/
VisualizationCode.py
764 lines (627 loc) · 37.4 KB
/
VisualizationCode.py
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# -*- coding: utf-8 -*-
from __future__ import division
import numpy as np
from PIL import Image as im
import os
import scipy.io as sio
import viz
import vizact
import vizshape
#import vizmatplottwo
import scipy
import vizmenu
import time
import math
#from gazeTools import gazeSphere
#from gazeTools import gazeVector
def dotproduct( v1, v2):
return sum((a*b) for a, b in zip(v1, v2))
def length(v):
return math.sqrt(dotproduct(v, v))
def angle( v1, v2):
return math.acos(dotproduct(v1, v2) / (length(v1) * length(v2)))
def quaternion2Matrix(Q):
Q = Q/np.linalg.norm(Q); # Ensure Q has unit norm
# Set up convenience variables
x = Q[0]; y = Q[1]; z = Q[2]; w = Q[3];
w2 = w*w; x2 = x*x; y2 = y*y; z2 = z*z;
xy = x*y; xz = x*z; yz = y*z;
wx = w*x; wy = w*y; wz = w*z;
M = np.array([[w2+x2-y2-z2 , 2*(xy - wz) , 2*(wy + xz) , 0],
[ 2*(wz + xy) , w2-x2+y2-z2 , 2*(yz - wx) , 0 ],
[ 2*(xz - wy) , 2*(wx + yz) , w2-x2-y2+z2 , 0 ],
[ 0 , 0 , 0 , 1 ]], dtype = float);
return M;
def createLine( point0, point1 ):
unitVector = np.subtract(point0, point1)/length(np.subtract(point0, point1))
#print 'unitVector', unitVector
return unitVector
def findLinePlaneIntersection(point_0, line, planeNormal, point_1):
s = point_1 - point_0
numerator = dotproduct(s, planeNormal)
denumerator = np.inner(line, planeNormal)
if (denumerator == 0):
print 'No Intersection'
return None
#print numerator, denumerator
d = np.divide(numerator, denumerator)
intersectionPoint = np.multiply(d, line) + point_0
#print 'result', d, intersectionPoint
return intersectionPoint
class visualization():
"""
Visualization Class creates 3D or 2D representation of the Experiment Data
"""
def __init__(self, textFileName):
self.dataPath = os.getcwd()
self.textFileName = textFileName
self.frameNumber = 0
self.roomLength = 70
self.roomWidth = 40
self.roomHeight = 20
self.viewPointCounter = 0
self.internalCounter = 0
self.internalCounterBall = 0
self.truePOR_XY = np.empty([1, 2], dtype=float)
self.cyclopeanPOR_XY = np.empty([1, 2], dtype=float)
self.rightEyePOR_XY = np.empty([1, 2], dtype=float)
self.leftEyePOR_XY = np.empty([1, 2], dtype=float)
def setLighting(self):
viz.MainView.getHeadLight().disable()
#viz.MainView.get
self.topLight = viz.addLight()
self.topLight.setPosition(-4,6,10)
self.topLight.setEuler( 135, 45 ,0 )
self.topLight.spread(350)
self.topLight.intensity(2)
self.bottomLight = viz.addLight()
self.bottomLight.setPosition(4,0,-10)
self.bottomLight.setEuler( -45, -45 ,0 )
self.bottomLight.spread(350)
self.bottomLight.intensity(2)
def createTheRoom(self):
"""<START OF DEFINING THE WORLD>"""
self.setLighting()
#creates the floor plane to be 35x80
#rotated around the Z axis(perpendicular to Y axis)
self.floor = vizshape.addPlane(size=(self.roomWidth, self.roomLength), axis=vizshape.AXIS_Y, cullFace=False)
#makes the floor look like wood
self.floor.texture(viz.addTexture('images/tile_wood.jpg'))
#moves the floor +20 meters in the z direction
self.floor.setPosition(0,0,0)
#floor.alpha(0.8)
#adds a ceiling(plane) that when facing the frontWall is to the camera's topside
#wall is 35x80 meters**2
#wall is rotated about the Z axis(perpendicular to Y axis)
self.ceiling = vizshape.addPlane(size=(self.roomWidth, self.roomLength), axis=-vizshape.AXIS_Y, cullFace=False)
#makes the ceiling appear Skyblue in color
self.ceiling.color(viz.CYAN)
#shifts the ceiling to rest on top of the four walls
self.ceiling.setPosition(0,self.roomHeight,0)
#If performance is an issue, set cullFace to True.
#adds the wall(plane) farthest from the hand/person
#35x10 meters**2
#rotated around the X axis (perpendicular to Z axis)
self.frontWall = vizshape.addPlane(size=(self.roomWidth, self.roomHeight), axis=-vizshape.AXIS_Z, cullFace = False)
#moves the wall to match the edge of the
self.frontWall.setPosition(0,self.roomHeight/2,self.roomLength/2)
#makes the wall appear white
self.frontWall.color([0.6,0.6,0.6])
self.wall_text_object = viz.addText3D( 'PerForM Lab',parent=self.frontWall,pos=[-3,1,-0.2])
#adds a wall(plane) that when facing the frontWall is to the camera's back
#wall is 35x10 meters**2
#wall is rotated about the X axis(perpendicular to Z axis)
self.backWall = vizshape.addPlane(size=(self.roomWidth, self.roomHeight), axis=vizshape.AXIS_Z, cullFace = False)
#shifts the wall to match the edge of the floor
self.backWall.setPosition(0,self.roomHeight/2,-self.roomLength/2)
#makes the wall appear white
self.backWall.color(viz.WHITE)
#adds the wall(plane) that when facing the frontWall, is to the camera's left
#wall is 80x10 meters**2
#wall is rotated about the Y axis(perpendicular to X axis)
self.leftWall = vizshape.addPlane(size=(self.roomLength, self.roomHeight), axis=-vizshape.AXIS_X, cullFace = False)
#shifts the wall to match the edge of the floor
self.leftWall.setPosition(self.roomWidth/2,self.roomHeight/2,0)
#makes the wall appear white
self.leftWall.color(viz.GRAY)
#adds a wall(plane) that when facing the frontWall is to the camera's right
#wall is 80x10 meters**2
#wall is rotated about the Y axis(perpendicular to X axis)
self.rightWall = vizshape.addPlane(size=(self.roomLength, self.roomHeight), axis=vizshape.AXIS_X, cullFace = False)
#shifts the wall to match the edge of the floor
self.rightWall.setPosition(-self.roomWidth/2,self.roomHeight/2,0)
#makes the wall appear white
self.rightWall.color(viz.GRAY)
#add a meter marker at 0 meters along the z axis of the room
#meter0 = vizshape.addPlane(size = (5,.3), axis = vizshape.AXIS_Y, cullFace = False)
#meter0.setPosition(0,.3, 0)
#makes the meter marker appear yellow
#meter0.color(viz.WHITE)
#adds a wall(plane) that when facing the frontWall is to the camera's back
#wall is 35x10 meters**2
#wall is rotated about the X axis(perpendicular to Z axis)
self.ballPlane = vizshape.addPlane(size=(2,2), axis=vizshape.AXIS_Z, cullFace = False)
#shifts the wall to match the edge of the floor
self.ballPlane.setPosition(0,5,-20)
#makes the wall appear white
self.ballPlane.color(viz.WHITE)
self.ballPlane.alpha(0.0)
self.text_object = viz.addText3D( '',parent=self.ballPlane,pos=[-0.4,0.6,0])
self.text_object.setScale(0.2,0.2,0.2)
"""</END OF DEFINING THE WORLD>"""
def findIndex(Array,Value):
Index =[]
for index, number in enumerate(Array):
if number == Value:
Index.append(index)
return Index
def extractDataFromMatFile(self):
os.chdir(self.dataPath + '\\MatFile')
print 'Changed cwd to ==> ', os.getcwd()
self.rawMatFile = sio.loadmat('rawMat_' + self.textFileName +'.mat');
os.chdir(self.dataPath)
print 'Returned cwd to ==> ', os.getcwd()
#eventFlag
#calibrationStatus = np.array(map(float,self.rawMatFile['calibrationStatus'][:]), dtype= float)
gx = map(float, self.rawMatFile['eyePOR_XY'][:,0])
gy = map(float, self.rawMatFile['eyePOR_XY'][:,1])
eyePOR_XY = np.array([gx, gy], dtype = float)
rgx = map(float, self.rawMatFile['rightPOR_XY'][:,0])
rgy = map(float, self.rawMatFile['rightPOR_XY'][:,1])
rightPOR_XY = np.array([rgx, rgy], dtype = float)
rgx = map(float, self.rawMatFile['rightGazePoint_XYZ'][:,0])
rgy = map(float, self.rawMatFile['rightGazePoint_XYZ'][:,1])
rgz = map(float, self.rawMatFile['rightGazePoint_XYZ'][:,2])
rightGazePoint_XYZ = np.array([rgx, rgy, rgz], dtype = float)
rgx = map(float, self.rawMatFile['rightPupilPos_XYZ'][:,0])
rgy = map(float, self.rawMatFile['rightPupilPos_XYZ'][:,1])
rgz = map(float, self.rawMatFile['rightPupilPos_XYZ'][:,2])
rightPupilPos_XYZ = np.array([rgx, rgy, rgz], dtype = float)
rgx = map(float, self.rawMatFile['rightGazeDir_XYZ'][:,0])
rgy = map(float, self.rawMatFile['rightGazeDir_XYZ'][:,1])
rgz = map(float, self.rawMatFile['rightGazeDir_XYZ'][:,2])
rightGazeDir_XYZ = np.array([rgx, rgy, rgz], dtype = float)
lgx = map(float, self.rawMatFile['leftPOR_XY'][:,0])
lgy = map(float, self.rawMatFile['leftPOR_XY'][:,1])
leftPOR_XY = np.array([lgx, lgy], dtype = float)
lgx = map(float, self.rawMatFile['leftGazePoint_XYZ'][:,0])
lgy = map(float, self.rawMatFile['leftGazePoint_XYZ'][:,1])
lgz = map(float, self.rawMatFile['leftGazePoint_XYZ'][:,2])
leftGazePoint_XYZ = np.array([lgx, lgy, lgz], dtype = float)
lgx = map(float, self.rawMatFile['leftPupilPos_XYZ'][:,0])
lgy = map(float, self.rawMatFile['leftPupilPos_XYZ'][:,1])
lgz = map(float, self.rawMatFile['leftPupilPos_XYZ'][:,2])
leftPupilPos_XYZ = np.array([lgx, lgy, lgz], dtype = float)
lgx = map(float, self.rawMatFile['leftGazeDir_XYZ'][:,0])
lgy = map(float, self.rawMatFile['leftGazeDir_XYZ'][:,1])
lgz = map(float, self.rawMatFile['leftGazeDir_XYZ'][:,2])
leftGazeDir_XYZ = np.array([lgx, lgy, lgz], dtype = float)
# ball_X = map(float, self.rawMatFile['ballPos_XYZ'][:,0])
# ball_Y = map(float, self.rawMatFile['ballPos_XYZ'][:,1])
# ball_Z = map(float, self.rawMatFile['ballPos_XYZ'][:,2])
#
# ball_Pos_XYZ = np.array([ball_X, ball_Y, ball_Z], dtype = float)
ball_X = map(float, self.rawMatFile['calibrationPosition_XYZ'][:,0])
ball_Y = map(float, self.rawMatFile['calibrationPosition_XYZ'][:,1])
ball_Z = map(float, self.rawMatFile['calibrationPosition_XYZ'][:,2])
calibration_Pos_XYZ = np.array([ball_X, ball_Y, ball_Z], dtype = float)
calibrationFlag = map(float, self.rawMatFile['calibrationInProgress'])
# ball_X = map(float, self.rawMatFile['ballPos_XYZ'][:,0])
# ball_Y = map(float, self.rawMatFile['ballPos_XYZ'][:,1])
# ball_Z = map(float, self.rawMatFile['ballPos_XYZ'][:,2])
# ball_Pos_XYZ = np.array([ball_X, ball_Y, ball_Z], dtype = float)
ball_Pos_XYZ = calibration_Pos_XYZ
# ball_Vel_X = map(float, self.rawMatFile['ballVel_XYZ'][:,0])
# ball_Vel_Y = map(float, self.rawMatFile['ballVel_XYZ'][:,1])
# ball_Vel_Z = map(float, self.rawMatFile['ballVel_XYZ'][:,2])
# ball_Vel_XYZ = np.array([ball_Vel_X, ball_Vel_Y, ball_Vel_Z], dtype = float);
ball_Vel_X = map(float, self.rawMatFile['calibrationPosition_XYZ'][:,0])
ball_Vel_Y = map(float, self.rawMatFile['calibrationPosition_XYZ'][:,1])
ball_Vel_Z = map(float, self.rawMatFile['calibrationPosition_XYZ'][:,2])
ball_Vel_XYZ = np.array([ball_Vel_X, ball_Vel_Y, ball_Vel_Z], dtype = float);
# Ball_Pix_X = map(float, self.rawMatFile['ballPix_XYDist'][:,0])
# Ball_Pix_Y = map(float, self.rawMatFile['ballPix_XYDist'][:,1])
# Ball_Pix_Z = map(float, self.rawMatFile['ballPix_XYDist'][:,2])
# Ball_Pix_XYZ = np.array([Ball_Pix_X, Ball_Pix_Y, Ball_Pix_Z], dtype = float);
paddle_X = map(float, self.rawMatFile['paddlePos_XYZ'][:,0])
paddle_Y = map(float, self.rawMatFile['paddlePos_XYZ'][:,1])
paddle_Z = map(float, self.rawMatFile['paddlePos_XYZ'][:,2])
paddle_Pos_XYZ = np.array([paddle_X, paddle_Y, paddle_Z], dtype = float);
#Fix Me (Kamran)
paddle_Quat_X = map(float, self.rawMatFile['paddleQUAT_WXYZ'][:,0])
paddle_Quat_Y = map(float, self.rawMatFile['paddleQUAT_WXYZ'][:,1])
paddle_Quat_Z = map(float, self.rawMatFile['paddleQUAT_WXYZ'][:,2])
paddle_Quat_W = map(float, self.rawMatFile['paddleQUAT_WXYZ'][:,3])
#Fix Me
paddle_Quat_WXYZ = np.array([paddle_Quat_X, paddle_Quat_Y, paddle_Quat_Z, paddle_Quat_W ], dtype = float);
view_X = map(float, self.rawMatFile['view_XYZ_Pos'][:,0])
view_Y = map(float, self.rawMatFile['view_XYZ_Pos'][:,1])
view_Z = map(float, self.rawMatFile['view_XYZ_Pos'][:,2])
view_Pos_XYZ = np.array([view_X, view_Y, view_Z], dtype = float);
#Fix Me (Kamran)
view_Quat_X = map(float, self.rawMatFile['Quat_Matrix'][:,0])
view_Quat_Y = map(float, self.rawMatFile['Quat_Matrix'][:,1])
view_Quat_Z = map(float, self.rawMatFile['Quat_Matrix'][:,2])
view_Quat_W = map(float, self.rawMatFile['Quat_Matrix'][:,3])
#Fix Me
view_Quat_WXYZ = np.array([view_Quat_X, view_Quat_Y, view_Quat_Z, view_Quat_W], dtype = float);
frameTime = map(float, self.rawMatFile['FrameTime'])
# calibrationCounter = map(float, self.rawMatFile['calibrationCounter'])
eventFlag = map(float, self.rawMatFile['EventFlag'])
print 'Total Number of Frames = ', len(frameTime), '\n'
print 'Total Number of Event Flags = ', len(eventFlag), '\n'
print 'Ball Pos Size', ball_Pos_XYZ.shape
print 'Ball Vel Size', ball_Vel_XYZ.shape
# print 'Ball Pix XYZ Size', Ball_Pix_XYZ.shape
# print 'Paddle Pos Size', Paddle_Pos_XYZ.shape
print 'Paddle Quat Size', view_Quat_WXYZ.shape
print 'View Pos Size', view_Pos_XYZ.shape
print 'View Quat Size', view_Quat_WXYZ.shape
#TrialStartIndex = FindIndex(EventFlag,1)
#TrialEndIndex = FindIndex(EventFlag,3)
#TrialNumber = len(TrialEndIndex)
#print 'Number of Trials are=\n', TrialNumber
#print 'Start Indexes =', TrialStartIndex
#print 'End Indexes =', TrialEndIndex
# print 'calibrationStatus =', calibrationStatus
self.rawDataStruct = {'rightGazePoint_XYZ' : rightGazePoint_XYZ, 'rightPupilPos_XYZ' : rightPupilPos_XYZ, 'rightGazeDir_XYZ' : rightGazeDir_XYZ,
'leftGazePoint_XYZ' : leftGazePoint_XYZ, 'leftPupilPos_XYZ' : leftPupilPos_XYZ, 'leftGazeDir_XYZ' : leftGazeDir_XYZ,
'rightPOR_XY' : rightPOR_XY, 'leftPOR_XY' :leftPOR_XY, 'eyePOR_XY' : eyePOR_XY,
'calibrationFlag' : calibrationFlag, 'calibration_Pos_XYZ' : calibration_Pos_XYZ,
'ball_Pos_XYZ' : ball_Pos_XYZ, 'ball_Vel_XYZ' : ball_Vel_XYZ, 'paddle_Pos_XYZ' : paddle_Pos_XYZ, 'paddle_Quat_WXYZ' : paddle_Quat_WXYZ,
'view_Pos_XYZ' : view_Pos_XYZ, 'view_Quat_WXYZ' : view_Quat_WXYZ, 'frameTime' : frameTime, 'eventFlag' : eventFlag}
def createVisualObjects(self):
self.IOD = 0.06
# create a node3D leftEyeNode
self.cyclopEyeNode = vizshape.addSphere(0.015, color = viz.GREEN)
self.cyclopEyeNode.alpha(0.3)
#cyclopEyeNode.visible(viz.OFF)
self.cyclopEyeNode.setPosition(*self.rawDataStruct['view_Pos_XYZ'][:,0])
self.cyclopEyeNode.setQuat(*self.rawDataStruct['view_Quat_WXYZ'][:,0])
# create a node3D rightEyeNode
self.rightEyeNode = vizshape.addSphere(0.015, color = viz.RED)
#rightEyeNode.visible(viz.OFF)
self.rightEyeNode.setParent(self.cyclopEyeNode)
self.rightEyeNode.setPosition(self.IOD/2, 0, 0.0,viz.ABS_PARENT)
self.rightEyeNode.alpha(0.3)
# right_sphere = gazeSphere(eyeTracker,viz.RIGHT_EYE,rightEyeNode,[clientWindowID],sphereColor=viz.ORANGE)
# rightGazeVector = gazeVector(eyeTracker,viz.RIGHT_EYE,rightEyeNode,[clientWindowID],gazeVectorColor=viz.ORANGE)
# right_sphere.toggleUpdate()
# rightGazeVector.toggleUpdate()
# right_sphere.node3D.alpha(0.7)
# create a node3D leftEyeNode
self.leftEyeNode = vizshape.addSphere(0.015, color = viz.BLUE)
#leftEyeNode.visible(viz.OFF)
self.leftEyeNode.setParent(self.cyclopEyeNode)
self.leftEyeNode.setPosition(-self.IOD/2, 0, 0.0,viz.ABS_PARENT)
self.leftEyeNode.alpha(0.3)
# left_sphere = gazeSphere(eyeTracker,viz.LEFT_EYE,leftEyeNode,[clientWindowID],sphereColor=viz.YELLOW)
# leftGazeVector = gazeVector(eyeTracker,viz.LEFT_EYE,leftEyeNode,[clientWindowID],gazeVectorColor=viz.YELLOW)
# left_sphere.toggleUpdate()
# leftGazeVector.toggleUpdate()
# left_sphere.node3D.alpha(0.7)
self.hmdDisplay = vizshape.addPlane([0.126, 0.071], axis = -vizshape.AXIS_Z, color = viz.GRAY)
self.hmdDisplay.alpha(0.3)
self.hmdDisplay.setParent(self.cyclopEyeNode)
self.hmdDisplay.setPosition([0,0,0.0725], viz.ABS_PARENT) # 0.0725
self.pixelatedBall = vizshape.addCircle(0.001, axis = -vizshape.AXIS_Z, color = viz.WHITE)
self.pixelatedBall.setParent(self.hmdDisplay)
self.pixelatedBall.setPosition([0,0,0])
self.pixelatedBall.alpha(1)
self.eyePOR = vizshape.addCircle(0.001, axis = -vizshape.AXIS_Z, color = viz.GREEN)
self.eyePOR.setParent(self.hmdDisplay)
self.eyePOR.setPosition([0,0,0])
self.eyePOR.alpha(1)
self.rightPOR = vizshape.addCircle(0.001, axis = -vizshape.AXIS_Z, color = viz.RED)
self.rightPOR.setParent(self.hmdDisplay)
self.rightPOR.setPosition([0,0,0])
self.rightPOR.alpha(1)
self.leftPOR = vizshape.addCircle(0.001, axis = -vizshape.AXIS_Z, color = viz.BLUE)
self.leftPOR.setParent(self.hmdDisplay)
self.leftPOR.setPosition([0,0,0])
self.leftPOR.alpha(1)
#creats a sphere(the ball) with radius of 5cm
self.ball = vizshape.addSphere(radius = .08)
#colors the ball red
self.ball.color(viz.YELLOW)
self.ball.visible(True)
self.ball.setParent(self.cyclopEyeNode)
self.Origin = vizshape.addAxes()
self.Origin.setPosition(-5.5,0.1,8)
# #creats a sphere(the ball) with radius of 5cm
# #Head = vizshape.addCone( radius = 0.5, height = 0.8)
# Head = vizshape.addArrow(1, color = viz.YELLOW_ORANGE)
# #colors the ball red
# Head.color(viz.PURPLE)
# Head.visible(True)
# Head.setScale(.2,.2,.3)
#creats a sphere(the hand) with radius of 10cm
self.Hand = vizshape.addCylinder( height = 0.02, radius = 0.2, axis = vizshape.AXIS_Z)
#colors the hand red
self.Hand.color(viz.RED)
self.Hand.visible(True)
# Creating a Line to represent Cyclopean Eye Gaze Vector
viz.startLayer(viz.LINES)
viz.vertex(0,0,0)
viz.vertex(0,0,3)
viz.vertexColor(viz.GREEN)
self.eyeGazeVector = viz.endLayer() # Object will contain both points and lines
self.eyeGazeVector.visible(True)
self.eyeGazeVector.setParent(self.cyclopEyeNode)
self.eyeGazeVector.pointSize(10)
#rightGazeVector.setScale(5,5,5)
self.eyeGazeSphere = vizshape.addSphere(0.02, color = viz.GREEN)
self.eyeGazeSphere.setParent(self.cyclopEyeNode)
# Creating a Line to represent Right Eye Gaze Vector
viz.startLayer(viz.LINES)
viz.vertex(0,0,0)
viz.vertex(0,0,3)
viz.vertexColor(viz.RED)
self.rightGazeVector = viz.endLayer() # Object will contain both points and lines
self.rightGazeVector.visible(True)
#rightGazeVector.setParent(rightEyeNode)
self.rightGazeVector.pointSize(10)
#rightGazeVector.setScale(5,5,5)
self.rightGazeSphere = vizshape.addSphere(0.02, color = viz.RED)
self.rightGazeSphere.setParent(self.rightEyeNode)
self.rightGazeSphere.visible(False)
# Creating a Line to represent Left Eye Gaze Vector
viz.startLayer(viz.LINES)
viz.vertex(0,0,0)
viz.vertex(0,0,3)
viz.vertexColor(viz.BLUE)
self.leftGazeVector = viz.endLayer() # Object will contain both points and lines
self.leftGazeVector.visible(True)
#leftGazeVector.setParent(leftEyeNode)
#leftGazeVector.setScale(5,5,5)
self.leftGazeSphere = vizshape.addSphere(0.02, color = viz.BLUE)
self.leftGazeSphere.setParent(self.leftEyeNode)
self.leftGazeSphere.visible(False)
# Creating a Line to represent Eye-Ball Vector
viz.startLayer(viz.LINES)
viz.vertex(0,0,0)
viz.vertex(0,0,3)
viz.vertexColor(viz.YELLOW)
self.EyeBallLine = viz.endLayer() # Object will contain both points and lines
self.EyeBallLine.visible(False)
#EyeBallLine.setScale(5,5,5)
self.male = viz.add('ktex.obj')
#male.state(1) #looping idle animation
#self.headBone = self.male.getBone('Bip01 Head')
#self.headBone.lock()
self.male.setParent(self.cyclopEyeNode)
#self.male.setPosition([0,-1.7,-0.08], viz.ABS_PARENT)
#self.male.setPosition([-0.45, 0, 1.24])
#self.male.setEuler([0,-5,0], viz.ABS_PARENT)
#male.alpha(0.8)
#def FindMinimumAngle(v1, v2, fr):
#
# global lEyeRotationMatrix, lEyeOffsetMatrix, View_Quat_WXYZ;
# Error = 2000;
# Angle = 0;
# Vector = v1
# for alfa in (np.linspace(-20*np.pi/180, 0*np.pi/180, num = 10)):
# lEyeRotationMatrix[0,:] = [np.cos(alfa), np.sin(alfa), 0, 0];
# lEyeRotationMatrix[1,:] = [-np.sin(alfa), np.cos(alfa), 0, 0];
# ViewRotation = Quaternion2Matrix(View_Quat_WXYZ[:,fr]);
# Result = lEyeOffsetMatrix.dot(v2);
# Result = lEyeRotationMatrix.dot(Result);
# v = ViewRotation.dot(Result);
# ErrorTemp = (np.abs(np.linalg.norm(np.cross(v1[0:3],v[0:3]))));
#
# if ErrorTemp < Error :
# Error = ErrorTemp
# Angle = alfa
# Vector = v
# #print 'Error,', Error,' alfa',Angle*180/np.pi
# return Angle,Vector
def setRotationAngle(self, angle):
print 'Screen Rotation Set to ', angle;
self.alpha = angle*(np.pi/180);
def onTimer(self, num):
if self.frameNumber < len(self.rawDataStruct['frameTime']) - 1:
#pointCounter[calibrationCounter[self.frameNumber]] = pointCounter[calibrationCounter[self.frameNumber]] + 1
self.frameNumber = self.frameNumber + 1
if(self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
self.internalCounter = self.internalCounter + 1
else:
self.internalCounterBall = self.internalCounterBall + 1
else:
#self.frameNumber = 0
#print 'Data = ', errorArray
MatFile = {'Data':errorArray}
self.rawDataStruct['truePOR_XY'] = self.truePOR_XY.T
self.rawDataStruct['rightEyePOR_XY'] = self.rightEyePOR_XY.T
self.rawDataStruct['leftEyePOR_XY'] = self.leftEyePOR_XY.T
self.rawDataStruct['cyclopeanPOR_XY'] = self.cyclopeanPOR_XY.T
MatFileName = 'preProcessedData'+ self.textFileName
sio.savemat(MatFileName + '.mat', self.rawDataStruct)
print 'PreProcessed Data saved into mat file', MatFileName + '.mat'
print 'Mat File Saving Quit!!'
viz.quit()
if (self.rawDataStruct['eventFlag'][self.frameNumber] == 1):
self.PD = 0.8
self.BD = 0.3
self.PBD = 0.7
self.timer = 0
# StartIndex = TrialStartIndex[counter]
# EndIndex = TrialEndIndex[counter]
# for self.frameNumber in range(StartIndex, EndIndex):
#print 'F=', self.frameNumber,'P=', Ball_Pos_XYZ[:,self.frameNumber],'Q=',View_Quat_WXYZ[:,self.frameNumber], '\n'
if (self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
self.ball.setPosition(*self.rawDataStruct['calibration_Pos_XYZ'][:,self.internalCounter])
else:
self.ball.setPosition(*self.rawDataStruct['ball_Pos_XYZ'][:,self.internalCounterBall], mode = viz.ABS_GLOBAL) # X[:,self.frameNumber])#
self.Hand.setPosition(*self.rawDataStruct['paddle_Pos_XYZ'][:,self.frameNumber])
self.Hand.setQuat(*self.rawDataStruct['paddle_Quat_WXYZ'][:,self.frameNumber])
#self.headBone.setQuat(self.cyclopEyeNode.getQuat())
#self.male.setEuler([0, 0, 0], viz.ABS_GLOBAL)
if (self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
self.V1 = self.rawDataStruct['calibration_Pos_XYZ'][:,self.internalCounter] - self.rawDataStruct['view_Pos_XYZ'][:,self.frameNumber]
else:
self.V1 = self.rawDataStruct['ball_Pos_XYZ'][:,self.internalCounterBall] - self.rawDataStruct['view_Pos_XYZ'][:,self.frameNumber]
self.V1 = np.hstack((self.V1,1))
self.V1.reshape(4,1)
viz.MainView.setPosition(*self.rawDataStruct['view_Pos_XYZ'][:,self.frameNumber])
viz.MainView.setQuat(*self.rawDataStruct['view_Quat_WXYZ'][:,self.frameNumber])
self.cyclopEyeNode.setPosition(*self.rawDataStruct['view_Pos_XYZ'][:,self.frameNumber])
self.cyclopEyeNode.setQuat(*self.rawDataStruct['view_Quat_WXYZ'][:,self.frameNumber])
x = self.rawDataStruct['eyePOR_XY'][0,self.frameNumber]
y = self.rawDataStruct['eyePOR_XY'][1,self.frameNumber]
x = (x /1920.0)*0.126 - 0.126/2.0
y = -(y/1080.0)*0.071 + 0.071/2.0
z = self.eyePOR.getPosition()[2]
self.eyePOR.setPosition([x, y, z])
self.cyclopeanPOR_XY = np.vstack((self.cyclopeanPOR_XY, [x, y]))
rx = self.rawDataStruct['rightPOR_XY'][0,self.frameNumber]
ry = self.rawDataStruct['rightPOR_XY'][1,self.frameNumber]
rx = (rx /1920.0)*0.126 - 0.126/2.0
ry = -(ry/1080.0)*0.071 + 0.071/2.0
rz = self.rightPOR.getPosition()[2]
self.rightPOR.setPosition([rx, ry, rz])
self.rightEyePOR_XY = np.vstack((self.rightEyePOR_XY, [rx, ry]))
lx = self.rawDataStruct['leftPOR_XY'][0,self.frameNumber]
ly = self.rawDataStruct['leftPOR_XY'][1,self.frameNumber]
lx = (lx /1920.0)*0.126 - 0.126/2.0
ly = -(ly/1080.0)*0.071 + 0.071/2.0
lz = self.leftPOR.getPosition()[2]
self.leftPOR.setPosition([lx, ly, lz])
self.leftEyePOR_XY = np.vstack((self.leftEyePOR_XY, [lx, ly]))
self.rightGazePoint_XYZ = [ -self.rawDataStruct['rightGazeDir_XYZ'][0,self.frameNumber], self.rawDataStruct['rightGazeDir_XYZ'][1,self.frameNumber], self.rawDataStruct['rightGazeDir_XYZ'][2,self.frameNumber]]
if (self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
self.rightScale = np.linalg.norm(self.rawDataStruct['calibration_Pos_XYZ'][:,self.internalCounter] - self.rightEyeNode.getPosition(viz.ABS_GLOBAL))
else:
self.rightScale = np.linalg.norm(self.rawDataStruct['ball_Pos_XYZ'][:,self.internalCounterBall] - self.rightEyeNode.getPosition(viz.ABS_GLOBAL))
self.rightGazePoint_XYZ = np.multiply(self.rightGazePoint_XYZ, self.rightScale)
self.rightGazeSphere.setPosition(self.rightGazePoint_XYZ[0], self.rightGazePoint_XYZ[1], self.rightGazePoint_XYZ[2], viz.ABS_PARENT)
self.rightGazeVector.setVertex(0, self.rightEyeNode.getPosition(mode = viz.ABS_GLOBAL), viz.ABS_GLOBAL)
# This was the method to use gaze direction vector to draw gaze vector
#self.rightGazeVector.setVertex(1, self.rightGazeSphere.getPosition(viz.ABS_GLOBAL), viz.ABS_GLOBAL)
# This was the method to use Screen Coordinates to draw gaze vector from Eye to screen
#self.rightGazeVector.setVertex(1, self.rightPOR.getPosition( mode = viz.ABS_GLOBAL), viz.ABS_GLOBAL)
rightEyeToScreenLine = createLine(self.rightPOR.getPosition( mode = viz.ABS_GLOBAL), self.rightEyeNode.getPosition( mode = viz.ABS_GLOBAL))
pos = self.rightEyeNode.getPosition(mode = viz.ABS_GLOBAL) + np.multiply(rightEyeToScreenLine, self.rightScale)
self.rightGazeVector.setVertex(1,[pos[0], pos[1], pos[2]] , viz.ABS_GLOBAL)
point0 = np.array([0.0,0.0,0.0])
if (self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
line = self.rawDataStruct['calibration_Pos_XYZ'][:,self.internalCounter]# - self.cyclopEyeNode.getPosition(viz.ABS_GLOBAL)
else:
line = self.rawDataStruct['ball_Pos_XYZ'][:,self.internalCounterBall]# - self.cyclopEyeNode.getPosition(viz.ABS_GLOBAL)
planeNormal = np.array([0.0,0.0,1.0])
point1 = np.array([0.0,0.0,0.0725])
pos = findLinePlaneIntersection( point0, line, planeNormal, point1)
self.pixelatedBall.setPosition(pos[0], pos[1], 0)
self.truePOR_XY = np.vstack((self.truePOR_XY, [pos[0], pos[1]]))
self.leftGazePoint_XYZ = [ -self.rawDataStruct['leftGazeDir_XYZ'][0,self.frameNumber], self.rawDataStruct['leftGazeDir_XYZ'][1,self.frameNumber], self.rawDataStruct['leftGazeDir_XYZ'][2,self.frameNumber]]
if (self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
self.leftScale = np.linalg.norm(self.rawDataStruct['calibration_Pos_XYZ'][:,self.internalCounter] - self.leftEyeNode.getPosition(viz.ABS_GLOBAL))
else:
self.leftScale = np.linalg.norm(self.rawDataStruct['ball_Pos_XYZ'][:,self.internalCounterBall] - self.leftEyeNode.getPosition(viz.ABS_GLOBAL))
self.leftGazePoint_XYZ = np.multiply(self.leftGazePoint_XYZ, self.leftScale)
self.leftGazeSphere.setPosition(self.leftGazePoint_XYZ[0], self.leftGazePoint_XYZ[1], self.leftGazePoint_XYZ[2], viz.ABS_PARENT)
self.leftGazeVector.setVertex(0, self.leftEyeNode.getPosition(mode = viz.ABS_GLOBAL), viz.ABS_GLOBAL)
# This was the method to use gaze direction vector to draw gaze vector
#self.leftGazeVector.setVertex(1, self.leftGazeSphere.getPosition(viz.ABS_GLOBAL), viz.ABS_GLOBAL)
# This was the method to use Screen Coordinates to draw gaze vector from Eye to screen
#self.leftGazeVector.setVertex(1, self.leftPOR.getPosition(mode = viz.ABS_GLOBAL), viz.ABS_GLOBAL)
leftEyeToScreenLine = createLine(self.leftPOR.getPosition( mode = viz.ABS_GLOBAL), self.leftEyeNode.getPosition( mode = viz.ABS_GLOBAL))
pos = self.leftEyeNode.getPosition(mode = viz.ABS_GLOBAL) + np.multiply(leftEyeToScreenLine, self.leftScale)
self.leftGazeVector.setVertex(1,[pos[0], pos[1], pos[2]] , viz.ABS_GLOBAL)
self.EyeBallLine.setVertex(0, self.rawDataStruct['view_Pos_XYZ'][0,self.frameNumber], self.rawDataStruct['view_Pos_XYZ'][1,self.frameNumber], self.rawDataStruct['view_Pos_XYZ'][2,self.frameNumber], viz.ABS_GLOBAL)
if (self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
self.EyeBallLine.setVertex(1, self.rawDataStruct['calibration_Pos_XYZ'][0,self.internalCounter], self.rawDataStruct['calibration_Pos_XYZ'][1,self.internalCounter], self.rawDataStruct['calibration_Pos_XYZ'][2,self.internalCounter], viz.ABS_GLOBAL)
else:
self.EyeBallLine.setVertex(1, self.rawDataStruct['ball_Pos_XYZ'][0,self.internalCounterBall], self.rawDataStruct['ball_Pos_XYZ'][1,self.internalCounterBall], self.rawDataStruct['ball_Pos_XYZ'][2,self.internalCounterBall], viz.ABS_GLOBAL)
if (self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
self.ballPlane.setPosition(*self.rawDataStruct['calibration_Pos_XYZ'][:,self.internalCounter])
else:
self.ballPlane.setPosition(*self.rawDataStruct['ball_Pos_XYZ'][:,self.internalCounterBall])
if (self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
self.V1 = self.rawDataStruct['calibration_Pos_XYZ'][:,self.internalCounter] - self.cyclopEyeNode.getPosition()
else:
self.V1 = self.rawDataStruct['ball_Pos_XYZ'][:,self.internalCounterBall] - self.cyclopEyeNode.getPosition()
self.V2 = self.leftGazePoint_XYZ - self.leftEyeNode.getPosition(viz.ABS_GLOBAL) + self.rightGazePoint_XYZ - self.rightEyeNode.getPosition(viz.ABS_GLOBAL)
self.V3 = self.leftGazePoint_XYZ + self.rightGazePoint_XYZ
self.eyeGazeVector.setVertex(0,0,0, viz.ABS_PARENT)
# This was the method to use right and left Gaze sphere to draw the cyclopean eye
#self.eyeGazeVector.setVertex(1, self.V3[0]/2.0, self.V3[1]/2.0, self.V3[2]/2.0, viz.ABS_PARENT)
cyclopEyeToScreenLine = createLine(self.eyePOR.getPosition( mode = viz.ABS_GLOBAL), self.cyclopEyeNode.getPosition( mode = viz.ABS_GLOBAL))
if (self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
self.cyclopScale = np.linalg.norm(self.rawDataStruct['calibration_Pos_XYZ'][:,self.internalCounter] - self.cyclopEyeNode.getPosition(viz.ABS_GLOBAL))
else:
self.cyclopScale = np.linalg.norm(self.rawDataStruct['ball_Pos_XYZ'][:,self.internalCounterBall] - self.cyclopEyeNode.getPosition(viz.ABS_GLOBAL))
pos = self.cyclopEyeNode.getPosition(mode = viz.ABS_GLOBAL) + np.multiply(cyclopEyeToScreenLine, self.cyclopScale)
self.eyeGazeVector.setVertex(1,[pos[0], pos[1], pos[2]] , viz.ABS_GLOBAL)
self.eyeGazeSphere.setPosition(self.eyeGazeVector.getVertex(1), viz.ABS_PARENT)
if (self.rawDataStruct['calibrationFlag'][self.frameNumber] == 1 ):
self.V1 = self.rawDataStruct['calibration_Pos_XYZ'][:,self.internalCounter] - self.cyclopEyeNode.getPosition(viz.ABS_GLOBAL)
else:
self.V1 = self.rawDataStruct['ball_Pos_XYZ'][:,self.internalCounterBall] - self.cyclopEyeNode.getPosition(viz.ABS_GLOBAL)
#V2 = eyeGazeSphere.getPosition(viz.ABS_GLOBAL) - cyclopEyeNode.getPosition(viz.ABS_GLOBAL)
self.V2 = [a - b for a, b in zip(self.eyeGazeSphere.getPosition(viz.ABS_GLOBAL), self.cyclopEyeNode.getPosition(viz.ABS_GLOBAL))]
# XYZ = [l1[idx][0] - l2[idx][0] , l1[idx][1] - l2[idx][1], l1[idx][2] - l2[idx][2] for idx in range(len(l1))]
errorAngle = np.multiply(angle(self.V2, self.V1), 180/np.pi)
#print 'Angle = ', errorAngle
#if (calibrationStatus[self.frameNumber] == 1):
#errorArray[calibrationCounter[self.frameNumber], pointCounter[calibrationCounter[self.frameNumber]]] = errorAngle
#viz.MainView.setPosition(*Ball_Pos_XYZ[:,self.internalCounterBall] + [0.0, 0.4, -1.5])
#if (calibrationStatus[self.frameNumber] == 0):
string = 'PerForM Lab'#'Before Calibration'
#else:
# string = 'Eye Tracking in VR'#'After Calibration'
self.wall_text_object.message(string)
# HACK (KAMRAN)string2 = 'Error = %2.2f' %(errorAngle)+ u"\u00b0"
# HACK (KAMRAN)string2 = 'AE = %.1f %c'%(errorAngle, u"\u00b0")
# HACK (KAMRAN)self.text_object.message(string2)
def updateViewPoint(self):
if ( self.viewPointCounter == 0 ):
viz.MainView.setPosition([2.552443504333496, 2.406543731689453, 1.4710679054260254])
viz.MainView.setEuler([-90, 0.0, 0.0])
self.viewPointCounter = 2
elif( self.viewPointCounter == 1 ):
viz.MainView.setPosition([-0.41021019220352173, 1.254163146018982, 1.251746416091919])
viz.MainView.setEuler([8.187896728515625, -0.0, 0.0])
self.viewPointCounter = 2
elif( self.viewPointCounter == 2 ):
viz.MainView.setPosition(self.cyclopEyeNode.getPosition())
viz.MainView.setEuler(self.cyclopEyeNode.getEuler())
self.viewPointCounter = 0
if __name__ == '__main__':
errorArray = np.array([],dtype = float)
errorArray = np.zeros((27,80))
pointCounter = np.zeros(27)
viewPointFlag = False
TimeInterval = 0.001#0.0133#0.01327800000001389 # 0.067
nearH = 1.2497;
nearW = 1.5622;
viz.setMultiSample(4)
viz.fov(60)
viz.go()
viz.window.setFullscreenMonitor(2)
textFileName = 'exp_data-2015-10-25-22-29'#'exp_data-2015-10-25-18-35'#'exp_data-2015-10-6-20-8'#'exp_data-2015-9-30-14-26'#'exp_data-2015-9-25-20-34'#'exp_data-2015-8-18-18-34'# 'exp_data-2015-4-24-13-34'
myVisualization = visualization(textFileName)
myVisualization.extractDataFromMatFile()#'Exp_RawMat_calib_data-2015-5-12-21-45.mat');
myVisualization.createTheRoom()
myVisualization.createVisualObjects()
#sets where the camera view is located
viz.MainView.setPosition([0.4033511281013489, 1.7814747095108032, -1.921712040901184])
#sets the angle at which the camera view is pointed
viz.MainView.setEuler([0.251657485961914, -0.0, 0.0])
#lEyeOffsetMatrix = np.array([[1, 0, 0, -0.03],[0, 1, 0, 0], [0, 0, 1, 0],[0, 0, 0, 1]], dtype = float)
#lEyeRotationMatrix = np.eye(4, dtype = float);
counter = 1
myVisualization.setRotationAngle(5.5);
#if the timer goes off go to the onTimer function
viz.callback(viz.TIMER_EVENT,myVisualization.onTimer)
viz.starttimer(1, TimeInterval, viz.FOREVER)
# Go fullscreen on monitor 1
viz.window.setFullscreenMonitor(2)
vizact.onkeydown('v', myVisualization.updateViewPoint)
point0 = np.array([4.0,0.0, -5.0])
point1 = np.array([-8.0,5.0, 0.0])
line = np.array([0.0,0.0,6.0])
planeNormal = np.array([0.0,0.0,2.0])
print 'Test =', findLinePlaneIntersection(point0, line, planeNormal, point1)
vizact.onkeydown('b', viz.window.startRecording, 'test01.avi' )
vizact.onkeydown('e', viz.window.stopRecording )
myVisualization.male.visible(viz.OFF)