def extract_features(self,
reps=5,
skip_time=2,
hold_time=5,
gap_time=0.25,
print_feat=True):
feat_len = int(hold_time / gap_time)
feat_index = 0
time_elapsed = 0
features = Features(feat_len, reps)
reps_completed = 0
printed = False
while self.controller.is_connected:
if reps_completed == reps:
print "Final", features.final_feat
return features.final_feat
else:
frame = self.controller.frame()
hands = frame.hands
if len(hands) == 0:
feat_index = 0
time_elapsed = 0
if not printed:
print 'Bring hand in view'
printed = True
elif feat_index < feat_len:
for hand in hands:
# only for right hand as of now
if hand.is_right and time_elapsed > skip_time:
pointables = frame.pointables
fingers = frame.fingers
# palm direction feature
features.palm_direction[
feat_index] = hand.direction.to_tuple()
# palm sphere radius
features.palm_radius[
feat_index] = hand.sphere_radius
# hand grab strength
features.palm_grab[feat_index] = hand.grab_strength
# hand pinch strength
features.palm_pinch[
feat_index] = hand.pinch_strength
# inner_distances features
combinations = list(
itertools.combinations(pointables, 2))
for comb, position in zip(combinations,
range(
len(combinations))):
finger1 = comb[0].stabilized_tip_position
finger2 = comb[1].stabilized_tip_position
inner_tip = (finger1 - finger2).magnitude
features.inner_distances[feat_index][
position] = inner_tip
# Relative origin(used to calculate the relative distances)
hand_center = hand.stabilized_palm_position
for pointable in pointables:
finger = Leap.Finger(pointable)
if finger.is_extended:
features.extended_fingers[feat_index][
finger.type] = 1.0
pointable_pos = pointable.stabilized_tip_position
relative_pos = pointable_pos - hand_center
# Scaling the lengths of fingers to the length of middle finger (cal_param)
features.finger_lengths[feat_index][finger.type] = \
relative_pos.magnitude/self.calibration.middle_len
feat_per_finger = np.zeros((12, 5))
#for i in range(0,4):
#feat_per_finger[i] = np.zeros((12,1))
i = 0
for finger in fingers:
feat1 = (finger.bone(
Bone.TYPE_METACARPAL).next_joint -
hand_center).to_float_array()
feat2 = (finger.bone(
Bone.TYPE_PROXIMAL).next_joint -
hand_center).to_float_array()
feat3 = (finger.bone(
Bone.TYPE_INTERMEDIATE).next_joint -
hand_center).to_float_array()
feat4 = (
finger.bone(Bone.TYPE_DISTAL).next_joint -
hand_center).to_float_array()
feat_per_finger[:, i] = np.concatenate(
(feat1, feat2, feat3, feat4), axis=0)
i = i + 1
features.finger_bones[feat_index] = np.concatenate(
(feat_per_finger[:, 0], feat_per_finger[:, 1],
feat_per_finger[:, 2], feat_per_finger[:, 3],
feat_per_finger[:, 4]),
axis=0)
if print_feat:
print "Extended Fingers", features.extended_fingers[
feat_index]
print "Finger lengths", features.finger_lengths[
feat_index]
print "Inter distances between tips", features.inner_distances[
feat_index]
print "Palm direction", features.palm_direction[
feat_index]
print "Palm sphere radius", features.palm_radius[
feat_index]
print "Palm grab strength", features.palm_grab[
feat_index]
print "Palm pinch strength", features.palm_pinch[
feat_index]
print "Bones", features.finger_bones[
feat_index]
feat_index += 1
elif feat_index == feat_len:
feat_index += 1
features.avg_and_append_features(int(self.label),
reps_completed)
reps_completed += 1
print "Remove hand from view"
printed = False
time.sleep(gap_time)
time_elapsed += gap_time
def extract_features(self, reps=3, skip_time=1.5, hold_time=2, gap_time=0.25, print_feat=True):
"""Method to extract features
:return: final feature list
:rtype: list
"""
BoneType = self.enum(TYPE_DISTAL=3, TYPE_INTERMEDIATE=2, TYPE_PROXIMAL=1, TYPE_METACARPAL=0)
feat_len = int(hold_time / gap_time)
feat_index = 0
time_elapsed = 0
features = Features(feat_len, reps)
reps_completed = 0
printed = False
start_frame = None
while self.controller.is_connected:
if self.get_stop_thread_flag():
return features.final_feat
if reps_completed == reps:
return features.final_feat
else:
frame = self.controller.frame()
hands = frame.hands
if len(hands) == 0:
feat_index = 0
time_elapsed = 0
start_frame = None
if not printed:
print 'Bring hand in view'
self.setStatus('Bring hand in view')
printed = True
elif feat_index < feat_len:
for hand in hands:
# only for right hand as of now
if hand.is_right and time_elapsed > skip_time:
ordered_finger_list = []
ordered_pointable_list = []
pointables = hand.pointables
for pointable in pointables:
finger = Leap.Finger(pointable)
ordered_finger_list.insert(finger.type, finger)
ordered_pointable_list.insert(finger.type, pointable)
# setting up features related to hand only
self.set_hand_features(features, feat_index, hand)
# setting up the boolean vector of extended fingers
self.set_extended_fingers(features, feat_index, ordered_finger_list)
# setting up the lengths of bones
# needs to be refactored
self.set_lengths(features, feat_index, ordered_finger_list,hand, BoneType.TYPE_DISTAL)
self.set_lengths(features, feat_index, ordered_finger_list, hand, BoneType.TYPE_INTERMEDIATE)
self.set_lengths(features, feat_index, ordered_finger_list, hand, BoneType.TYPE_PROXIMAL)
self.set_lengths(features, feat_index, ordered_finger_list, hand, BoneType.TYPE_METACARPAL)
# setting up the inner distances between all types of bones
# needs to be refactored in feature (too long list of same parameters)
self.set_inner_distances(features, feat_index, ordered_finger_list, BoneType.TYPE_DISTAL)
self.set_inner_distances(features, feat_index, ordered_finger_list, BoneType.TYPE_INTERMEDIATE)
self.set_inner_distances(features, feat_index, ordered_finger_list, BoneType.TYPE_PROXIMAL)
self.set_inner_distances(features, feat_index, ordered_finger_list, BoneType.TYPE_METACARPAL)
# setting up the angles between the fingers (degrees)
self.set_angle_between_tips(features, feat_index, ordered_finger_list)
# setting up the angles between the fingers and palm plane (degrees)
self.set_angle_between_fingers_and_palm(features, feat_index, ordered_finger_list, hand)
# Movement features:
if not start_frame:
print 'Capturing First Frame'
start_frame = frame
printed = False
elif feat_index == feat_len - 1:
end_frame = frame
self.set_movement_features(features, start_frame, end_frame, hand)
if print_feat:
self.print_dynamic_features(features)
if print_feat:
self.print_static_features(features, feat_index)
feat_index += 1
elif feat_index == feat_len:
feat_index += 1
features.avg_and_append_features(int(self.label), reps_completed)
reps_completed += 1
print "Remove hand from view"
self.setStatus("Remove hand from view")
self.send_iter_rep_to_process("Remove hand from view", str(reps), str(reps_completed))
printed = False
if len(hands) != 0:
time.sleep(gap_time)
time_elapsed += gap_time
