migrated code to public repository
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mohsen-mansouryar
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233 changed files with 16279 additions and 186 deletions
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code/recording_experiment.py
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196
code/recording_experiment.py
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from __future__ import division
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import numpy as np
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from numpy import linalg as LA
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from minimize import findInitialW, _q, g, minimizeEnergy
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from time import time
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from geom import getSphericalCoords, getAngularDiff
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from recording.tracker import Marker
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# from visual import vector as v # for vector operations
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from vector import Vector as v
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DATA_DIR = './recording/data/'
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# DATA_DIR = '.\\recording\\data\\'
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EYE_CAMERA_IMAGE_WIDTH = 640
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EYE_CAMERA_IMAGE_HEIGHT = 360
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curr_calibration_experiment = '006'
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curr_test_experiment = '010'
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# markers in order of being targeted:
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experiments = {'005': [130, 608, 456, 399, 659, 301, 351, 707, 18],
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'006': [130, 608, 456, 399, 659, 301, 351, 707, 18],
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'007': [449, 914, 735, 842, 347, 660, 392, 782],
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'010': [449, 914, 554, 243, 347, 173, 664, 399]}
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def denormalize(p):
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# return p * np.array([EYE_CAMERA_IMAGE_WIDTH, EYE_CAMERA_IMAGE_HEIGHT])
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return p * np.array([EYE_CAMERA_IMAGE_WIDTH, EYE_CAMERA_IMAGE_HEIGHT]) - \
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(np.array([EYE_CAMERA_IMAGE_WIDTH, EYE_CAMERA_IMAGE_HEIGHT]) / 2)
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def main():
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single_point = False
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__p, _t = [], []
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p, t = [], []
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# Fetching marker position wrt camera t from calibration data
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marker_data = np.load(DATA_DIR + 'frames_%s.npy' % curr_calibration_experiment)
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# marker_data includes data on tracked markers per frame
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# it's a list with as many entries as the number of video frames, each entry
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# has a list of tracked markers, each marker item has marker id, marker corners, Rvec, Tvec
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# TODO (remember the unit)
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# Fetching pupil positions p from calibration data
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pupil_data = np.load(DATA_DIR + 'pp_%s.npy' % curr_calibration_experiment)
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# pupil_data is a list of tracked pupil positions, each entry has 3 elements
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# array: frame range (start, end)
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# array: mean pupil position
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# list: all pupil positions in the range
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# TODO (also remember to denormalize)
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for i, pos in enumerate(pupil_data):
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corresponding_marker_id = experiments[curr_calibration_experiment][i]
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# print corresponding_marker_id
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start, end = pos[0]
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if len(pos[2]) == end-start+1: # all samples for this points are reliable
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# add all corresponding pupil-3d points as mappings
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# print start, end, len(pos[2])
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for i, _p in enumerate(pos[2]):
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frame_number = start + i
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if frame_number >= len(marker_data): continue # TODO: investigate
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for marker in marker_data[frame_number]:
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if marker[0][0] == corresponding_marker_id:
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if single_point:
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__p.append(denormalize(_p))
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_t.append(Marker.fromList(marker).getCenter())
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else:
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p.append(denormalize(_p))
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t.append(Marker.fromList(marker).getCenter())
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if single_point and len(__p):
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p.append(sum(__p)/len(__p))
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t.append(sum(_t)/len(_t))
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__p, _t = [], []
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else: # if pos[2] is nonempty consider the mean
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if len(pos[2]): # TODO: here we can still map the corresponding pupil points to their detected marker given
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# we have the frame correspondence (investigate)
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# map pos[1] to corresponding markers
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for frame_number in xrange(start, end+1):
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if frame_number >= len(marker_data): continue # TODO: investigate
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for marker in marker_data[frame_number]:
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if marker[0][0] == corresponding_marker_id:
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if single_point:
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__p.append(denormalize(pos[1]))
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_t.append(Marker.fromList(marker).getCenter())
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else:
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p.append(denormalize(pos[1]))
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t.append(Marker.fromList(marker).getCenter())
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if single_point and len(__p):
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p.append(sum(__p)/len(__p))
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t.append(sum(_t)/len(_t))
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__p, _t = [], []
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else:
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pass
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# No mapping here
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print len(p), len(t)
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# print p[0], t[0]
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# we have to denormalize pupil points and correlated the two data streams (frame correspondence)
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print 'Successfully loaded calibration data...'
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# return
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print 'Performing minimization...'
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## Finding the optimal transformation matrix by minimizing the nonlinear energy
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# w0 is the initial w by solving the leastsq with e=(0,0,0)
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# w is by solving the leastsq again optimizing for both e and w
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start = time()
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w, e, w0 = minimizeEnergy(p, t)
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minimizationTime = time() - start
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print 'minimization time:', minimizationTime
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p, t = [], []
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marker_data = np.load(DATA_DIR + 'frames_%s.npy' % curr_test_experiment)
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pupil_data = np.load(DATA_DIR + 'pp_%s.npy' % curr_test_experiment)
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print len(pupil_data), len(experiments[curr_test_experiment])
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for i, pos in enumerate(pupil_data):
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corresponding_marker_id = experiments[curr_test_experiment][i]
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# print corresponding_marker_id
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start, end = pos[0]
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if len(pos[2]) == end-start+1: # all samples for this points are reliable
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# add all corresponding pupil-3d points as mappings
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# print start, end, len(pos[2])
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for i, _p in enumerate(pos[2]):
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frame_number = start + i
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if frame_number >= len(marker_data): continue # TODO: investigate
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for marker in marker_data[frame_number]:
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if marker[0][0] == corresponding_marker_id:
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if single_point:
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__p.append(denormalize(_p))
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_t.append(Marker.fromList(marker).getCenter())
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else:
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p.append(denormalize(_p))
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t.append(Marker.fromList(marker).getCenter())
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if single_point and len(__p):
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p.append(sum(__p)/len(__p))
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t.append(sum(_t)/len(_t))
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__p, _t = [], []
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else: # if pos[2] is nonempty consider the mean
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if len(pos[2]): # TODO: here we can still map the corresponding pupil points to their detected marker given
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# we have the frame correspondence (investigate)
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# map pos[1] to corresponding markers
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for frame_number in xrange(start, end+1):
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if frame_number >= len(marker_data): continue # TODO: investigate
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for marker in marker_data[frame_number]:
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if marker[0][0] == corresponding_marker_id:
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if single_point:
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__p.append(denormalize(pos[1]))
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_t.append(Marker.fromList(marker).getCenter())
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else:
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p.append(denormalize(pos[1]))
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t.append(Marker.fromList(marker).getCenter())
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if single_point and len(__p):
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p.append(sum(__p)/len(__p))
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t.append(sum(_t)/len(_t))
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__p, _t = [], []
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else:
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pass
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print 'Successfully loaded test data...'
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# closest point distance to scene camera
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cDist = min(v(pt).mag for pt in t)
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# farthest point distance to scene camera
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fDist = max(v(pt).mag for pt in t)
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# average point distance to scene camera
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avgDist = sum(v(pt).mag for pt in t)/len(t)
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qi = map(_q, p) # computing feature vectors from raw pupil coordinates in 2D
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# computing unit gaze vectors corresponding to pupil positions
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# here we use the computed mapping matrix w
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gis = map(lambda q: g(q, w), qi)
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gis0 = map(lambda q: g(q, w0), qi)
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# now we can compare unit gaze vectors with their corresponding gaze rays t
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# normalizing gaze rays first
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t = np.array(map(lambda vec: v(vec).norm(), t))
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# TODO: compare spherical coordinates instead
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AE = list(np.degrees(np.arctan((v(p[0]).cross(p[1])/(v(p[0]).dot(p[1]))).mag)) for p in zip(gis, t))
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N = len(t)
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AAE = sum(AE)/N
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VAR = sum((ae - AAE)**2 for ae in AE)/N
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print 'AAE:', AAE, '\nVariance:', VAR, 'STD:', np.sqrt(VAR), '\nMin:', min(AE), 'Max:', max(AE), '(N=' + str(N) + ')'
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print 'Target Distances: m=%s M=%s Avg=%s' % (cDist, fDist, avgDist)
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AE0 = list(np.degrees(np.arctan((v(p[0]).cross(p[1])/(v(p[0]).dot(p[1]))).mag)) for p in zip(gis0, t))
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AAE0 = sum(AE0)/N
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print 'AAE (only optimizing W for e=(0,0,0)):', AAE0
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if __name__ == '__main__':
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main()
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