surface(self.screen.get_size())
self.background = self.background.convert()
self.background.fill((250, 250, 250))
font = pygame.font.Font(None, 28)
text = font.render(text, 1, (10, 10, 10))
textpos = text.get_rect()
textpos.centerx = self.background.get_rect().centerx
self.background.blit(text, textpos)
self.screen.blit(self.background, (0, y_pos))
pygame.display.flip()
#Display message and wait for next test
def endTrial(self):
self.textToScreen(
"Thank you. Please rest your feet and wait for the next test.")
sleepEnd = time.time() + 2
while time.time() < sleepEnd:
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
# Means that spaces don't carry over to next trial
pass
## File Utilities ##
#make data file with Class name an Uniqie ID
def makeFile(self, dir_name, class_name):
return file(
os.path.join(dir_name,
class_name + '_' + str(uuid.uuid1()) + '.csv'), 'w+')
#Write list of data points to file
def writeData(self, file, data):
enc_data = ','.join(map(str, data)) + '\n'
file.write(enc_data)
## Trial Methods ##
# Base capture method - Press space, do gesture and hold
def captureHold(self, dir_name, gesture, displayText):
self.textToScreen("Press SPACE, " + displayText +
", and hold for the next " + str(self.numSamples) +
" seconds")
mov = GestVid(gesture, self.screen)
ready = False
# Wait for user to begin test
while not ready:
mov.update()
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
ready = True
if self.debug:
for i in xrange(0, self.numSamples):
self.textToScreen("Please wait " + str(self.numSamples - i) +
" seconds")
# Don't capture data
time.sleep(1)
return
# Capture data for as long as holdLength (seconds)
for i in xrange(0, self.numSamples):
self.textToScreen("Please wait " + str(self.numSamples - i) +
" seconds")
output_file = self.makeFile(dir_name, gesture)
#output_file_calibrated = self.makeFile(dir_name + "_calib", gesture)
self.stream.emptyStreamBuffer()
stop = time.time() + 1
while time.time() < stop:
records = self.stream.readFromStream()
for record in records:
self.writeData(output_file, record)
#if len(record) < 9:
# self.writeData(output_file_calibrated, record)
#else:
# self.writeData(output_file_calibrated, list(self.c.process(*[float(i) for i in record])))
# Base capture method - Press space, do gesture, then press space
def captureExplicit(self, dir_name, gesture, displayText):
self.textToScreen("Press SPACE, " + displayText +
", and then press SPACE as soon as you are done")
mov = GestVid(gesture, self.screen)
if not self.debug:
output_file = self.makeFile(dir_name, gesture)
#output_file_calibrated = self.makeFile(dir_name + "_calib", gesture)
ready = False
done = False
# Wait for user to begin test
while not ready:
mov.update()
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
ready = True
startTime = time.time()
if not self.debug:
self.stream.emptyStreamBuffer()
self.textToScreen(displayText +
", and then press SPACE as soon as you are done")
# Capture data until space is pressed or reached timeout
while not done and time.time() < startTime + self.ExplTimeout:
if not self.debug:
records = self.stream.readFromStream()
for record in records:
self.writeData(output_file, record)
#if len(record) < 9:
# self.writeData(output_file_calibrated, record)
#else:
# self.writeData(output_file_calibrated, list(self.c.process(*[float(i) for i in record])))
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
# Check that we've captured data for at least 0.3 seconds before quitting
if event.key == pygame.K_SPACE and time.time(
) > startTime + 0.3:
done = True
def __init__(self, inputArgs):
self.debug = inputArgs.debug
exclude_idxs = [9]
# Value to determine how long to wait for hold gestures, and how many
# samples to take for explicit gestures
self.numSamples = 5
# Timeout for taking explicit samples
self.ExplTimeout = 3
# Center the window on the screen
os.environ['SDL_VIDEO_CENTERED'] = '1'
pygame.init()
size = width, height = 1500, 800
speed = [2, 2]
black = 0, 0, 0
self.screen = pygame.display.set_mode(size)
pygame.display.set_caption('FootGest Data capture')
# Fill background
self.background = pygame.Surface(self.screen.get_size())
self.background = self.background.convert()
self.background.fill((250, 250, 250))
# Blit everything to the screen
self.screen.blit(self.background, (0, 0))
pygame.display.flip()
#self.c = calibration.Calibration()
# Open input file
if not self.debug:
self.stream = StreamRead(inputArgs.streamFile,
exclude_indexes=exclude_idxs)
self.gesture_classes = [
{
"className": "REST",
"type": "HOLD",
"desc": "keep your feet at rest"
},
{
"className": "LEFT-FOOT-STOMP",
"type": "EXPL",
"desc": "stamp your left foot"
},
{
"className": "LEFT-TOE-UP",
"type": "HOLD",
"desc": "raise your left toe while your heel is on the ground"
},
{
"className": "LEFT-TOE-TAP",
"type": "EXPL",
"desc": "tap your left toe once"
},
{
"className": "LEFT-HEEL-TAP",
"type": "EXPL",
"desc": "tap your left heel once"
},
{
"className": "LEFT-HEEL-RAISE",
"type": "HOLD",
"desc": "raise your left heel"
},
{
"className": "LEFT-FOOT-FLICKLEFT",
"type": "EXPL",
"desc": "flick your left foot to the left"
},
{
"className": "LEFT-FOOT-FLICKRIGHT",
"type": "EXPL",
"desc": "flick your left foot to the right"
},
]
#generate trial orders
trials = self.genTrials(inputArgs.num_trials)
#run trials
for trial in trials:
print "Capturing Gesture:", trial["className"]
if trial["type"] == "HOLD":
self.captureHold(inputArgs.DIR, trial["className"],
trial["desc"])
self.endTrial()
else:
# Explicit gesture movement
for i in xrange(0, self.numSamples):
self.captureExplicit(inputArgs.DIR, trial["className"],
trial["desc"])
self.endTrial()