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example_failed_angle_plot.py
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example_failed_angle_plot.py
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import math
import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import mpl_toolkits.mplot3d as plt3d
import MatplotLeap as leapplot
# Example Positions
NUM_POINTS = 22 # See Columns below for formatting
points = np.array([
[ 26.89253807, 50.71062469, 26.30517006, -6.53940153, -28.20298195,
-43.96928406, 1.59295416, -18.24504852, -15.59684658, -9.10624218,
18.74389076, -4.08834696, -18.99320984, -28.7378273, 36.90289307,
19.9671917, 6.81442356, -2.79738522, 51.97451019, 43.90403748,
36.57212448, 28.60396194],
[ 35.12473297, 67.64217377, 79.15477753, 69.94815826, 60.34004593,
58.72478104, 32.09606171, 11.13847065, 16.22161102, 24.88112068,
22.31115341, -14.11880112, -31.75012016, -40.87027359, 15.9162302,
-20.30714417, -39.99034882, -51.30535889, 10.07509327, -20.53441429,
-36.16606903, -48.56869125],
[151.66641235, 123.82020569, 118.66936493, 147.56196594, 166.81466675,
180.52867126, 170.5990448, 145.15351868, 124.28096008, 113.46463776,
168.91151428, 165.07273865, 154.32685852, 144.07644653, 162.14595032,
160.73678589, 153.32025146, 145.6038208, 151.8303833, 152.60569763,
149.65892029, 145.08146667]
])
# Example Angles
angles = np.array([
[[ 6.80335651e-09, -4.51514916e-01, -1.10714834e+00],
[-2.12284823e-01, -1.89584131e-02, 4.08588116e-03],
[ 1.12782320e-01, -3.36439092e-09, -3.76808121e-09],
[-2.43190810e-01, -1.47738551e-08, -3.13275023e-09]],
[[ 1.51001870e-01, -1.66816955e-01, -2.52599157e-02],
[ 1.26234886e+00, 1.18541579e-03, 3.72051055e-03],
[ 1.10766007e+00, -9.07727204e-09, 1.62977681e-08],
[ 5.22654522e-01, -1.12897120e-08, 1.53981473e-08]],
[[ 1.48955348e-01, -2.95250742e-02, 1.46350714e-01],
[ 5.97808271e-01, 1.37448961e-01, 9.30286183e-02],
[ 3.72391062e-01, -4.33029963e-08, -9.43238189e-09],
[ 2.40749485e-01, -2.57356516e-08, -1.51517855e-08]],
[[ 1.50006118e-01, 1.21617516e-01, 2.20302218e-01],
[ 5.11299735e-01, 1.47075129e-01, 8.20371808e-02],
[ 3.06999060e-01, 2.59781033e-08, -1.21896506e-08],
[ 2.05311882e-01, 3.33055462e-08, -4.01401060e-09]],
[[ 1.09821361e-01, 2.62327266e-01, 3.74564087e-01],
[ 4.06376774e-01, 2.33796594e-01, 9.93673235e-02],
[ 2.64315977e-01, 2.51456589e-08, 2.37648319e-08],
[ 1.84392151e-01, -5.94240413e-09, 5.29384378e-09]]
])
'''
finger_names = ['Thumb', 'Index', 'Middle', 'Ring', 'Pinky']
bone_names = ['MCP', 'PIP', 'DIP', 'TIP']
# We can of course generate column names on the fly:
for finger in finger_names:
for bone in bone_names:
for dim in ["x","y","z"]:
columns.append(f"{finger}_{bone}_{dim}")
print(columns)
'''
columns = [
"Palm_x", "Palm_y", "Palm_z",
"Wrist_x", "Wrist_y", "Wrist_z",
'Thumb_MCP_x', 'Thumb_MCP_y', 'Thumb_MCP_z',
'Thumb_PIP_x', 'Thumb_PIP_y', 'Thumb_PIP_z',
'Thumb_DIP_x', 'Thumb_DIP_y', 'Thumb_DIP_z',
'Thumb_TIP_x', 'Thumb_TIP_y', 'Thumb_TIP_z',
'Index_MCP_x', 'Index_MCP_y', 'Index_MCP_z',
'Index_PIP_x', 'Index_PIP_y', 'Index_PIP_z',
'Index_DIP_x', 'Index_DIP_y', 'Index_DIP_z',
'Index_TIP_x', 'Index_TIP_y', 'Index_TIP_z',
'Middle_MCP_x', 'Middle_MCP_y', 'Middle_MCP_z',
'Middle_PIP_x', 'Middle_PIP_y', 'Middle_PIP_z',
'Middle_DIP_x', 'Middle_DIP_y', 'Middle_DIP_z',
'Middle_TIP_x', 'Middle_TIP_y', 'Middle_TIP_z',
'Ring_MCP_x', 'Ring_MCP_y', 'Ring_MCP_z',
'Ring_PIP_x', 'Ring_PIP_y', 'Ring_PIP_z',
'Ring_DIP_x', 'Ring_DIP_y', 'Ring_DIP_z',
'Ring_TIP_x', 'Ring_TIP_y', 'Ring_TIP_z',
'Pinky_MCP_x', 'Pinky_MCP_y', 'Pinky_MCP_z',
'Pinky_PIP_x', 'Pinky_PIP_y', 'Pinky_PIP_z',
'Pinky_DIP_x', 'Pinky_DIP_y', 'Pinky_DIP_z',
'Pinky_TIP_x', 'Pinky_TIP_y', 'Pinky_TIP_z'
]
# Convert this to headers for numpy saving...
headers = ""
for col in columns:
headers+= col
headers+= ","
headers = headers[:-2]
def on_close(event):
print("Closed Figure")
# Matplotlib Setup
fig = plt.figure()
fig.canvas.mpl_connect('close_event', on_close)
ax = fig.add_subplot(121, projection='3d', xlim=(-300, 300), ylim=(-200, 400), zlim=(-300, 300))
ax2 = fig.add_subplot(122, projection='3d', xlim=(-300, 300), ylim=(-200, 400), zlim=(-300, 300))
ax.view_init(elev=45., azim=122)
ax2.view_init(elev=45., azim=122)
a_points = np.zeros((3, 16))
patches = ax.scatter(points[0], points[1], points[2], s=[20]*NUM_POINTS, alpha=1)
angle_plot = ax2.scatter(a_points[0], a_points[1], a_points[2], s=[10]*16, alpha=1)
# Angle Utils
def get_rotation_matrix(bone):
basis = bone.basis
x_basis = basis.x_basis
y_basis = basis.y_basis
z_basis = basis.z_basis
matrix = Leap.Matrix(x_basis, y_basis, z_basis).to_array_3x3()
matrix = np.reshape(matrix, newshape=(3, 3))
print("Basis", matrix)
return matrix
def get_angles_from_rot(rot_mat):
"""
Function from LearnOpenCV, Satya Mallick:
https://www.learnopencv.com/rotation-matrix-to-euler-angles/
https://github.com/spmallick/learnopencv/blob/master/RotationMatrixToEulerAngles/rotm2euler.py
"""
sy = math.sqrt(rot_mat[0, 0] * rot_mat[0, 0] + rot_mat[1, 0] * rot_mat[1, 0])
singular = sy < 1e-6
if not singular:
x = math.atan2(rot_mat[2, 1], rot_mat[2, 2])
y = math.atan2(-rot_mat[2, 0], sy)
z = math.atan2(rot_mat[1, 0], rot_mat[0, 0])
else:
x = math.atan2(-rot_mat[1, 2], rot_mat[1, 1])
y = math.atan2(-rot_mat[2, 0], sy)
z = 0
return [x,y,z]
#return [math.degrees(angle) for angle in [x, y, z]]
def get_rot_from_angles(theta) :
# Calculates Rotation Matrix given euler angles.
"""
Function from LearnOpenCV, Satya Mallick:
https://www.learnopencv.com/rotation-matrix-to-euler-angles/
https://github.com/spmallick/learnopencv/blob/master/RotationMatrixToEulerAngles/rotm2euler.py
"""
x = np.array([
[1, 0, 0 ],
[0, math.cos(theta[0]), -math.sin(theta[0]) ],
[0, math.sin(theta[0]), math.cos(theta[0]) ]
])
y = np.array([
[math.cos(theta[1]), 0, math.sin(theta[1]) ],
[0, 1, 0 ],
[-math.sin(theta[1]), 0, math.cos(theta[1]) ]
])
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(z, np.dot(y, x))
return R
finger_bones = ['metacarpals', 'proximal', 'intermediate', 'distal']
def get_angles(hand):
'''
Gets angles in degrees for all joints in the hand.
Do I need the basis vector for the hands?
'''
angles = []
for finger in hand.fingers:
bone_angles = []
for b in range(0,4):
if (b == 0):
# The
last_bone = hand
else:
last_bone = finger.bone(b-1)
bone = finger.bone(b)
# Generate rotation matrices from basis vectors
last_bone_mat = get_rotation_matrix(last_bone)
bone_mat = get_rotation_matrix(bone)
# Get rotation matrix between bones, change of basis
rot_mat = np.matmul(
bone_mat, last_bone_mat.transpose()
)
# Generate euler angles in degrees from rotation matrix
bone_angles.append(get_angles_from_rot(rot_mat))
angles.append(bone_angles)
return angles
def main():
try:
# Reset the plots
leapplot.reset_plot(ax)
leapplot.reset_plot(ax2)
a_points = points
if (points is not None):
patches = ax.scatter(points[0], points[1], points[2], s=[10]*NUM_POINTS, alpha=1)
leapplot.plot_points(points, patches)
leapplot.plot_bone_lines(points, ax)
print("angles", angles)
print("angles shape: ", angles.shape)
# Turn the angles into points
X = [0]
Y = [0]
Z = [0]
for finger in range(0,5):
for bone in range(0,4):
pitch = angles[finger,bone, 0]
yaw = angles[finger,bone, 1]
roll = angles[finger,bone, 2]
theta = angles[finger,bone, :]
#theta = [pitch, yaw, roll]
rot_mat = get_rot_from_angles(theta)
# Which basis is this bone defined in???
bone_assume = np.array([0,20,0])
new_bone = rot_mat.dot(bone_assume)#.dot(get_rot_from_angles(angles[0, bone, :]))
# Debugging
if (finger == 1):
if (bone == 1):
print("Pitch degrees",theta[0] * 57.296)
print("Angles", theta)
print("rot_mat ", rot_mat)
print("Det" ,np.linalg.det(rot_mat))
# Testing time
print("nb", new_bone)
x = X[finger*3+bone] + new_bone[0]
y = Y[finger*3+bone] + new_bone[1]
z = Z[finger*3+bone] + new_bone[2]
X.append(x)
Y.append(y)
Z.append(z)
# Convert to a numpy array
a_points = [X, Z, Y]
a_points = np.array(a_points)
# Creating the 2nd plot
angle_plot = ax2.scatter(a_points[0], a_points[1], a_points[2], s=[10]*NUM_POINTS, alpha=1)
# Plot Angle points
leapplot.plot_points(a_points, angle_plot)
plt.show()
except KeyboardInterrupt:
sys.exit(0)
if __name__ == '__main__':
main()