def generate_output(inputvid, model, orientation, gender, height, weight,
outputvid, file_name):
try:
parser = argparse.ArgumentParser()
args = parser.parse_known_args()
# Custom Params (refer to include/openpose/flags.hpp for more parameters)
params = dict()
params["model_folder"] = model
#Find a better way to do this. Currently saves each frame as json
#params["write_json"] = "json_output"
#Configure Openpose Python Wrapper
opWrapper = op.WrapperPython()
opWrapper.configure(params)
opWrapper.start()
#Create patient object of person in video
patient = Patient(gender, height, weight)
body_perc = patient.body_perc()
vid_location = inputvid
cap = cv2.VideoCapture(vid_location)
width = cap.get(3)
height = cap.get(4)
fps = cap.get(5)
font = cv2.FONT_HERSHEY_SIMPLEX
total_frames = int(cap.get(cv2.CAP_PROP_FRAME_COUNT))
#Find Video Format
video_type = vid_location.split(".")[-1]
if video_type == "mp4":
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
location = outputvid + '/output.mp4'
out = cv2.VideoWriter(location, fourcc, fps,
(int(width), int(height)))
elif video_type == "avi":
fourcc = cv2.VideoWriter_fourcc(*'XVID')
location = outputvid + '/output.avi'
out = cv2.VideoWriter(location, fourcc, fps,
(int(width), int(height)))
else:
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
location = outputvid + '/output.mp4'
out = cv2.VideoWriter(location, fourcc, fps,
(int(width), int(height)))
# print("Video format not supported")
# sys.exit(-1)
frame_num = 0
#lists to store data per frame
com_x_pos = []
com_y_pos = []
com_ang = []
inertias = []
pend_origin = []
print("Calculating")
with open(file_name) as f:
data = json.load(f)
frame_num = 1
for x in data['openpose']:
frame_data = (x[str(frame_num)])
#limb positions
body = [(frame_data['Neck'][0] + frame_data['MidHip'][0]) / 2,
(frame_data['Neck'][1] + frame_data['MidHip'][1]) / 2]
pelvis = [frame_data['MidHip'][0], frame_data['MidHip'][1]]
R_ear = [frame_data['REar'][0], frame_data['REar'][1]]
R_arm = [
(frame_data['RShoulder'][0] + frame_data['RElbow'][0]) / 2,
(frame_data['RShoulder'][1] + frame_data['RElbow'][1]) / 2
]
R_forearm = [
(frame_data['RElbow'][0] + frame_data['RWrist'][0]) / 2,
(frame_data['RElbow'][1] + frame_data['RWrist'][1]) / 2
]
R_hand = [frame_data['RWrist'][0], frame_data['RWrist'][1]]
R_thigh = [(frame_data['RHip'][0] + frame_data['RKnee'][0]) / 2,
(frame_data['RHip'][1] + frame_data['RKnee'][1]) / 2]
R_shank = [(frame_data['RKnee'][0] + frame_data['RAnkle'][0]) / 2,
(frame_data['RKnee'][1] + frame_data['RAnkle'][1]) / 2]
R_foot = [(frame_data['RBigToe'][0] + frame_data['RHeel'][0]) / 2,
(frame_data['RBigToe'][1] + frame_data['RHeel'][1]) / 2]
L_ear = [frame_data['LEar'][0], frame_data['LEar'][1]]
L_arm = [
(frame_data['LShoulder'][0] + frame_data['LElbow'][0]) / 2,
(frame_data['LShoulder'][1] + frame_data['LElbow'][1]) / 2
]
L_forearm = [
(frame_data['LElbow'][0] + frame_data['LWrist'][0]) / 2,
(frame_data['LElbow'][1] + frame_data['LWrist'][1]) / 2
]
L_hand = [frame_data['LWrist'][0], frame_data['LWrist'][1]]
L_thigh = [(frame_data['LHip'][0] + frame_data['LKnee'][0]) / 2,
(frame_data['LHip'][1] + frame_data['LKnee'][1]) / 2]
L_shank = [(frame_data['LKnee'][0] + frame_data['LAnkle'][0]) / 2,
(frame_data['LKnee'][1] + frame_data['LAnkle'][1]) / 2]
L_foot = [(frame_data['LBigToe'][0] + frame_data['LHeel'][0]) / 2,
(frame_data['LBigToe'][1] + frame_data['LHeel'][1]) / 2]
# Used for pixel-m conversion
nose = [frame_data['Nose'][0], frame_data['Nose'][1]]
foot_y = max(R_foot[1], L_foot[1])
if foot_y == 0:
print("Error- Foot")
nose_y = nose[1]
if nose_y == 0:
print("Error- Nose")
pixel_height = foot_y - nose_y
patient.set_pixel_cm(pixel_height)
COM_x = 0
COM_y = 0
if orientation == "side":
#Calulate x CoM
if R_ear[0] == 0 and L_ear[0] == 0:
print("Error- head")
elif R_ear[0] == 0:
COM_x += L_ear[0] * body_perc["head"]
else:
COM_x += R_ear[0] * body_perc["head"]
if body[0] == 0:
print("Error- body")
else:
COM_x += body[0] * body_perc["body"]
if pelvis[0] == 0:
print("Error- pelvis")
else:
COM_x += pelvis[0] * body_perc["pelvis"]
if R_arm[0] == 0 or L_arm[0] == 0:
arms = max(R_arm[0], L_arm[0])
if arms == 0:
print("Error- arm")
else:
COM_x += arms * body_perc["arm"] * 2
else:
COM_x += (R_arm[0] + L_arm[0]) * body_perc["arm"]
if R_forearm[0] == 0 or (L_forearm[0]) == 0:
forearms = max(R_forearm[0], L_forearm[0])
if forearms == 0:
print("Error- forearm")
else:
COM_x += forearms * body_perc["forearm"] * 2
else:
COM_x += (R_forearm[0] +
L_forearm[0]) * body_perc["forearm"]
if R_hand[0] == 0 or L_hand[0] == 0:
hands = max(R_hand[0], L_hand[0])
if hands == 0:
print("Error- arm")
else:
COM_x += hands * body_perc["hand"] * 2
else:
COM_x += (R_hand[0] + L_hand[0]) * body_perc["hand"]
if R_thigh[0] == 0 or L_thigh[0] == 0:
thighs = max(R_thigh[0], L_thigh[0])
if thighs == 0:
print("Error- thigh")
else:
COM_x += thighs * body_perc["thigh"] * 2
else:
COM_x += (R_thigh[0] + L_thigh[0]) * body_perc["thigh"]
if R_shank[0] == 0 or L_shank[0] == 0:
shanks = max(R_shank[0], L_shank[0])
if shanks == 0:
print("Error- shank")
else:
COM_x += shanks * body_perc["shank"] * 2
else:
COM_x += (R_shank[0] + L_shank[0]) * body_perc["shank"]
if R_foot[0] == 0 or L_foot[0] == 0:
foots = max(R_foot[0], L_foot[0])
if foots == 0:
print("Error- foot")
else:
COM_x += foots * body_perc["foot"] * 2
else:
COM_x += (R_foot[0] + L_foot[0]) * body_perc["foot"]
#Calulate y CoM
if R_ear[1] == 0 and L_ear[1] == 0:
print("Error- head")
elif R_ear[1] == 0:
COM_x += L_ear[1] * body_perc["head"]
else:
COM_x += R_ear[1] * body_perc["head"]
if body[1] == 0:
print("Error- body")
else:
COM_y += body[1] * body_perc["body"]
if pelvis[1] == 0:
print("Error- pelvis")
else:
COM_y += pelvis[1] * body_perc["pelvis"]
if R_arm[1] == 0 or L_arm[1] == 0:
arms = max(R_arm[1], L_arm[1])
if arms == 0:
print("Error- arm")
else:
COM_y += arms * body_perc["arm"] * 2
else:
COM_y += (R_arm[1] + L_arm[1]) * body_perc["arm"]
if R_forearm[1] == 0 or L_forearm[1] == 0:
forearms = max(R_forearm[1], L_forearm[1])
if forearms == 0:
print("Error- forearm")
else:
COM_y += forearms * body_perc["forearm"] * 2
else:
COM_y += (R_forearm[1] +
L_forearm[1]) * body_perc["forearm"]
if R_hand[1] == 0 or L_hand[1] == 0:
hands = max(R_hand[1], L_hand[1])
if hands == 0:
print("Error- hand")
else:
COM_y += hands * body_perc["hand"] * 2
else:
COM_y += (R_hand[1] + L_hand[1]) * body_perc["hand"]
if R_thigh[1] == 0 or L_thigh[1] == 0:
thighs = max(R_thigh[1], L_thigh[1])
if thighs == 0:
print("Error- thigh")
else:
COM_y += thighs * body_perc["thigh"] * 2
else:
COM_y += (R_thigh[1] + L_thigh[1]) * body_perc["thigh"]
if R_shank[1] == 0 or L_shank[1] == 0:
shanks = max(R_shank[1], L_shank[1])
if shanks == 0:
print("Error- shank")
else:
COM_y += shanks * body_perc["shank"] * 2
else:
COM_y += (R_shank[1] + L_shank[1]) * body_perc["shank"]
if R_foot[1] == 0 or L_foot[1] == 0:
foots = max(R_foot[1], L_foot[1])
if foots == 0:
print("Error- foot")
else:
COM_y += foots * body_perc["foot"] * 2
else:
COM_y += (R_foot[1] + L_foot[1]) * body_perc["foot"]
elif orientation == "front":
#Calulate x CoM
if nose[0] == 0:
print("Error- head")
else:
COM_x += nose[0] * body_perc["head"]
if body[0] == 0:
print("Error- body")
else:
COM_x += body[0] * body_perc["body"]
if pelvis[0] == 0:
print("Error- pelvis")
else:
COM_x += pelvis[0] * body_perc["pelvis"]
if R_arm[0] == 0 or L_arm[0] == 0:
print("Error- arm")
COM_x += (R_arm[0] + L_arm[0]) * body_perc["arm"]
if R_forearm[0] == 0 or (L_forearm[0]) == 0:
print("Error- forearm")
COM_x += (R_forearm[0] + L_forearm[0]) * body_perc["forearm"]
if R_hand[0] == 0 or L_hand[0] == 0:
print("Error- arm")
COM_x += (R_hand[0] + L_hand[0]) * body_perc["hand"]
if R_thigh[0] == 0 or L_thigh[0] == 0:
print("Error- thigh")
COM_x += (R_thigh[0] + L_thigh[0]) * body_perc["thigh"]
if R_shank[0] == 0 or L_shank[0] == 0:
print("Error- shank")
COM_x += (R_shank[0] + L_shank[0]) * body_perc["shank"]
if R_foot[0] == 0 or L_foot[0] == 0:
print("Error- foot")
COM_x += (R_foot[0] + L_foot[0]) * body_perc["foot"]
#Calulate y CoM
if nose[1] == 0:
print("Error- head")
else:
COM_y += nose[1] * body_perc["head"]
if body[1] == 0:
print("Error- body")
else:
COM_y += body[1] * body_perc["body"]
if pelvis[1] == 0:
print("Error- pelvis")
else:
COM_y += pelvis[1] * body_perc["pelvis"]
if R_arm[1] == 0 or L_arm[1] == 0:
print("Error- arm")
COM_y += (R_arm[1] + L_arm[1]) * body_perc["arm"]
if R_forearm[1] == 0 or L_forearm[1] == 0:
print("Error- forearm")
COM_y += (R_forearm[1] + L_forearm[1]) * body_perc["forearm"]
if R_hand[1] == 0 or L_hand[1] == 0:
print("Error- hand")
COM_y += (R_hand[1] + L_hand[1]) * body_perc["hand"]
if R_thigh[1] == 0 or L_thigh[1] == 0:
print("Error- thigh")
COM_y += (R_thigh[1] + L_thigh[1]) * body_perc["thigh"]
if R_shank[1] == 0 or L_shank[1] == 0:
print("Error- shank")
COM_y += (R_shank[1] + L_shank[1]) * body_perc["shank"]
if R_foot[1] == 0 or L_foot[1] == 0:
print("Error- foot")
COM_y += (R_foot[1] + L_foot[1]) * body_perc["foot"]
else:
print("Not a valid orientation")
com_x_pos.append(int(COM_x))
com_y_pos.append(int(COM_y))
#Mass Moment of Inertia Calc
R_ankle = [frame_data['RAnkle'][0], frame_data['RAnkle'][1]]
L_ankle = [frame_data['LAnkle'][0], frame_data['LAnkle'][1]]
pend = None
if orientation == "side":
if R_ankle[1] == 0 and L_ankle[1] == 0:
print("Error- ankle")
else:
if R_ankle[1] >= L_ankle[1]:
pend = R_ankle
else:
pend = L_ankle
elif orientation == "front":
if R_ankle[1] == 0 or L_ankle[1] == 0:
print("Error- ankle")
#Test- use previous point in list
pend = pend_origin[-1]
else:
pend = [(L_ankle[0] + R_ankle[0]) / 2,
(L_ankle[1] + R_ankle[1]) / 2]
else:
print("Not a valid orientation")
CoM = [int(COM_x), int(COM_y)]
MMI = calc_inertia(CoM, pend, patient.mass)
inertias.append(MMI)
#Angle calculation
horizontal_axis = [10, 0] #abitary point on the horizontal axis
CoM_to_pend_origin = [COM_x - pend[0], pend[1] - COM_y]
ang = angle(CoM_to_pend_origin, horizontal_axis)
#ang2 = angle2(pend, [COM_x, COM_y])
com_ang.append(ang)
pend_origin.append(pend)
frame_num += 1
print("Generating Output")
cap = cv2.VideoCapture(vid_location)
frame_num = 0
max_frames = int(cap.get(cv2.CAP_PROP_FRAME_COUNT))
#Apply Savistky-Golay Filter
filtered_comx = scipy.signal.savgol_filter(com_x_pos, 21, 3)
filtered_com_ang = scipy.signal.savgol_filter(com_ang, 21, 3)
#Calculate frame velocities and accelerations
# start, stop, velocity = calc_vel(filtered_comx, 5)
# start2, stop2, acceleration = calc_acc(velocity, 5, start)
#CoG, Force, Angular Acceleration
ang_vel_start, _, ang_vel = calc_vel(filtered_com_ang, 5) #Angular vel
ang_acc_start, ang_acc_stop, ang_acc = \
calc_acc(ang_vel, 5, ang_vel_start) #Angular acc
#Need the updated angular acceleration so that frames match with CoG
updated_ang_acc = add_empty_frames(ang_acc, ang_acc_start)
force = calc_force(patient, fps)
#TODO: Filter pend_origin or just filter CoG and CoP
#CoG = CoG_x(com_x_pos, pend_origin)
#CoP = CoP_x(CoG, updated_ang_acc, inertias, force)
CoG = scipy.signal.savgol_filter(CoG_x(filtered_comx, pend_origin), 11,
3)
CoP = scipy.signal.savgol_filter(
CoP_x(CoG, updated_ang_acc, inertias, force), 11, 3)
CoG = list(CoG)
CoP = list(CoP)
# #a,b,ma = moving_average(CoG, 5, 5)
start, stop, velocity = calc_vel(CoG, 5)
start2, stop2, acceleration = calc_acc(velocity, 5, start)
# #Graphs
# x = np.linspace(1, len(com_x_pos), len(com_x_pos))
# #x_ma = np.linspace(a,b, len(ma))
# plt.subplot(3,1,1)
# a=plt.scatter(x,CoG_x(com_x_pos, pend_origin),label="unfiltered", color="green",marker="*",s=30)
# b=plt.plot(x, CoG, label="Moving Average", color = 'red')
# #b=plt.plot(x_ma, ma, label="Moving Average", color = 'red')
# plt.legend()
# plt.title("CoM x pos per Frame")
# plt.xlabel("Frame")
# plt.ylabel("CoM x pos (Pixels)")
# plt.subplot(3,1,2)
# x2 = np.linspace(start,stop, len(velocity))
# plt.scatter(x2,velocity,label="stars", color="green",marker="*", s=30)
# plt.title("Velocity per Frame")
# plt.xlabel("Frame")
# plt.ylabel("Velocity (Pixels/frame)")
# plt.subplot(3,1,3)
# x3 = np.linspace(start2,stop2, len(acceleration))
# plt.scatter(x3,acceleration,label="stars", color="green",marker="*", s=30)
# plt.title("Accerelation per Frame")
# plt.xlabel("Frame")
# plt.ylabel("Acceleration (Pixels^2/frame")
# # x = np.linspace(1,len(com_x_pos), len(com_x_pos))
# # plt.subplot(2,1,1)
# # plt.scatter(x,com_x_pos,label="stars", color="green",marker="*", s=30)
# # plt.title("CoM x pos per frame")
# # plt.xlabel("Frame")
# # plt.ylabel("CoM x pos (Pixels)")
# # plt.plot(x, filtered_comx, color = 'red')
# # plt.subplot(2,1,2)
# # plt.scatter(x,com_ang,label="stars", color="green",marker="*", s=30)
# # plt.title("CoM angle pos per frame")
# # plt.xlabel("Frame")
# # plt.ylabel("CoM ang pos (radians)")
# # plt.plot(x, filtered_com_ang, color = 'red')
# plt.show()
#Store computed data back into json file
CoP_cm = [x / patient.pixel_cm for x in CoP]
CoG_cm = [x / patient.pixel_cm for x in CoG]
data['processed'] = {
'fps': fps,
'CoP_cm': CoP_cm,
'CoG_cm': CoG_cm,
'CoP_frame': CoP,
'CoG_frame': CoG,
'com_x_pos': com_x_pos,
'com_ang': com_ang,
'inertias': inertias,
'force': force,
'pend_origin': pend_origin,
'pixel_cm': patient.pixel_cm
}
with open(file_name, 'w') as outfile:
json.dump(data, outfile, indent=4)
#Show each frame and save to output folder
print("Generating output video")
while (cap.isOpened()):
ret, frame = cap.read()
if ret == True:
# Process Image
datum = op.Datum()
imageToProcess = frame
frame_num += 1
cv2.putText(imageToProcess, str(frame_num), (100, 100), font,
1, (255, 255, 255), 1)
datum.cvInputData = imageToProcess
opWrapper.emplaceAndPop([datum])
#Add COM circle to image
radius = 10
# Blue color in BGR
color = (255, 0, 0)
thickness = 2
COM_x = int(filtered_comx[frame_num - 1])
COM_y = com_y_pos[frame_num - 1]
COM = (COM_x, COM_y)
output_frame = datum.cvOutputData
cv2.circle(output_frame, COM, radius, color, thickness)
#Plot frame velocities
if (frame_num >= start and frame_num <= stop):
vel = velocity[frame_num - start]
point_2 = (int(COM_x + 10 * vel), int(COM_y))
cv2.arrowedLine(output_frame, COM, point_2, (0, 0, 255), 3)
#Plot CoP
if (frame_num >= ang_acc_start and frame_num <= ang_acc_stop):
CoP_frame = CoP[frame_num - ang_acc_start]
pend_origin_x = pend_origin[frame_num - 1][0]
pend_origin_y = pend_origin[frame_num - 1][1]
point_2 = (int(pend_origin_x + CoP_frame),
int(pend_origin_y - 20))
point_1 = (int(pend_origin_x + CoP_frame),
int(pend_origin_y))
cv2.arrowedLine(output_frame, point_1, point_2,
(0, 0, 255), 3)
cv2.line(output_frame,
(int(pend_origin[frame_num - 1][0]),
int(pend_origin[frame_num - 1][1])),
(int(pend_origin[frame_num - 1][0]),
int(pend_origin[frame_num - 1][1]) - 20),
(255, 0, 0), 3)
cv2.imshow("Output video", output_frame)
out.write(output_frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
else:
break
print("Finished")
cap.release()
out.release()
cv2.destroyAllWindows()
return
except Exception as e:
print(e)
sys.exit(-1)
def main():
try:
parser = argparse.ArgumentParser()
#parser.add_argument("--image_path", default="../../../examples/media/COCO_val2014_000000000192.jpg", help="Process an image. Read all standard formats (jpg, png, bmp, etc.).")
#parser.add_argument("--image_dir", default="../openpose/examples/media/COCO_val2014_000000000192.jpg", help="Process an image. Read all standard formats (jpg, png, bmp, etc.).")
args = parser.parse_known_args()
# Custom Params (refer to include/openpose/flags.hpp for more parameters)
params = dict()
#params["model_folder"] = "../../../models/"
params["model_folder"] = "../openpose/models/"
#params["number_people_max"] = 1
#save data as json to folder
#Find a better way to do this. Currently saves each frame as json
params["write_json"] = "json_output"
# Add others in path?
for i in range(0, len(args[1])):
curr_item = args[1][i]
if i != len(args[1]) - 1: next_item = args[1][i + 1]
else: next_item = "1"
if "--" in curr_item and "--" in next_item:
key = curr_item.replace('-', '')
if key not in params: params[key] = "1"
elif "--" in curr_item and "--" not in next_item:
key = curr_item.replace('-', '')
if key not in params: params[key] = next_item
opWrapper = op.WrapperPython()
opWrapper.configure(params)
opWrapper.start()
patient = Patient("male", 177, 70)
#Set gender of patient
body_perc = patient.body_perc()
#Set orientation of patient movement
orientation = "side"
#orientation = "front"
#Video location as a string
vid_location = "media/side_landscape.mp4"
#vid_location = "video.avi"
cap = cv2.VideoCapture(vid_location)
width = cap.get(3)
height = cap.get(4)
fps = cap.get(5)
font = cv2.FONT_HERSHEY_SIMPLEX
#Find Video Format
video_type = vid_location.split(".")[-1]
if video_type == "mp4":
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
out = cv2.VideoWriter('media/output.mp4', fourcc, fps,
(int(width), int(height)))
elif video_type == "avi":
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('media/output.avi', fourcc, fps,
(int(width), int(height)))
else:
print("Video format not supported")
sys.exit(-1)
frame_num = 0
unsuccessful_frames = 0
#lists to store data per frame
com_x_pos = []
com_y_pos = []
com_ang = []
inertias = []
pend_origin = []
print("Generating Pose")
while (cap.isOpened()):
ret, frame = cap.read()
#gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
if ret == True:
# Process Image
datum = op.Datum()
imageToProcess = frame
frame_num += 1
cv2.putText(imageToProcess, str(frame_num), (100, 100), font,
1, (255, 255, 255), 1)
datum.cvInputData = imageToProcess
opWrapper.emplaceAndPop([datum])
#Change to tuple
body = [(datum.poseKeypoints[0][1][0] +
datum.poseKeypoints[0][8][0]) / 2,
(datum.poseKeypoints[0][1][1] +
datum.poseKeypoints[0][8][1]) / 2]
pelvis = [
datum.poseKeypoints[0][8][0], datum.poseKeypoints[0][8][1]
]
R_ear = [
datum.poseKeypoints[0][17][0],
datum.poseKeypoints[0][17][1]
]
R_arm = [(datum.poseKeypoints[0][2][0] +
datum.poseKeypoints[0][3][0]) / 2,
(datum.poseKeypoints[0][2][1] +
datum.poseKeypoints[0][3][1]) / 2]
R_forearm = [(datum.poseKeypoints[0][3][0] +
datum.poseKeypoints[0][4][0]) / 2,
(datum.poseKeypoints[0][3][1] +
datum.poseKeypoints[0][4][1]) / 2]
R_hand = [
datum.poseKeypoints[0][4][0], datum.poseKeypoints[0][4][1]
]
R_thigh = [(datum.poseKeypoints[0][9][0] +
datum.poseKeypoints[0][10][0]) / 2,
(datum.poseKeypoints[0][9][1] +
datum.poseKeypoints[0][10][1]) / 2]
R_shank = [(datum.poseKeypoints[0][10][0] +
datum.poseKeypoints[0][11][0]) / 2,
(datum.poseKeypoints[0][10][1] +
datum.poseKeypoints[0][11][1]) / 2]
R_foot = [(datum.poseKeypoints[0][22][0] +
datum.poseKeypoints[0][24][0]) / 2,
(datum.poseKeypoints[0][22][1] +
datum.poseKeypoints[0][24][1]) / 2]
L_ear = [
datum.poseKeypoints[0][18][0],
datum.poseKeypoints[0][18][1]
]
L_arm = [(datum.poseKeypoints[0][5][0] +
datum.poseKeypoints[0][6][0]) / 2,
(datum.poseKeypoints[0][5][1] +
datum.poseKeypoints[0][6][1]) / 2]
L_forearm = [(datum.poseKeypoints[0][6][0] +
datum.poseKeypoints[0][7][0]) / 2,
(datum.poseKeypoints[0][6][1] +
datum.poseKeypoints[0][7][1]) / 2]
L_hand = [
datum.poseKeypoints[0][7][0], datum.poseKeypoints[0][7][1]
]
L_thigh = [(datum.poseKeypoints[0][12][0] +
datum.poseKeypoints[0][13][0]) / 2,
(datum.poseKeypoints[0][12][1] +
datum.poseKeypoints[0][13][1]) / 2]
L_shank = [(datum.poseKeypoints[0][13][0] +
datum.poseKeypoints[0][14][0]) / 2,
(datum.poseKeypoints[0][13][1] +
datum.poseKeypoints[0][14][1]) / 2]
L_foot = [(datum.poseKeypoints[0][21][0] +
datum.poseKeypoints[0][19][0]) / 2,
(datum.poseKeypoints[0][21][1] +
datum.poseKeypoints[0][19][1]) / 2]
#Used for pixel-m conversion
nose = [
datum.poseKeypoints[0][0][0], datum.poseKeypoints[0][0][1]
]
foot_y = max(R_foot[1], L_foot[1])
if foot_y == 0:
print("Error- Foot")
nose_y = nose[1]
if nose_y == 0:
print("Error- Nose")
pixel_height = foot_y - nose_y
patient.set_pixel_cm(pixel_height)
COM_x = 0
COM_y = 0
if orientation == "side":
#Calulate x CoM
if R_ear[0] == 0 and L_ear[0] == 0:
print("Error- head")
elif R_ear[0] == 0:
COM_x += L_ear[0] * body_perc["head"]
else:
COM_x += R_ear[0] * body_perc["head"]
if body[0] == 0:
print("Error- body")
else:
COM_x += body[0] * body_perc["body"]
if pelvis[0] == 0:
print("Error- pelvis")
else:
COM_x += pelvis[0] * body_perc["pelvis"]
if R_arm[0] == 0 or L_arm[0] == 0:
arms = max(R_arm[0], L_arm[0])
if arms == 0:
print("Error- arm")
else:
COM_x += arms * body_perc["arm"] * 2
else:
COM_x += (R_arm[0] + L_arm[0]) * body_perc["arm"]
if R_forearm[0] == 0 or (L_forearm[0]) == 0:
forearms = max(R_forearm[0], L_forearm[0])
if forearms == 0:
print("Error- forearm")
else:
COM_x += forearms * body_perc["forearm"] * 2
else:
COM_x += (R_forearm[0] +
L_forearm[0]) * body_perc["forearm"]
if R_hand[0] == 0 or L_hand[0] == 0:
hands = max(R_hand[0], L_hand[0])
if hands == 0:
print("Error- arm")
else:
COM_x += hands * body_perc["hand"] * 2
else:
COM_x += (R_hand[0] + L_hand[0]) * body_perc["hand"]
if R_thigh[0] == 0 or L_thigh[0] == 0:
thighs = max(R_thigh[0], L_thigh[0])
if thighs == 0:
print("Error- thigh")
else:
COM_x += thighs * body_perc["thigh"] * 2
else:
COM_x += (R_thigh[0] + L_thigh[0]) * body_perc["thigh"]
if R_shank[0] == 0 or L_shank[0] == 0:
shanks = max(R_shank[0], L_shank[0])
if shanks == 0:
print("Error- shank")
else:
COM_x += shanks * body_perc["shank"] * 2
else:
COM_x += (R_shank[0] + L_shank[0]) * body_perc["shank"]
if R_foot[0] == 0 or L_foot[0] == 0:
foots = max(R_foot[0], L_foot[0])
if foots == 0:
print("Error- foot")
else:
COM_x += foots * body_perc["foot"] * 2
else:
COM_x += (R_foot[0] + L_foot[0]) * body_perc["foot"]
#Calulate y CoM
if R_ear[1] == 0 and L_ear[1] == 0:
print("Error- head")
elif R_ear[1] == 0:
COM_x += L_ear[1] * body_perc["head"]
else:
COM_x += R_ear[1] * body_perc["head"]
if body[1] == 0:
print("Error- body")
else:
COM_y += body[1] * body_perc["body"]
if pelvis[1] == 0:
print("Error- pelvis")
else:
COM_y += pelvis[1] * body_perc["pelvis"]
if R_arm[1] == 0 or L_arm[1] == 0:
arms = max(R_arm[1], L_arm[1])
if arms == 0:
print("Error- arm")
else:
COM_y += arms * body_perc["arm"] * 2
else:
COM_y += (R_arm[1] + L_arm[1]) * body_perc["arm"]
if R_forearm[1] == 0 or L_forearm[1] == 0:
forearms = max(R_forearm[1], L_forearm[1])
if forearms == 0:
print("Error- forearm")
else:
COM_y += forearms * body_perc["forearm"] * 2
else:
COM_y += (R_forearm[1] +
L_forearm[1]) * body_perc["forearm"]
if R_hand[1] == 0 or L_hand[1] == 0:
hands = max(R_hand[1], L_hand[1])
if hands == 0:
print("Error- hand")
else:
COM_y += hands * body_perc["hand"] * 2
else:
COM_y += (R_hand[1] + L_hand[1]) * body_perc["hand"]
if R_thigh[1] == 0 or L_thigh[1] == 0:
thighs = max(R_thigh[1], L_thigh[1])
if thighs == 0:
print("Error- thigh")
else:
COM_y += thighs * body_perc["thigh"] * 2
else:
COM_y += (R_thigh[1] + L_thigh[1]) * body_perc["thigh"]
if R_shank[1] == 0 or L_shank[1] == 0:
shanks = max(R_shank[1], L_shank[1])
if shanks == 0:
print("Error- shank")
else:
COM_y += shanks * body_perc["shank"] * 2
else:
COM_y += (R_shank[1] + L_shank[1]) * body_perc["shank"]
if R_foot[1] == 0 or L_foot[1] == 0:
foots = max(R_foot[1], L_foot[1])
if foots == 0:
print("Error- foot")
else:
COM_y += foots * body_perc["foot"] * 2
else:
COM_y += (R_foot[1] + L_foot[1]) * body_perc["foot"]
elif orientation == "front":
#Calulate x CoM
if nose[0] == 0:
print("Error- head")
else:
COM_x += nose[0] * body_perc["head"]
if body[0] == 0:
print("Error- body")
else:
COM_x += body[0] * body_perc["body"]
if pelvis[0] == 0:
print("Error- pelvis")
else:
COM_x += pelvis[0] * body_perc["pelvis"]
if R_arm[0] == 0 or L_arm[0] == 0:
print("Error- arm")
COM_x += (R_arm[0] + L_arm[0]) * body_perc["arm"]
if R_forearm[0] == 0 or (L_forearm[0]) == 0:
print("Error- forearm")
COM_x += (R_forearm[0] +
L_forearm[0]) * body_perc["forearm"]
if R_hand[0] == 0 or L_hand[0] == 0:
print("Error- arm")
COM_x += (R_hand[0] + L_hand[0]) * body_perc["hand"]
if R_thigh[0] == 0 or L_thigh[0] == 0:
print("Error- thigh")
COM_x += (R_thigh[0] + L_thigh[0]) * body_perc["thigh"]
if R_shank[0] == 0 or L_shank[0] == 0:
print("Error- shank")
COM_x += (R_shank[0] + L_shank[0]) * body_perc["shank"]
if R_foot[0] == 0 or L_foot[0] == 0:
print("Error- foot")
COM_x += (R_foot[0] + L_foot[0]) * body_perc["foot"]
#Calulate y CoM
if nose[1] == 0:
print("Error- head")
else:
COM_y += nose[1] * body_perc["head"]
if body[1] == 0:
print("Error- body")
else:
COM_y += body[1] * body_perc["body"]
if pelvis[1] == 0:
print("Error- pelvis")
else:
COM_y += pelvis[1] * body_perc["pelvis"]
if R_arm[1] == 0 or L_arm[1] == 0:
print("Error- arm")
COM_y += (R_arm[1] + L_arm[1]) * body_perc["arm"]
if R_forearm[1] == 0 or L_forearm[1] == 0:
print("Error- forearm")
COM_y += (R_forearm[1] +
L_forearm[1]) * body_perc["forearm"]
if R_hand[1] == 0 or L_hand[1] == 0:
print("Error- hand")
COM_y += (R_hand[1] + L_hand[1]) * body_perc["hand"]
if R_thigh[1] == 0 or L_thigh[1] == 0:
print("Error- thigh")
COM_y += (R_thigh[1] + L_thigh[1]) * body_perc["thigh"]
if R_shank[1] == 0 or L_shank[1] == 0:
print("Error- shank")
COM_y += (R_shank[1] + L_shank[1]) * body_perc["shank"]
if R_foot[1] == 0 or L_foot[1] == 0:
print("Error- foot")
COM_y += (R_foot[1] + L_foot[1]) * body_perc["foot"]
else:
print("Not a valid orientation")
com_x_pos.append(int(COM_x))
com_y_pos.append(int(COM_y))
#Mass Moment of Inertia Calc
R_ankle = [
datum.poseKeypoints[0][11][0],
datum.poseKeypoints[0][11][1]
]
L_ankle = [
datum.poseKeypoints[0][14][0],
datum.poseKeypoints[0][14][1]
]
pend = None
if orientation == "side":
if R_ankle[1] == 0 and L_ankle[1] == 0:
print("Error- ankle")
else:
if R_ankle[1] >= L_ankle[1]:
pend = R_ankle
else:
pend = L_ankle
elif orientation == "front":
if R_ankle[1] == 0 or L_ankle[1] == 0:
print("Error- ankle")
#Test- use previous point in list
pend = pend_origin[-1]
else:
pend = [(L_ankle[0] + R_ankle[0]) / 2,
(L_ankle[1] + R_ankle[1]) / 2]
else:
print("Not a valid orientation")
CoM = [int(COM_x), int(COM_y)]
MMI = calc_inertia(CoM, pend, patient.mass)
inertias.append(MMI)
#Angle calculation
#abitary point on the horizontal axis
horizontal_axis = [10, 0]
CoM_to_pend_origin = [COM_x - pend[0], pend[1] - COM_y]
ang = angle(CoM_to_pend_origin, horizontal_axis)
com_ang.append(ang)
pend_origin.append(pend)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
else:
break
cap.release()
#out.release()
cv2.destroyAllWindows
print("Generating Output")
cap = cv2.VideoCapture(vid_location)
frame_num = 0
max_frames = int(cap.get(cv2.CAP_PROP_FRAME_COUNT))
#Apply Savistky-Golay Filter
filtered_comx = scipy.signal.savgol_filter(com_x_pos, 51, 3)
filtered_com_ang = scipy.signal.savgol_filter(com_ang, 51, 3)
#Calculate frame velocities and accelerations
start, stop, velocity = calc_vel(filtered_comx, 5)
start2, stop2, acceleration = calc_acc(velocity, 5, start)
#start, stop, velocity = calc_vel(com_x_pos, 5)
#start2, stop2, acceleration = calc_acc(velocity, 5, start)
# start, stop, velocity = calc_avg_vel(com_x_pos, 5, 5)
# start2, stop2, acceleration = calc_acc(velocity, 5, start)
#CoG, Force, Angular Acceleration
ang_vel_start, _, ang_vel = calc_vel(filtered_com_ang, 5) #Angular vel
ang_acc_start, ang_acc_stop, ang_acc = \
calc_acc(ang_vel, 5, ang_vel_start) #Angular acc
#Need the updated angular acceleration so that frames match with CoG
updated_ang_acc = add_empty_frames(ang_acc, ang_acc_start)
force = calc_force(patient, fps)
CoG = CoG_x(filtered_comx, pend_origin)
CoP = CoP_x(CoG, updated_ang_acc, inertias, force)
# ang_vel_start, _, ang_vel = calc_avg_vel(com_ang, 5,5) #Angular vel
# ang_acc_start, ang_acc_stop, ang_acc = \
# calc_acc(ang_vel, 5, ang_vel_start) #Angular acc
# #Need the updated angular acceleration so that frames match with CoG
# updated_ang_acc = add_empty_frames(ang_acc, ang_acc_start)
# force = calc_force(patient, fps)
# CoG = CoG_x(com_x_pos, pend_origin)
# CoP = CoP_x(CoG, updated_ang_acc, inertias, force)
com_diff = []
for i in range(0, len(pend_origin)):
com_diff.append(filtered_comx[i] - int(pend_origin[i][0]))
#pend_origin_x = pend_origin[:][0]
filtered_com_diff = scipy.signal.savgol_filter(com_diff, 21, 3)
#print(len(filtered_comx))
#print(len(CoP))
#print(len(acceleration))
keep = CoG[10:]
#keep = com_diff[10:]
#keep = filtered_com_diff[10:]
#print(len(c))
#print(CoP)
#print(keep)
error = []
for i in range(0, len(keep)):
error.append(CoP[i] - keep[i])
filtered_error = scipy.signal.savgol_filter(error, 21, 3)
#error = CoP-keep
fig, ax1 = plt.subplots()
x = np.linspace(start2, stop2, len(acceleration))
color = 'tab:red'
ax1.set_xlabel("Frame")
ax1.set_ylabel("Accerelation (Pixels/frame^2)", color=color)
ax1.tick_params(axis='y', labelcolor=color)
ax1.set_xlim(11, 155)
ax1.set_ylim((-0.2, 0.2))
a = ax1.plot(x, acceleration, label="COMacc", color=color)
#b=plt.plot(x, d, color = 'red', label = 'COP-COM')
#plt.legend([a,b], ['COMacc','COP-COM'])
plt.title("CoP-CoM and CoM Over Time")
#plt.xlabel("Frame")
#plt.ylabel("Accerelation (Pixels/frame^2)")
ax2 = ax1.twinx(
) # instantiate a second axes that shares the same x-axis
color = 'tab:blue'
x2 = np.linspace(start2, stop2, len(acceleration))
ax2.set_ylabel("COP-COM (Pixels)",
color=color) # we already handled the x-label with ax1
ax2.set_ylim((-20, 20))
ax2.plot(x2, error, color=color)
ax2.tick_params(axis='y', labelcolor=color)
# ax3 = ax1.twinx() # instantiate a second axes that shares the same x-axis
# color = 'tab:black'
# ax3.set_ylim((-0.2, 0.2))
plt.axhline(y=0, color='black')
plt.subplots_adjust(hspace=0.9, top=0.45)
# x = np.linspace(start2,stop2, len(acceleration))
# plt.subplot(2,1,1)
# a=plt.plot(x,acceleration,label="COMacc", color="green")
# #b=plt.plot(x, d, color = 'red', label = 'COP-COM')
# #plt.legend([a,b], ['COMacc','COP-COM'])
# plt.title("?")
# plt.xlabel("Frame")
# plt.ylabel("Accerelation (Pixels/frame^2)")
# plt.subplot(2,1,2)
# x2 = np.linspace(start2,stop2, len(acceleration))
# b=plt.plot(x2, filtered_error, color = 'red', label = 'COP-COM')
# # plt.title("Velocity per Frame")
# plt.xlabel("Frame")
# plt.ylabel("COP-COM (Pixels)")
#Graphs
#fig, axes = plt.subplots(nrows=3, ncols=1)
#fig.tight_layout(pad = 5)
# x = np.linspace(1,len(com_x_pos), len(com_x_pos))
# plt.subplot(3,1,1)
# a=plt.scatter(x,com_x_pos,label="unfiltered", color="green",marker="*", s=30,)
# b=plt.plot(x, filtered_comx, color = 'red', label = 'filtered')
# plt.legend([a,b], ['unfiltered','filtered'])
# plt.title("CoM x pos per Frame")
# plt.xlabel("Frame")
# plt.ylabel("CoM x pos (Pixels)")
# plt.subplot(3,1,2)
# x2 = np.linspace(start,stop, len(velocity))
# plt.scatter(x2,velocity,label="stars", color="green",marker="*", s=30)
# plt.title("Velocity per Frame")
# plt.xlabel("Frame")
# plt.ylabel("Velocity (Pixels/frame)")
# plt.subplot(3,1,3)
# x3 = np.linspace(start2,stop2, len(acceleration))
# plt.scatter(x3,acceleration,label="stars", color="green",marker="*", s=30)
# plt.title("Accerelation per Frame")
# plt.xlabel("Frame")
# plt.ylabel("Acceleration (Pixels/frame^2)")
#plt.subplots_adjust(hspace = 0.9, top = 0.9)
# x = np.linspace(1,len(com_x_pos), len(com_x_pos))
# plt.subplot(2,1,1)front
# plt.scatter(x,com_x_pos,label="stars", color="green",marker="*", s=30)
# plt.title("CoM x pos per frame")
# plt.xlabel("Frame")
# plt.ylabel("CoM x pos (Pixels)")
# plt.plot(x, filtered_comx, color = 'red')
# plt.subplot(2,1,2)
# plt.scatter(x,com_ang,label="stars", color="green",marker="*", s=30)
# plt.title("CoM angle pos per frame")
# plt.xlabel("Frame")
# plt.ylabel("CoM ang pos (radians)")
# plt.plot(x, filtered_com_ang, color = 'red')
plt.show()
while (cap.isOpened()):
ret, frame = cap.read()
if ret == True:
# Process Image
datum = op.Datum()
imageToProcess = frame
frame_num += 1
cv2.putText(imageToProcess, str(frame_num), (100, 100), font,
1, (255, 255, 255), 1)
datum.cvInputData = imageToProcess
opWrapper.emplaceAndPop([datum])
#Add COM circle to image
radius = 10
# Blue color in BGR
color = (255, 0, 0)
thickness = 2
COM_x = int(filtered_comx[frame_num - 1])
COM_y = com_y_pos[frame_num - 1]
COM = (COM_x, COM_y)
output_frame = datum.cvOutputData
cv2.circle(output_frame, COM, radius, color, thickness)
#Plot frame velocities
if (frame_num >= start and frame_num <= stop):
vel = velocity[frame_num - start]
point_2 = (int(COM_x + 10 * vel), int(COM_y))
cv2.arrowedLine(output_frame, COM, point_2, (0, 0, 255), 3)
#Plot CoP
if (frame_num >= ang_acc_start and frame_num <= ang_acc_stop):
CoP_frame = CoP[frame_num - ang_acc_start]
pend_origin_x = pend_origin[frame_num - 1][0]
pend_origin_y = pend_origin[frame_num - 1][1]
point_2 = (int(pend_origin_x + CoP_frame),
int(pend_origin_y - 20))
point_1 = (int(pend_origin_x + CoP_frame), pend_origin_y)
cv2.arrowedLine(output_frame, point_1, point_2,
(0, 0, 255), 3)
cv2.imshow("OpenPose 1.5.1 - Tutorial Python API",
output_frame)
out.write(output_frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
else:
break
cap.release()
out.release()
cv2.destroyAllWindows
except Exception as e:
print(e)
sys.exit(-1)
