Class: TrackerDataParser

Inherits:
Object
  • Object
show all
Defined in:
lib/b1trackerdata/b1_data_parser.rb

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(trial, test = false) ⇒ TrackerDataParser

Returns a new instance of TrackerDataParser.



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# File 'lib/b1trackerdata/b1_data_parser.rb', line 18

def initialize trial,test=false
  @trial = trial
  tablename = "Tracker#{trial}"
  tablename = "TrackerTest" if test
  dlog "Trying to connect to table: #{tablename}"
  #get our rows
  @rows = DB[tablename.to_sym]
  @highpass = 0.25 #for later filtering
  dlog "Table has #{@rows.count} rows."
  #processed data will end up here
  @data = {:left => {}, :right => {}}
  #do we know that one marker has been worn wrong?
  @data[:left_twist] = false
  @data[:right_twist] = false
  #get and parse the tracker data
  operate
end

Instance Attribute Details

#data ⇒ Object

Returns the value of attribute data.



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# File 'lib/b1trackerdata/b1_data_parser.rb', line 16

def data
  @data
end

Instance Method Details

#fix_marker_twist ⇒ Object

method to fix the direction of the marker, if it has been worn wrong



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# File 'lib/b1trackerdata/b1_data_parser.rb', line 202

def fix_marker_twist
  #left hand
  @data[:left_polarity] = NMatrix.float(4,4).unit
  if @data[:left_twist]
    p = NMatrix.float(4,4).unit
    #if y direction of tracker is WRONG we need to rotate around z axis by 180 deg
    p[0,0], p[0,1], p[1,0], p[1,1] = Math.cos(Math::PI),-Math.sin(Math::PI),Math.sin(Math::PI),Math.cos(Math::PI)
    ilog "Will multiply left hand with this polarity matrix: #{p.inspect}"
    @data[:left_polarity] = p
  end
  #and the right hand
  @data[:right_polarity] = NMatrix.float(4,4).unit
  if @data[:right_twist]
    p = NMatrix.float(4,4).unit
    #if y direction of tracker is WRONG we need to rotate around z axis by 180 deg
    p[0,0], p[0,1], p[1,0], p[1,1] = Math.cos(Math::PI),-Math.sin(Math::PI),Math.sin(Math::PI),Math.cos(Math::PI)
    ilog "Will multiply right hand with this polarity matrix: #{p.inspect}"
    @data[:right_polarity] = p
  end
end

#getannotationdata(timestamp, matrix, polarity) ⇒ Object 



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# File 'lib/b1trackerdata/b1_data_parser.rb', line 79

def getannotationdata timestamp,matrix,polarity
  annotationdata = {}
  reference = @data[:reference][timestamp][1]
  relative = reference.inverse * matrix * polarity
  annotationdata[:timestamp] = timestamp
  annotationdata[:reference] = reference
  annotationdata[:data] = matrix
  annotationdata[:relative] = relative
  annotationdata[:boh] = getbackofhanddirection relative
  annotationdata[:pd] = getpalmdirection relative
  annotationdata[:wp] = getwristposition relative
  annotationdata[:we] = getwristextend relative
  return annotationdata
end

#getbackofhanddirection(data) ⇒ Object

function computing back of hand direction



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# File 'lib/b1trackerdata/b1_data_parser.rb', line 110

def getbackofhanddirection data
  #ok, it looks like the markers y axis is the boh direction
  #you should check the data in the visualization to be sure
  x,y,z = data[1,0],data[1,1],data[1,2]
  result = []
  result << "BAB" if z < -@highpass
  result << "BDN" if y < -@highpass
  result << "BTB" if z > @highpass
  result << "BTL" if x < -@highpass
  result << "BTR" if x > @highpass
  result << "BUP" if y > @highpass
  return result.join("/")
end

#getpalmdirection(data) ⇒ Object

function computing palm direction



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# File 'lib/b1trackerdata/b1_data_parser.rb', line 95

def getpalmdirection data
  #negative z seems to be the palm direction
  #you should check the data in the visualization to be sure
  x,y,z = (-1)*data[2,0],(-1)*data[2,1],(-1)*data[2,2]
  result = []
  result << "PAB" if z < -@highpass
  result << "PDN" if y < -@highpass
  result << "PTB" if z > @highpass
  result << "PTL" if x < -@highpass
  result << "PTR" if x > @highpass
  result << "PUP" if y > @highpass
  return result.join("/")
end

#getwristextend(data) ⇒ Object

function computing wrist extend



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# File 'lib/b1trackerdata/b1_data_parser.rb', line 125

def getwristextend data
  result = "aight!"
  x,y,z = data[3,0],data[3,1],data[3,2]
  #puts "wp: x '#{x}', y '#{y}', z '#{z}'"
  zf = 100 #normalizing factor (100 = SH standard human)
  xf = 100 #normalizing factor (100 = SH standard human)
  x = x*xf
  z = z*zf
  r = Math.sqrt(x*x + z*z)
  #ok, need to put real values in here (look at the annotationmanual)
  result = "D-GTO" if r > 80 #greater than length of outstretched arm in front away
  result = "D-KO" if r <= 80 #between knee and length of outstretched arm in front away
  result = "D-EK" if r < 65 #between elbow and knee
  result = "D-CE" if r < 45 #between body and elbows length away
  result = "D-C" if r < 20 #in contact with body
  #puts "extend is '#{result}'"
  return result
end

#getwristposition(data) ⇒ Object

function computing wrist position



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# File 'lib/b1trackerdata/b1_data_parser.rb', line 145

def getwristposition data
  result = "aight!"
  #negative z seems to be palm direction
  #you should check the data in the visualization to be sure
  x,y,z = data[3,0],data[3,1],data[3,2]
  yf = 100
  xf = 100
  x = x*xf
  y = y*yf
  #puts "wp: x '#{x}', y '#{y}', z '#{z}'"
  #will not be rock solid, so we go from outwards->inwards
  #extreme periphery
  eperiphery = "EP-"
  eperiphery += "UP" if(y > 30 && x.abs <= 19)
  eperiphery += "UL" if(y > 17 && x < -19)
  eperiphery += "UR" if(y > 17 && x > 19)
  eperiphery += "LT" if(y <= 17 && y > -17 && x < -31.5)
  eperiphery += "RT" if(y <= 17 && y > -17 && x > 31.5)
  eperiphery += "LW" if(y < -30 && x.abs <= 19)
  eperiphery += "LL" if(y < -17 && x < -19)
  eperiphery += "LR" if(y < -17 && x > 19)
  result = eperiphery unless eperiphery.eql?("EP-")
  #periphery
  if (x.abs <= 31.5 && y.abs <= 30)
    periphery = "P-"
    periphery += "UP" if(y > 17 && x.abs <= 13)
    periphery += "UL" if(y > 9 && x < -13)
    periphery += "UR" if(y > 9 && x > 13)
    periphery += "LT" if(y <= 9 && y > -10 && x < -21)
    periphery += "RT" if(y <= 9 && y > -10 && x > 21)
    periphery += "LW" if(y <= -10 && y > -30 && x.abs <= 13)
    periphery += "LL" if(y <= -10 && y > -30 && x < -13)
    periphery += "LR" if(y <= -10 && y > -30 && x > 13)
    result = periphery unless periphery.eql?("P-")
  end
  #center
  if (x.abs <= 21 && y.abs <= 17)
    center = "C-"
    center += "UP" if(y > 9 && x.abs <= 10)
    center += "UL" if(y > 4.5 && x < -10)
    center += "UR" if(y > 4.5 && x > 10)
    center += "LT" if(y <= 4.5 && y > -7 && x < -13)
    center += "RT" if(y <= 4.5 && y > -7 && x > 13)
    center += "LW" if(y <= -7 && y > -17 && x.abs <= 10)
    center += "LL" if(y <= -7 && y > -17 && x < -10)
    center += "LR" if(y <= -7 && y > -17 && x > 10)
    result = center unless center.eql?("C-")
  end
  #center-center
  if (x.abs <= 13 && y.abs <= 9)
    result = "CC"
  end
  #puts "result #{result}"
  return result
end

#operate ⇒ Object

main controller function



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# File 'lib/b1trackerdata/b1_data_parser.rb', line 37

def operate
  @data[:reference] = (parsetrackerdata @rows.filter(:identifier => "Neck")).sort
  dlog "Parsed neckdata count is #{@data[:reference].length}"
  left_raw = (parsetrackerdata @rows.filter(:identifier => "Left_Hand")).sort
  dlog "Left hand quality is #{(Float(left_raw.length)/Float(@data[:reference].length))*100}%"
  right_raw = (parsetrackerdata @rows.filter(:identifier => "Right_Hand")).sort
  dlog "Right hand quality is #{(Float(right_raw.length)/Float(@data[:reference].length))*100}%"
  
  #sometimes people are wearing the tracker wrong, need to fix this
  fix_marker_twist
  
  #now parse the tracker data for both hands    
  left_raw.each do |timestamp,matrix|
    d = getannotationdata timestamp,matrix,@data[:left_polarity]
    @data[:left][timestamp] = d unless d.nil?
  end
  right_raw.each do |timestamp,matrix|
    d = getannotationdata timestamp,matrix,@data[:right_polarity]
    @data[:right][timestamp] = d unless d.nil?
  end
  #Debug and info
  ilog "Statistics for trial #{@trial}:"
  ilog "  Left hand  - parsed: #{@data[:left].length}"
  ilog "  Right hand - parsed: #{@data[:right].length}"
end

#parsetrackerdata(trackerdata) ⇒ Object

method parsing tracking data from the db and loading it into an hash(organized by timestamp)



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# File 'lib/b1trackerdata/b1_data_parser.rb', line 64

def parsetrackerdata trackerdata
  parseddata = {}
  trackerdata.each do |d|
    m = NMatrix.float(4,4)
    #that's how the coordinates would look if the matrix was transposed (now the bottom is 0,0,0,1)
    m[0,0],m[0,1],m[0,2],m[0,3] = d[:m00], d[:m01], d[:m02], d[:m03]
    m[1,0],m[1,1],m[1,2],m[1,3] = d[:m10], d[:m11], d[:m12], d[:m13]
    m[2,0],m[2,1],m[2,2],m[2,3] = d[:m20], d[:m21], d[:m22], d[:m23]
    m[3,0],m[3,1],m[3,2],m[3,3] = d[:m30], d[:m31], d[:m32], d[:m33]
    m = m.transpose #matrix data in the db are transposed
    parseddata[Float(d[:timestamp])] = m
  end
  return parseddata
end