Merge pull request #26 from wearable-motion-capture/summary_paper

Summary paper
wearable-motion-capture · Feb 5, 2024 · 70dbd89 · 70dbd89
2 parents 7c48be6 + e7b4db9
commit 70dbd89
Show file tree

Hide file tree

Showing 8 changed files with 2 additions and 51 deletions.
diff --git a/example_scripts/record/watch_only_record.py → ..._scripts/record_pose/watch_only_record.py b/example_scripts/record/watch_only_record.py → ..._scripts/record_pose/watch_only_record.py
diff --git a/...scripts/record/watch_phone_uarm_record.py → ...ts/record_pose/watch_phone_uarm_record.py b/...scripts/record/watch_phone_uarm_record.py → ...ts/record_pose/watch_phone_uarm_record.py
diff --git a/...rimental_scripts/watch_phone_pocket_nn.py → ...mental_scripts/watch_phone_pocket_lstm.py b/...rimental_scripts/watch_phone_pocket_nn.py → ...mental_scripts/watch_phone_pocket_lstm.py
diff --git a/experimental_scripts/watch_phone_to_ros.py b/experimental_scripts/watch_phone_to_ros.py
@@ -33,7 +33,7 @@
 # left ROS publisher
 wp2ul = WatchPhoneROS()
 ul_thread = threading.Thread(
-    target=wp2ul.stream_loop,
+    target=wp2ul.processing_loop,
     args=(left_q,)
 )
 ul_thread.start()
diff --git a/setup.cfg b/setup.cfg
@@ -1,6 +1,6 @@
 [metadata]
 name = wear_mocap_ape
-version = 1.2.0
+version = 1.2.2
 author = Fabian Weigend
 author_email = fweigend@asu.edu
 description =

diff --git a/src/wear_mocap_ape/estimate/watch_phone_uarm.py b/src/wear_mocap_ape/estimate/watch_phone_uarm.py
@@ -31,13 +31,6 @@ def __init__(self,
         # simple lookup for values of interest
         self.__slp = messaging.WATCH_PHONE_IMU_LOOKUP
 
-        # in left hand mode, the arm is stretched along the negative X-axis in T pose
-        # if not left_hand_mode:
-        #     self._larm_vec[0] = -self._larm_vec[0]
-        #     self._uarm_vec[0] = -self._uarm_vec[0]
-        #     self._uarm_orig = self._uarm_orig * np.array([-1, 1, 1])  # invert x
-        #     self._body_measurements = np.r_[self._larm_vec, self._uarm_vec, self._uarm_orig][np.newaxis, :]
-
     def calibrate_orientation_quats(self,
                                     sw_quat: np.array,
                                     sw_fwd: np.array,
@@ -68,44 +61,6 @@ def parse_row_to_xx(self, row: np.array):
         if not type(row) is np.array:
             row = np.array(row)
 
-        # # get relevant entries from the row
-        # if len(row.shape) > 1:
-        #     # get relevant entries from the row
-        #     sw_fwd = np.c_[
-        #         row[:, self.__slp["sw_forward_w"]], row[:, self.__slp["sw_forward_x"]],
-        #         row[:, self.__slp["sw_forward_y"]], row[:, self.__slp["sw_forward_z"]]
-        #     ]
-        #     sw_rot = np.c_[
-        #         row[:, self.__slp["sw_rotvec_w"]], row[:, self.__slp["sw_rotvec_x"]],
-        #         row[:, self.__slp["sw_rotvec_y"]], row[:, self.__slp["sw_rotvec_z"]]
-        #     ]
-        #
-        #     ph_fwd = np.c_[
-        #         row[:, self.__slp["ph_forward_w"]], row[:, self.__slp["ph_forward_x"]],
-        #         row[:, self.__slp["ph_forward_y"]], row[:, self.__slp["ph_forward_z"]]
-        #     ]
-        #
-        #     ph_rot = np.c_[
-        #         row[:, self.__slp["ph_rotvec_w"]], row[:, self.__slp["ph_rotvec_x"]],
-        #         row[:, self.__slp["ph_rotvec_y"]], row[:, self.__slp["ph_rotvec_z"]]
-        #     ]
-        #
-        #     sw_sensor_dat = np.c_[
-        #         row[:, self.__slp["sw_dt"]],
-        #         row[:, self.__slp["sw_gyro_x"]], row[:, self.__slp["sw_gyro_y"]], row[:, self.__slp["sw_gyro_z"]],
-        #         row[:, self.__slp["sw_lvel_x"]], row[:, self.__slp["sw_lvel_y"]], row[:, self.__slp["sw_lvel_z"]],
-        #         row[:, self.__slp["sw_lacc_x"]], row[:, self.__slp["sw_lacc_y"]], row[:, self.__slp["sw_lacc_z"]],
-        #         row[:, self.__slp["sw_grav_x"]], row[:, self.__slp["sw_grav_y"]], row[:, self.__slp["sw_grav_z"]]
-        #     ]
-        #     r_pres = row[:, self.__slp["sw_pres"]] - row[:, self.__slp["sw_init_pres"]]
-        #
-        #     ph_sensor_dat = np.c_[
-        #         row[:, self.__slp["ph_gyro_x"]], row[:, self.__slp["ph_gyro_y"]], row[:, self.__slp["ph_gyro_z"]],
-        #         row[:, self.__slp["ph_lvel_x"]], row[:, self.__slp["ph_lvel_y"]], row[:, self.__slp["ph_lvel_z"]],
-        #         row[:, self.__slp["ph_lacc_x"]], row[:, self.__slp["ph_lacc_y"]], row[:, self.__slp["ph_lacc_z"]],
-        #         row[:, self.__slp["ph_grav_x"]], row[:, self.__slp["ph_grav_y"]], row[:, self.__slp["ph_grav_z"]]
-        #     ]
-        # else:
         sw_fwd = np.array([
             row[self.__slp["sw_forward_w"]], row[self.__slp["sw_forward_x"]],
             row[self.__slp["sw_forward_y"]], row[self.__slp["sw_forward_z"]]

diff --git a/src/wear_mocap_ape/record/watch_phone_uarm_rec.py b/src/wear_mocap_ape/record/watch_phone_uarm_rec.py
@@ -9,11 +9,9 @@ class WatchPhoneUarmRecorder(WatchPhoneUarm):
     def __init__(self,
                  file: Path,
                  smooth: int = 5,
-                 left_hand_mode=True,
                  tag: str = "REC WATCH PHONE",
                  bonemap: BoneMap = None):
         super().__init__(smooth=smooth,
-                         left_hand_mode=left_hand_mode,
                          tag=tag,
                          bonemap=bonemap)
         self.__tag = tag

diff --git a/src/wear_mocap_ape/stream/publisher/watch_phone_uarm_ros.py b/src/wear_mocap_ape/stream/publisher/watch_phone_uarm_ros.py
@@ -12,11 +12,9 @@ def __init__(self,
                  ros_node_name="/wear_mocap",
                  ros_rate=20,
                  smooth: int = 5,
-                 left_hand_mode=True,
                  tag: str = "PUB WATCH PHONE",
                  bonemap: BoneMap = None):
         super().__init__(smooth=smooth,
-                         left_hand_mode=left_hand_mode,
                          tag=tag,
                          bonemap=bonemap)