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cvt_coord_to_mra2_02.py
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cvt_coord_to_mra2_02.py
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import csv
import numpy as np
import os
import glob
import cv2
import json
from time import time
import datetime
# import pickle as pkl
import math
import csv
import pandas as pd
import sys
#기존모델에서 meter으로 정의하였기에, 사용된는 단위는 모두 m로 한다
#또한 degree(default)로 함
#basic model use meter, then this code also use unit of m.
#same as use degree(default)
deg2Rad = math.pi/180
rad2Deg = 180/math.pi
# master camera point on Vehicle coord
cam2veh_rot = np.array([0, -111, 0.99999999999999978])
cam2veh_trans = [1.0058888249122007, -0.354837076526334749, 0.68375427481211271]
# display center point on Vehicle coord
disp2veh_rot = np.array([0, -81, 1])
disp2veh_trans = [1.0252906, -0.40303454, 0.6392974]
# display center point on Camera coord
disp2cam_rot = np.array([0.0, 31.0, 0.0])
disp2cam_trans = [0.00978, -0.041584, -0.04719]
def funcname():
return sys._getframe(1).f_code.co_name + "()"
def callername():
return sys._getframe(2).f_code.co_name + "()"
#눈의 Height를 추출 함수 (iris의 높이문제 존재함)
def extract_eyeHeight_from_2d_point(point2d):
if(len(point2d) == 0):
return 0.0,0.0
print("//////////", funcname(), "//////////")
algo_lefteye_top_x = (point2d[43][0] + point2d[44][0] / 2)
algo_lefteye_bottom_x = (point2d[47][0] + point2d[46][0] / 2)
algo_righteye_top_x = (point2d[37][0] + point2d[38][0] / 2)
algo_righteye_bottom_x = (point2d[41][0] + point2d[40][0] / 2)
algo_lefteye_top_y = (point2d[43][1] + point2d[44][1] / 2)
algo_lefteye_bottom_y = (point2d[47][1] + point2d[46][1] / 2)
algo_righteye_top_y = (point2d[37][1] + point2d[38][1] / 2)
algo_righteye_bottom_y = (point2d[41][1] + point2d[40][1] / 2)
algo_lefteye_d = np.sqrt((algo_lefteye_top_x - algo_lefteye_bottom_x) ** 2 +
(algo_lefteye_top_y - algo_lefteye_bottom_y) ** 2)
algo_righteye_d = np.sqrt((algo_righteye_top_x - algo_righteye_bottom_x) ** 2 +
(algo_righteye_top_y - algo_righteye_bottom_y) ** 2)
# algo_lefteye_closure = np.maximum(1 - algo_lefteye_d / dict_gt.lefteye_iris_width, np.zeros_like(algo_lefteye_d))
# algo_righteye_closure = np.maximum(1 - algo_righteye_d / dict_gt.righteye_iris_width, np.zeros_like(algo_righteye_d))
return round(algo_lefteye_d,3), round(algo_righteye_d,3)
def extract_availData_from_craft_algo(pJson):
print("//////////", funcname(), "//////////")
tTotalList = []
tframeId = []
tfacePoints2dICS = []
theadOri = []
theadPos3D = []
tisFaceDetected = []
irisHeight = []
tisFusedGazeValid = []
tfusedGazeDegree2D = []
tfusedGazeStart3D = []
tfusedGazeVector3D = []
tisLeftGazeValid = []
tleftGazeDegree2D = []
tleftGazeStart3D = []
tleftGazeVector3D = []
tisRightGazeValid = []
trightGazeDegree2D = []
trightGazeStart3D = []
trightGazeVector3D = []
for no in pJson:
if(no != 'EOF'):
for name in pJson[no]:
if (name == 'frameId'):
# print(no, name, pJson[no][name])
tframeId.append(pJson[no][name])
elif(name == 'facePoints2dICS'):
print(no, name, pJson[no][name], type(pJson[no][name]))
# (43, 44) (47, 46) right(37, 38) (41, 40)
# if(int(no) == 2201):
# print(1/0)
templist = []
if(pJson[no][name] == None):
templist = []
else:
for i, sub_no in enumerate(pJson[no][name]):
# if(i==43 or i==44 or i==46 or i==47 or i==37 or i==38 or i==40 or i==41 ):
# print(i, sub_no['x'], sub_no['y'])
templist.append((sub_no['x'], sub_no['y']))
print('templist',templist)
tfacePoints2dICS.append(templist)
irisHeight.append(extract_eyeHeight_from_2d_point(templist))
print("irisHeight",irisHeight)
# if (name == 'fusedGazeDegree'):
# print(no, name, pJson[no][name])
elif (name == 'headOri'):
# print(no, name, pJson[no][name])
# print(pJson[no]['headOri']['x'], pJson[no]['headOri']['y'], pJson[no]['headOri']['z'])
theadOri.append((pJson[no]['headOri']['x']*rad2Deg, pJson[no]['headOri']['y']*rad2Deg, pJson[no]['headOri']['z']*rad2Deg))
elif (name == 'headPos3D'):
# print(no, name, pJson[no][name])
# print(pJson[no]['headPos3D']['x'], pJson[no]['headPos3D']['y'], pJson[no]['headPos3D']['z'])
theadPos3D.append((pJson[no]['headPos3D']['x'], pJson[no]['headPos3D']['y'], pJson[no]['headPos3D']['z']))
elif (name == 'isFaceDetected'):
# print(no, name, pJson[no][name])
# print(pJson[no]['isFaceDetected'])
tisFaceDetected.append(pJson[no]['isFaceDetected'])
#flag of valid about gaze
elif (name == 'isFusedGazeValid'):
tisFusedGazeValid.append(pJson[no]['isFusedGazeValid'])
elif (name == 'isLeftGazeValid'):
tisLeftGazeValid.append(pJson[no]['isLeftGazeValid'])
elif (name == 'isRightGazeValid'):
tisRightGazeValid.append(pJson[no]['isRightGazeValid'])
#2d degree about gaze
elif (name == 'fusedGazeDegree'):
tfusedGazeDegree2D.append((pJson[no]['fusedGazeDegree']['x'],pJson[no]['fusedGazeDegree']['y']))
elif (name == 'leftGazeDegree'):
tleftGazeDegree2D.append((pJson[no]['leftGazeDegree']['x'],pJson[no]['leftGazeDegree']['y']))
elif (name == 'rightGazeDegree'):
trightGazeDegree2D.append((pJson[no]['rightGazeDegree']['x'],pJson[no]['rightGazeDegree']['y']))
#start point on 3d about gaze
elif (name == 'fusedGazeStart3D'):
tfusedGazeStart3D.append((pJson[no]['fusedGazeStart3D']['x'],pJson[no]['fusedGazeStart3D']['y'],pJson[no]['fusedGazeStart3D']['z']))
elif (name == 'leftGazeStart3D'):
tleftGazeStart3D.append((pJson[no]['leftGazeStart3D']['x'],pJson[no]['leftGazeStart3D']['y'],pJson[no]['leftGazeStart3D']['z']))
elif (name == 'rightGazeStart3D'):
trightGazeStart3D.append((pJson[no]['rightGazeStart3D']['x'],pJson[no]['rightGazeStart3D']['y'],pJson[no]['rightGazeStart3D']['z']))
#vector on 3d about gaze
elif (name == 'fusedGazeVector'):
tfusedGazeVector3D.append((pJson[no]['fusedGazeVector']['x'],pJson[no]['fusedGazeVector']['y'],pJson[no]['fusedGazeVector']['z']))
elif (name == 'leftGazeVector'):
tleftGazeVector3D.append((pJson[no]['leftGazeVector']['x'],pJson[no]['leftGazeVector']['y'],pJson[no]['leftGazeVector']['z']))
elif (name == 'rightGazeVector'):
trightGazeVector3D.append((pJson[no]['rightGazeVector']['x'],pJson[no]['rightGazeVector']['y'],pJson[no]['rightGazeVector']['z']))
# "isFusedGazeValid": true,
# "isLeftGazeValid": true,
# "isRightGazeValid": true,
print("\n")
print("final_tframeId", len(tframeId), tframeId)
print("final_tfacePoints2dICS", len(tfacePoints2dICS), tfacePoints2dICS)
print("final_theadPos3D", len(theadPos3D), theadPos3D)
print("final_theadOri_degree", len(theadOri), theadOri)
print("final_tisFaceDetected", len(tisFaceDetected), tisFaceDetected)
print("\n/////////////phase2////////")
print("final_tisFusedGazeValid", len(tisFusedGazeValid), tisFusedGazeValid)
print("final_tisLeftGazeValid", len(tisLeftGazeValid), tisLeftGazeValid)
print("final_tisRightGazeValid", len(tisRightGazeValid), tisRightGazeValid)
print("final_tfusedGazeDegree2D", len(tfusedGazeDegree2D), tfusedGazeDegree2D)
print("final_tleftGazeDegree2D", len(tleftGazeDegree2D), tleftGazeDegree2D)
print("final_trightGazeDegree2D", len(trightGazeDegree2D), trightGazeDegree2D)
print("final_tfusedGazeStart3D", len(tfusedGazeStart3D), tfusedGazeStart3D)
print("final_tleftGazeStart3D", len(tleftGazeStart3D), tleftGazeStart3D)
print("final_trightGazeStart3D", len(trightGazeStart3D), trightGazeStart3D)
print("final_tfusedGazeVector3D", len(tfusedGazeVector3D), tfusedGazeVector3D)
print("final_tleftGazeVector3D", len(tleftGazeVector3D), tleftGazeVector3D)
print("final_trightGazeVector3D", len(trightGazeVector3D), trightGazeVector3D)
# available_columns = ["frameId","facePoints2dICS", "headPos3D", "headOri","isFaceDetected"]
available_dict = {"isFaceDetected":tisFaceDetected,"headPos3D":theadPos3D, "headOri":theadOri,"facePoints2dICS":tfacePoints2dICS,"irisHeight":irisHeight,
"isFusedGazeValid":tisFusedGazeValid,"isLeftGazeValid":tisLeftGazeValid,"isRightGazeValid":tisRightGazeValid,
"fusedGazeDegree2D": tfusedGazeDegree2D, "leftGazeDegree2D": tleftGazeDegree2D,"rightGazeDegree2D": trightGazeDegree2D,
"fusedGazeStart3D": tfusedGazeStart3D, "leftGazeStart3D": tleftGazeStart3D,"rightGazeStart3D": trightGazeStart3D,
"fusedGazeVector3D": tfusedGazeVector3D, "leftGazeVector3D": tleftGazeVector3D,"rightGazeVector3D": trightGazeVector3D
}
# available_df = pd.DataFrame({tframeId,theadPos3D, theadPos3D, theadOri,tisFaceDetected }, index=tframeId, columns=available_columns) # index 지정
# available_df = pd.DataFrame({'frameId':tframeId,"theadPos3D":theadPos3D}, columns=["frameId","theadPos3D"]) # index 지정
available_df = pd.DataFrame(available_dict, index=tframeId) # index 지정
print(available_df)
return available_df
def load_jsonfile_HET(fname):
print("//////////", funcname(), "//////////")
fp = open(fname)
fjs = json.load(fp)
fp.close()
# print(fjs)
return fjs
def load_jsonfile_preValue(fname1, fname2, fname3):
fp1 = open(fname1)
fjs1 = json.load(fp1)
fp1.close()
fp2 = open(fname2)
fjs2 = json.load(fp2)
fp2.close()
fp3 = open(fname3)
fjs3 = json.load(fp3)
fp3.close()
print('\nLoading...', fname1,'\n', fjs1)
print('\nLoading...', fname2,'\n',fjs2)
print('\nLoading...', fname3,'\n', fjs3)
print('\n')
global cam2veh_rot, cam2veh_trans, disp2veh_rot, disp2veh_trans, disp2cam_rot, disp2cam_trans
cam2veh_rot = fjs1['master']['camera_pose']['rot']
cam2veh_trans = fjs1['master']['camera_pose']['trans']
disp2veh_rot = fjs2['master']['display_pose']['rot']
disp2veh_trans = fjs2['master']['display_pose']['trans']
disp2cam_rot = fjs3['display_pose_wrt_master_camera']['rot']
disp2cam_trans = fjs3['display_pose_wrt_master_camera']['trans']
print("update... cam2veh_rot, cam2veh_trans", cam2veh_rot, cam2veh_trans)
print("update... disp2veh_rot, disp2veh_trans",disp2veh_rot, disp2veh_trans)
print("update... disp2cam_rot, disp2cam_trans",disp2cam_rot, disp2cam_trans)
return True
def make_prototype_on_pandas(frameId):
print("//////////", funcname(), "//////////")
target_columns = ["f_version", "f_frame_counter_left_camera", "f_frame_counter_right_camera",
"f_frame_counter_virtual", "f_master_counter_in", "f_eye_model_generation",
"eye_left_partial_blockage", "eye_left_blockage", "MS_EyeLeftCameraLeft_old",
"MS_EyeLeftCameraRight_old", "eye_right_partial_blockage", "eye_right_blockage",
"MS_EyeRightCameraLeft_old", "MS_EyeRightCameraRight_old", "mouth_nose_partial_blockage",
"mouth_nose_blockage", "MS_MouthNoseCameraLeft", "MS_MouthNoseCameraRight",
"CAN_S_glasses_detected_old", "CAN_S_face_detection", "MS_EyeDetection", "MS_S_Head_rot_X",
"MS_S_Head_rot_Y", "MS_S_Head_rot_Z", "HSVL_MS_CAN_S_Head_tracking_status",
"HSVL_MS_CAN_S_Head_tracking_mode", "f_primary_face_landmark_camera", "f_left_position_valid0",
"f_left_positionX0", "f_left_positionY0", "f_left_position_valid1", "f_left_positionX1",
"f_left_positionY1", "f_left_position_valid2", "f_left_positionX2", "f_left_positionY2",
"f_left_position_valid3", "f_left_positionX3", "f_left_positionY3", "f_left_position_valid4",
"f_left_positionX4", "f_left_positionY4", "f_left_position_valid5", "f_left_positionX5",
"f_left_positionY5", "f_left_position_valid6", "f_left_positionX6", "f_left_positionY6",
"f_right_position_valid0", "f_right_positionX0", "f_right_positionY0", "f_right_position_valid1",
"f_right_positionX1", "f_right_positionY1", "f_right_position_valid2", "f_right_positionX2",
"f_right_positionY2", "f_right_position_valid3", "f_right_positionX3", "f_right_positionY3",
"f_right_position_valid4", "f_right_positionX4", "f_right_positionY4", "f_right_position_valid5",
"f_right_positionX5", "f_right_positionY5", "f_right_position_valid6", "f_right_positionX6",
"f_right_positionY6", "CAN_glint_detected", "f_gaze_le_result_valid", "MS_S_Gaze_LE_VA_rot_X",
"MS_S_Gaze_LE_VA_rot_Y", "MS_S_Gaze_LE_VA_rot_Z", "MS_S_Gaze_LE_Center_X",
"MS_S_Gaze_LE_Center_Y", "MS_S_Gaze_LE_Center_Z", "f_gaze_re_result_valid",
"MS_S_Gaze_RE_VA_rot_X", "MS_S_Gaze_RE_VA_rot_Y", "MS_S_Gaze_RE_VA_rot_Z",
"MS_S_Gaze_RE_Center_X", "MS_S_Gaze_RE_Center_Y", "MS_S_Gaze_RE_Center_Z", "CAN_eye_closure_left",
"CAN_eye_closure_left_conf", "CAN_eye_closure_right", "CAN_eye_closure_right_conf",
"CAN_eye_closure", "MS_eye_closed", "CAN_long_eyeclosure", "f_long_eyeclosure_counter",
"MS_eye_closed_AAS", "MS_PERCLOS_AAS", "MS_PERCLOS_AAS_conf", "MS_PERCLOS_strict",
"MS_eye_closed_strict", "CAN_eye_blink_conf", "MS_Eye_blink_freq_conf", "MS_Eye_blink_freq",
"CAN_eye_blink_t_closing", "CAN_eye_blink_t_opening", "CAN_eye_blink_duration",
"CAN_eye_blink_A_closing", "CAN_eye_blink_A_opening", "CAN_eye_blink_counter", "CAN_S_Gaze_ROI",
"CAN_S_Gaze_ROI_X", "CAN_S_Gaze_ROI_Y", "f_roi_id", "MS_S_Gaze_ROI_X_Raw", "MS_S_Gaze_ROI_Y_Raw",
"HSVL_MS_S_Head_Pos_Veh_X", "HSVL_MS_S_Head_Pos_Veh_Y", "HSVL_MS_S_Head_Pos_Veh_Z",
"MS_S_Gaze_rot_X", "MS_S_Gaze_rot_Y", "MS_S_Gaze_rot_Z", "HSVL_MS_CAN_S_Eye_dist",
"f_camera_left_measured_brightness", "f_camera_left_target_brightness",
"f_camera_left_shutter_us", "f_camera_left_column_gain", "f_camera_left_digital_gain",
"f_camera_right_measured_brightness", "f_camera_right_target_brightness",
"f_camera_right_shutter_us", "f_camera_right_column_gain", "f_camera_right_digital_gain",
"f_raw_result_age", "HSVL_S_Head_dir_h", "HSVL_S_Head_dir_v", "HSVL_MS_S_Head_Pos_Disp_X",
"HSVL_MS_S_Head_Pos_Disp_Y", "HSVL_MS_S_Head_Pos_Disp_Z", "LGE_BD_frame_count",
"CAN_S_camera_close_blocked", "CAN_S_glasses_detected", "MS_camera_blockage_detection",
"MS_EyeLeftCameraLeft", "MS_EyeLeftCameraRight", "MS_EyeRightCameraLeft",
"MS_EyeRightCameraRight", "MouthNoseCameraLeft", "MouthNoseCameraRight",
"disp_left_cam_blocked_0", "disp_left_cam_blocked_1", "disp_left_cam_blocked_2",
"disp_left_cam_blocked_3", "disp_right_cam_blocked_0", "disp_right_cam_blocked_1",
"disp_right_cam_blocked_2", "disp_right_cam_blocked_3", "LGE_OOF_frame_count", "bOutOfFocus",
"CAN_S_drcam_status", "LGE_SWBA_frame_count", "CAN_S_StWhl_adjust_occlusion", "MS_HeadOcclusion",
"Absorber_Left_Center_nX", "Absorber_Left_Center_nY", "Absorber_Right_Center_nX",
"Absorber_Right_Center_nY", "nAbsorber_Radius", "Wheel_Left_Center_nX", "Wheel_Left_Center_nY",
"Wheel_Right_Center_nX", "Wheel_Right_Center_nY", "nWheel_Radius", "LGE_DB_frame_count",
"bIsHeadMoving", "MS_Intended_head_movement", "CAN_Driver_is_responsive", "MS_nod_head_gesture",
"MS_shake_head_gesture", "bIsHeadGestureResult", "LGE_DI_frame_count", "CAN_S_Driver_ID_Top_1",
"CAN_S_Driver_ID_Top_2", "CAN_S_Driver_ID_Top_3", "CAN_S_Driver_ID_Confidence_1",
"CAN_S_Driver_ID_Confidence_2", "CAN_S_Driver_ID_Confidence_3", "arrDrviers_01", "arrDrviers_02",
"arrDrviers_03", "arrDrviers_04", "arrDrviers_05", "arrDrviers_06", "arrDrviers_07",
"arrDrviers_08", "arrDrviers_09", "arrDrviers_10", "arrDrviers_11", "arrDrviers_12",
"arrDrviers_13", "status", "numOfDriver", "LGE_DOT_frame_count", "CAN_S_Head_Pos_X",
"CAN_S_Head_Pos_Y", "CAN_S_Head_Pos_Z", "CAN_S_Head_Pos_type", "bLeftIRLight",
"LGE_SP_frame_count", "MS_spoofing_detected", "CurrentStatus", "OutConfidenceSpoof",
"OutConfidenceGenuine", "f_raw_result_age", "S_Head_dir_h", "S_Head_dir_v", "S_Head_Pos_Disp_x",
"S_Head_Pos_Disp_y", "S_Head_Pos_Disp_z", "f_left_position_valid7", "f_left_positionX7",
"f_left_positionY7", "f_right_position_valid7", "f_right_positionX7", "f_right_positionY7",
"FrameHistory", "FrameDiff", "FrameTimeStamp", "f_head_pose_confidence",
"f_early_head_pose_confidence", "LGE_DI_Ext_frame_count", "CAN_S_EnrollAndDeleteStatus",
"CAN_S_HasStoredIDs", "CAN_S_driverID_MsgCnt", "ResultDataType", "timeEnrollment",
"bFilteringFlag", "f_le_iris_diameter", "f_re_iris_diameter",
"HetAlgoGlintPosition.MS_S_Gaze_LE_Cornea_Center_X",
"HetAlgoGlintPosition.MS_S_Gaze_LE_Cornea_Center_Y",
"HetAlgoGlintPosition.MS_S_Gaze_LE_Cornea_Center_Z",
"HetAlgoGlintPosition.f_le_glint_position_idx_0_X",
"HetAlgoGlintPosition.f_le_glint_position_idx_0_Y",
"HetAlgoGlintPosition.f_le_glint_position_idx_1_X",
"HetAlgoGlintPosition.f_le_glint_position_idx_1_Y",
"HetAlgoGlintPosition.MS_S_Gaze_RE_Cornea_Center_X",
"HetAlgoGlintPosition.MS_S_Gaze_RE_Cornea_Center_Y",
"HetAlgoGlintPosition.MS_S_Gaze_RE_Cornea_Center_Z",
"HetAlgoGlintPosition.f_re_glint_position_idx_0_X",
"HetAlgoGlintPosition.f_re_glint_position_idx_0_Y",
"HetAlgoGlintPosition.f_re_glint_position_idx_1_X",
"HetAlgoGlintPosition.f_re_glint_position_idx_1_Y",
"HetAlgoEyelidPosition.f_le_lc_position_valid0", "HetAlgoEyelidPosition.f_le_lc_positionX0",
"HetAlgoEyelidPosition.f_le_lc_positionY0", "HetAlgoEyelidPosition.f_le_lc_position_valid1",
"HetAlgoEyelidPosition.f_le_lc_positionX1", "HetAlgoEyelidPosition.f_le_lc_positionY1",
"HetAlgoEyelidPosition.f_le_lc_position_valid2", "HetAlgoEyelidPosition.f_le_lc_positionX2",
"HetAlgoEyelidPosition.f_le_lc_positionY2", "HetAlgoEyelidPosition.f_le_lc_position_valid3",
"HetAlgoEyelidPosition.f_le_lc_positionX3", "HetAlgoEyelidPosition.f_le_lc_positionY3",
"HetAlgoEyelidPosition.f_le_lc_position_valid4", "HetAlgoEyelidPosition.f_le_lc_positionX4",
"HetAlgoEyelidPosition.f_le_lc_positionY4", "HetAlgoEyelidPosition.f_le_lc_position_valid5",
"HetAlgoEyelidPosition.f_le_lc_positionX5", "HetAlgoEyelidPosition.f_le_lc_positionY5",
"HetAlgoEyelidPosition.f_le_lc_position_valid6", "HetAlgoEyelidPosition.f_le_lc_positionX6",
"HetAlgoEyelidPosition.f_le_lc_positionY6", "HetAlgoEyelidPosition.f_le_rc_position_valid0",
"HetAlgoEyelidPosition.f_le_rc_positionX0", "HetAlgoEyelidPosition.f_le_rc_positionY0",
"HetAlgoEyelidPosition.f_le_rc_position_valid1", "HetAlgoEyelidPosition.f_le_rc_positionX1",
"HetAlgoEyelidPosition.f_le_rc_positionY1", "HetAlgoEyelidPosition.f_le_rc_position_valid2",
"HetAlgoEyelidPosition.f_le_rc_positionX2", "HetAlgoEyelidPosition.f_le_rc_positionY2",
"HetAlgoEyelidPosition.f_le_rc_position_valid3", "HetAlgoEyelidPosition.f_le_rc_positionX3",
"HetAlgoEyelidPosition.f_le_rc_positionY3", "HetAlgoEyelidPosition.f_le_rc_position_valid4",
"HetAlgoEyelidPosition.f_le_rc_positionX4", "HetAlgoEyelidPosition.f_le_rc_positionY4",
"HetAlgoEyelidPosition.f_le_rc_position_valid5", "HetAlgoEyelidPosition.f_le_rc_positionX5",
"HetAlgoEyelidPosition.f_le_rc_positionY5", "HetAlgoEyelidPosition.f_le_rc_position_valid6",
"HetAlgoEyelidPosition.f_le_rc_positionX6", "HetAlgoEyelidPosition.f_le_rc_positionY6",
"HetAlgoEyelidPosition.f_re_lc_position_valid0", "HetAlgoEyelidPosition.f_re_lc_positionX0",
"HetAlgoEyelidPosition.f_re_lc_positionY0", "HetAlgoEyelidPosition.f_re_lc_position_valid1",
"HetAlgoEyelidPosition.f_re_lc_positionX1", "HetAlgoEyelidPosition.f_re_lc_positionY1",
"HetAlgoEyelidPosition.f_re_lc_position_valid2", "HetAlgoEyelidPosition.f_re_lc_positionX2",
"HetAlgoEyelidPosition.f_re_lc_positionY2", "HetAlgoEyelidPosition.f_re_lc_position_valid3",
"HetAlgoEyelidPosition.f_re_lc_positionX3", "HetAlgoEyelidPosition.f_re_lc_positionY3",
"HetAlgoEyelidPosition.f_re_lc_position_valid4", "HetAlgoEyelidPosition.f_re_lc_positionX4",
"HetAlgoEyelidPosition.f_re_lc_positionY4", "HetAlgoEyelidPosition.f_re_lc_position_valid5",
"HetAlgoEyelidPosition.f_re_lc_positionX5", "HetAlgoEyelidPosition.f_re_lc_positionY5",
"HetAlgoEyelidPosition.f_re_lc_position_valid6", "HetAlgoEyelidPosition.f_re_lc_positionX6",
"HetAlgoEyelidPosition.f_re_lc_positionY6", "HetAlgoEyelidPosition.f_re_rc_position_valid0",
"HetAlgoEyelidPosition.f_re_rc_positionX0", "HetAlgoEyelidPosition.f_re_rc_positionY0",
"HetAlgoEyelidPosition.f_re_rc_position_valid1", "HetAlgoEyelidPosition.f_re_rc_positionX1",
"HetAlgoEyelidPosition.f_re_rc_positionY1", "HetAlgoEyelidPosition.f_re_rc_position_valid2",
"HetAlgoEyelidPosition.f_re_rc_positionX2", "HetAlgoEyelidPosition.f_re_rc_positionY2",
"HetAlgoEyelidPosition.f_re_rc_position_valid3", "HetAlgoEyelidPosition.f_re_rc_positionX3",
"HetAlgoEyelidPosition.f_re_rc_positionY3", "HetAlgoEyelidPosition.f_re_rc_position_valid4",
"HetAlgoEyelidPosition.f_re_rc_positionX4", "HetAlgoEyelidPosition.f_re_rc_positionY4",
"HetAlgoEyelidPosition.f_re_rc_position_valid5", "HetAlgoEyelidPosition.f_re_rc_positionX5",
"HetAlgoEyelidPosition.f_re_rc_positionY5", "HetAlgoEyelidPosition.f_re_rc_position_valid6",
"HetAlgoEyelidPosition.f_re_rc_positionX6", "HetAlgoEyelidPosition.f_re_rc_positionY6",
"Het2DLandmark.f_left_position_valid0", "Het2DLandmark.f_left_positionX0",
"Het2DLandmark.f_left_positionY0", "Het2DLandmark.f_left_position_valid1",
"Het2DLandmark.f_left_positionX1", "Het2DLandmark.f_left_positionY1",
"Het2DLandmark.f_left_position_valid2", "Het2DLandmark.f_left_positionX2",
"Het2DLandmark.f_left_positionY2", "Het2DLandmark.f_left_position_valid3",
"Het2DLandmark.f_left_positionX3", "Het2DLandmark.f_left_positionY3",
"Het2DLandmark.f_left_position_valid4", "Het2DLandmark.f_left_positionX4",
"Het2DLandmark.f_left_positionY4", "Het2DLandmark.f_left_position_valid5",
"Het2DLandmark.f_left_positionX5", "Het2DLandmark.f_left_positionY5",
"Het2DLandmark.f_left_position_valid6", "Het2DLandmark.f_left_positionX6",
"Het2DLandmark.f_left_positionY6", "Het2DLandmark.f_left_position_valid7",
"Het2DLandmark.f_left_positionX7", "Het2DLandmark.f_left_positionY7",
"Het2DLandmark.f_right_position_valid0", "Het2DLandmark.f_right_positionX0",
"Het2DLandmark.f_right_positionY0", "Het2DLandmark.f_right_position_valid1",
"Het2DLandmark.f_right_positionX1", "Het2DLandmark.f_right_positionY1",
"Het2DLandmark.f_right_position_valid2", "Het2DLandmark.f_right_positionX2",
"Het2DLandmark.f_right_positionY2", "Het2DLandmark.f_right_position_valid3",
"Het2DLandmark.f_right_positionX3", "Het2DLandmark.f_right_positionY3",
"Het2DLandmark.f_right_position_valid4", "Het2DLandmark.f_right_positionX4",
"Het2DLandmark.f_right_positionY4", "Het2DLandmark.f_right_position_valid5",
"Het2DLandmark.f_right_positionX5", "Het2DLandmark.f_right_positionY5",
"Het2DLandmark.f_right_position_valid6", "Het2DLandmark.f_right_positionX6",
"Het2DLandmark.f_right_positionY6", "Het2DLandmark.f_right_position_valid7",
"Het2DLandmark.f_right_positionX7", "Het2DLandmark.f_right_positionY7",
"Het2DLandmark.f_stereo_face_plane_nose_residual_mm", "f_headpose_tracking_mode",
"S_Head_tracking_status_from_early", "Number_of_eye_blinks_haf", "timestamp_result_receive",
"eyeclose_height_left", "eyeclose_height_right"]
toutput = pd.DataFrame(data=0, index=frameId, columns=target_columns ) # index 지정
print(toutput)
# df = df.sort_values(['title', 'point_name', 'number'], ascending=(True, True, True))
return toutput
def save_csvfile(tdatas, filename):
print("//////////", funcname(), "//////////")
if (tdatas.empty is True):
print("저장할 데이터가 없습니다.")
return
tdata = tdatas.copy()
tfile = os.path.splitext(filename)
for num in range(100):
tfilename = '%s' % (tfile[len(tfile) - 2]) + '%03d' % (num) + tfile[len(tfile) - 1]
if not os.path.exists(tfilename):
break
print("파일을 저장합니다.", tfilename)
tdata.to_csv(tfilename, mode='w', index=False, header=True, sep=',', quotechar=" ", float_format='%.4f')
pass
def eulerAnglesToRotationMatrix(theta):
R_x = np.array([[1, 0, 0],
[0, math.cos(theta[0]), -math.sin(theta[0])],
[0, math.sin(theta[0]), math.cos(theta[0])]
])
R_y = np.array([[math.cos(theta[1]), 0, math.sin(theta[1])],
[0, 1, 0],
[-math.sin(theta[1]), 0, math.cos(theta[1])]
])
R_z = np.array([[math.cos(theta[2]), -math.sin(theta[2]), 0],
[math.sin(theta[2]), math.cos(theta[2]), 0],
[0, 0, 1]
])
R = np.dot(R_z, np.dot(R_y, R_x))
return R
def changeAxis_opencv2daimler(nR, nT):
#opencv x y z axis-> daimler -y -z x
#opencv pitch, yaw, roll -> daimler -pitch -yaw roll
#daimler x y z axis-> opencv z -x -y
#daimler roll, pitch, yaw -> opencv roll -pitch -yaw
ret_nT = np.zeros((3, 1))
ret_nR = np.zeros((3, 1))
ret_nT[0] = nT[2]
ret_nT[1] = -nT[0]
ret_nT[2] = -nT[1]
ret_nR[0] = nR[2]
ret_nR[1] = -nR[0]
ret_nR[2] = -nR[1]
return ret_nR, ret_nT
def changeAxis_daimler2opencv(nR, nT):
#opencv x y z axis-> daimler -y -z x
#opencv pitch, yaw, roll -> daimler -pitch -yaw roll
#daimler x y z axis-> opencv z -x -y
#daimler roll, pitch, yaw -> opencv roll -pitch -yaw
ret_nT = np.zeros((3, 1))
ret_nR = np.zeros((3, 1))
ret_nT[0] = -nT[1]
ret_nT[1] = -nT[2]
ret_nT[2] = nT[0]
ret_nR[0] = -nR[1]
ret_nR[1] = -nR[2]
ret_nR[2] = nR[0]
return ret_nR, ret_nT
def transform_A2Bcoord_with_point_Of_Acoord(nR, nT, pos3D):
t_matrix = np.eye(4)
s_trot = np.zeros((3, 1))
s_trot[0] = deg2Rad * nR[0]
s_trot[1] = deg2Rad * nR[1]
s_trot[2] = deg2Rad * nR[2]
t_matrix[0:3, 0:3] = eulerAnglesToRotationMatrix(s_trot)
t_matrix[0:3, 3] = nT
t_matrix_inv = np.linalg.inv(t_matrix)
s_pos3D = np.ones((4, 1))
# print("pos3D", pos3D)
s_pos3D[0] = pos3D[0]
s_pos3D[1] = pos3D[1]
s_pos3D[2] = pos3D[2]
# print("s_pos3D", s_pos3D)
mat_result = np.matmul(t_matrix, s_pos3D)
mat_result_inv = np.matmul(t_matrix_inv, s_pos3D)
return mat_result[0:3,0], mat_result_inv[0:3,0]
def transform_A2Bcoord_and_B2Ccoord(nR, nT, nR2, nT2):
t_matrix_1 = np.eye(4)
s_trot = np.zeros((3, 1))
s_trot[0] = deg2Rad * nR[0]
s_trot[1] = deg2Rad * nR[1]
s_trot[2] = deg2Rad * nR[2]
t_matrix_1[0:3, 0:3] = eulerAnglesToRotationMatrix(s_trot)
t_matrix_1[0:3, 3] = nT
t_matrix_2 = np.eye(4)
s_trot2 = np.zeros((3, 1))
s_trot2[0] = deg2Rad * nR2[0]
s_trot2[1] = deg2Rad * nR2[1]
s_trot2[2] = deg2Rad * nR2[2]
t_matrix_2[0:3, 0:3] = eulerAnglesToRotationMatrix(s_trot2)
t_matrix_2[0:3, 3] = nT2
mat_result = np.matmul(t_matrix_2, t_matrix_1)
mat_result_inv = np.linalg.inv(mat_result)
return mat_result, mat_result_inv
def modify_frameId_craft_to_daimler(extData, tpd):
for tindex in extData.index.values:
tpd.loc[tindex, 'f_frame_counter_left_camera'] = tindex
print("\n\n")
# print(tpd)
return tpd
def modify_HeadRotation_from_craft_to_daimler(extData, tpd):
# print('extData.headOri', extData.headOri,'\n\n')
# print('extData.headPos3D', extData.headPos3D,'\n\n')
# tpd.loc[tindex, 'CAN_S_face_detection']
for tindex in extData.index.values:
if (extData.isFaceDetected[tindex] != True):
tpd.loc[tindex, 'MS_S_Head_rot_X'] = 'nan'
tpd.loc[tindex, 'MS_S_Head_rot_Y'] = 'nan'
tpd.loc[tindex, 'MS_S_Head_rot_Z'] = 'nan'
else:
tR, tT = changeAxis_opencv2daimler(extData.headOri.loc[tindex], extData.headPos3D.loc[tindex])
# print('tR',tR, 'tT',tT)
tpd.loc[tindex, 'MS_S_Head_rot_X'] = tR[0]
tpd.loc[tindex, 'MS_S_Head_rot_Y'] = tR[1]
tpd.loc[tindex, 'MS_S_Head_rot_Z'] = tR[2]
print('\n',tpd['MS_S_Head_rot_X'],'\n',tpd['MS_S_Head_rot_Y'],'\n',tpd['MS_S_Head_rot_Z'],'\n')
return tpd
def modify_HeadPos_from_craft_to_daimler(extData, tpd):
print('extData.headOri', extData.headOri, '\n\n')
print('extData.headPos3D', extData.headPos3D, '\n\n')
for tindex in extData.index.values:
if (extData.isFaceDetected[tindex] != True):
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Veh_X'] = 'nan'
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Veh_Y'] = 'nan'
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Veh_Z'] = 'nan'
tpd.loc[tindex, 'S_Head_Pos_Disp_x'] = 'nan'
tpd.loc[tindex, 'S_Head_Pos_Disp_y'] = 'nan'
tpd.loc[tindex, 'S_Head_Pos_Disp_z'] = 'nan'
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Disp_X'] = 'nan'
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Disp_Y'] = 'nan'
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Disp_Z'] = 'nan'
else:
tR, tT = changeAxis_opencv2daimler(extData.headOri.loc[tindex], extData.headPos3D.loc[tindex])
# print('tR', tR, 'tT', tT)
mat_C2V, _ = transform_A2Bcoord_with_point_Of_Acoord(cam2veh_rot, cam2veh_trans, tT)
# print("mat_C2V", mat_C2V)
_, mat_C2D = transform_A2Bcoord_with_point_Of_Acoord(disp2cam_rot, disp2cam_trans, tT)
# print("mat_C2D", mat_C2D)
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Veh_X'] = mat_C2V[0]*1000
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Veh_Y'] = mat_C2V[1]*1000
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Veh_Z'] = mat_C2V[2]*1000
tpd.loc[tindex, 'S_Head_Pos_Disp_x'] = mat_C2D[0]*1000
tpd.loc[tindex, 'S_Head_Pos_Disp_y'] = mat_C2D[1]*1000
tpd.loc[tindex, 'S_Head_Pos_Disp_z'] = mat_C2D[2]*1000
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Disp_X'] = np.int64(mat_C2D[0]*1000)
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Disp_Y'] = np.int64(mat_C2D[1]*1000)
tpd.loc[tindex, 'HSVL_MS_S_Head_Pos_Disp_Z'] = np.int64(mat_C2D[2]*1000)
print('\n', tpd['HSVL_MS_S_Head_Pos_Veh_X'], '\n', tpd['HSVL_MS_S_Head_Pos_Veh_Y'], '\n', tpd['HSVL_MS_S_Head_Pos_Veh_Z'], '\n')
print('\n', tpd['S_Head_Pos_Disp_x'], '\n', tpd['S_Head_Pos_Disp_y'], '\n', tpd['S_Head_Pos_Disp_z'], '\n')
print('\n', tpd['HSVL_MS_S_Head_Pos_Disp_X'], '\n', tpd['HSVL_MS_S_Head_Pos_Disp_Y'], '\n', tpd['HSVL_MS_S_Head_Pos_Disp_Z'], '\n')
return tpd
def modify_EyeClosureHeight_craft_to_daimler(extData, tpd):
# print('extData.irisHeight', extData.irisHeight,'\n\n')
for tindex in extData.index.values:
# print(extData.irisHeight.loc[tindex])
tpd.loc[tindex, 'eyeclose_height_left'] = extData.irisHeight.loc[tindex][0]
tpd.loc[tindex, 'eyeclose_height_right'] = extData.irisHeight.loc[tindex][1]
print('\n',tpd['eyeclose_height_left'],'\n',tpd['eyeclose_height_right'],'\n')
return tpd
def modify_HeadDirection_craft_to_daimler(extData, tpd):
print('extData.headOri', extData.headOri, '\n\n')
print('extData.headPos3D', extData.headPos3D, '\n\n')
for tindex in extData.index.values:
if (extData.isFaceDetected[tindex] != True):
tpd.loc[tindex, 'HSVL_S_Head_dir_h'] = 'nan'
tpd.loc[tindex, 'HSVL_S_Head_dir_v'] = 'nan'
else:
tR, tT = changeAxis_opencv2daimler(extData.headOri.loc[tindex], extData.headPos3D.loc[tindex])
# print('tR', tR, 'tT', tT)
# mat_C2V, _ = transform_A2Bcoord_with_point_Of_Acoord(cam2veh_rot, cam2veh_trans, tT)
# print("mat_C2V", mat_C2V)
_, mat_C2D = transform_A2Bcoord_with_point_Of_Acoord(disp2cam_rot, disp2cam_trans, tT)
print("mat_C2D", mat_C2D)
# HSVL_S_Head_dir_h = math.atan(S_Head_Pos_Disp_y / S_Head_Pos_Disp_x)
# HSVL_S_Head_dir_v = math.atan(S_Head_Pos_Disp_z / S_Head_Pos_Disp_x)
# -0.287461
# 18.055828
# cam->disp->veh
# S_Head_Pos_Disp_x
# S_Head_Pos_Disp_y
# S_Head_Pos_Disp_z
# 507.038195
# - 2.543902
# 165.293075
tpd.loc[tindex, 'HSVL_S_Head_dir_h'] = math.atan(mat_C2D[1]/mat_C2D[0]) *rad2Deg
tpd.loc[tindex, 'HSVL_S_Head_dir_v'] = math.atan(mat_C2D[2]/mat_C2D[0]) *rad2Deg
print('\n', tpd['HSVL_S_Head_dir_h'], '\n', tpd['HSVL_S_Head_dir_v'], '\n')
return tpd
def modify_frameCounterVirtual_craft_to_daimler(extData, tpd):
for tindex in extData.index.values:
tpd.loc[tindex, 'f_frame_counter_virtual'] = tindex - extData.index.values[0] + 1
print("\n\n")
print(tpd.f_frame_counter_virtual)
return tpd
def modify_HeadDetect_craft_to_daimler(extData, tpd):
for tindex in extData.index.values:
valueFace = 0
valueEye = 0
if(extData.isFaceDetected[tindex]==True):
valueFace = 1
if(extData.isLeftGazeValid[tindex]==True):
valueEye += 1
if (extData.isRightGazeValid[tindex] == True):
valueEye += 1
tpd.loc[tindex, 'CAN_S_face_detection'] = valueFace
tpd.loc[tindex, 'HSVL_MS_CAN_S_Head_tracking_status'] = valueFace
tpd.loc[tindex, 'MS_EyeDetection'] = valueEye
print('\n', tpd['CAN_S_face_detection'], '\n')
print('\n', tpd['HSVL_MS_CAN_S_Head_tracking_status'], '\n')
print('\n', tpd['MS_EyeDetection'], '\n')
return tpd
if __name__ == '__main__':
inputPath_HET = "./input/HetData_1614867983883741729.json"
inputPath_C2V = "./refer/pose_config.json"
# pose_config.json
inputPath_D2V = "./refer/display_config.json"
# display_config.json
inputPath_D2C = "./refer/CamToDisplay_config.json"
# CamToDisplay_config.json
ret = load_jsonfile_preValue(inputPath_C2V, inputPath_D2V, inputPath_D2C)
ret_json = load_jsonfile_HET(inputPath_HET)
ret_ExtData = extract_availData_from_craft_algo(ret_json)
print(ret_ExtData.index.values)
tout = make_prototype_on_pandas(ret_ExtData.index.values)
#todo : 데이터 업데이트 추가 필요
tout = modify_frameId_craft_to_daimler(ret_ExtData, tout)
tout = modify_HeadRotation_from_craft_to_daimler(ret_ExtData, tout)
tout = modify_HeadPos_from_craft_to_daimler(ret_ExtData, tout)
tout = modify_frameCounterVirtual_craft_to_daimler(ret_ExtData, tout)
tout = modify_HeadDetect_craft_to_daimler(ret_ExtData, tout)
tout = modify_HeadDirection_craft_to_daimler(ret_ExtData, tout)
tout = modify_EyeClosureHeight_craft_to_daimler(ret_ExtData, tout)
save_csvfile(tout, "./final_output.csv")
print("\n\nend")