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Commit d8a5e39b authored by Saskia Wepner's avatar Saskia Wepner
Browse files

save tracked data automatically

parent 18b7f42e
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Showing with 43 additions and 29 deletions
applications/Hardware/Tracking/Optitrack/@itaOptitrack/itaOptitrack.m
View file @ d8a5e39b
......@@ -65,6 +65,9 @@ classdef itaOptitrack < handle
% (default: 1, only for recMethod 0)
% 'singleShot' only log 1 frame of tracking data [logical]
% (e.g. for geometric measurement purposes)
% 'saveMe' save tracked data (default: true) [bool]
% if savePath and/or saveName are unset,
% savePath -> pwd, saveName -> trackerData_time_stamp
% 'savePath' path to save file containing logged data [string]
% 'saveName' name of file containing logged data [string]
%
......@@ -239,6 +242,7 @@ classdef itaOptitrack < handle
properties(SetAccess = 'public', GetAccess = 'public')
recMethod = 0; % recording method, 0: record data for recTime seconds (default), 1: record data without time limitation (stop via Optitrack_obj.stopTracking) [double]
recTime = 1; % preferred logging time in sec (default: 1, only for recMethod 0) [double]
saveMe = true; % save tracked data to pwd or to 'savePath' if defined [bool]
savePath = []; % path to save file containing logged data [string]
saveName = []; % name of file containing logged data [string]
......@@ -600,19 +604,19 @@ classdef itaOptitrack < handle
%% stop data logging
if Optitrack_obj.isConnected
if Optitrack_obj.loggingState
% stop Matlab timer
stop(Optitrack_obj.timerData);
Optitrack_obj.loggingState = Optitrack_obj.stopped;
% delete all existing timers
existingTimers = timerfindall;
if ~isempty(existingTimers)
delete(existingTimers(:));
end
if Optitrack_obj.singleShot
% delete rows in rigidBodyLogData containing NaN's in
% 'singleShot' measurment, TODO: find real reason for
......@@ -620,7 +624,7 @@ classdef itaOptitrack < handle
Optitrack_obj.rigidBodyLogData.data(isnan(Optitrack_obj.rigidBodyLogData.data(:,1)),:,:) = [];
Optitrack_obj.rigidBodyLogData.droppedFrames = [];
end
% display info about tracked data (if some data was logged)
if ~isempty(Optitrack_obj.rigidBodyLogData.data)
if ~isempty(Optitrack_obj.rigidBodyLogData.droppedFrames)
......@@ -643,12 +647,12 @@ classdef itaOptitrack < handle
(numel(Optitrack_obj.rigidBodyLogData.data(:,1))+numel(Optitrack_obj.rigidBodyLogData.droppedFrames(:,1)))/Optitrack_obj.frameRate);
end
end
if Optitrack_obj.recMethod == 0 && ~isempty(Optitrack_obj.rigidBodyLogData.droppedFrames)
% delete NaN entries
Optitrack_obj.rigidBodyLogData.data(isnan(Optitrack_obj.rigidBodyLogData.data(:,1)),:,:) = [];
end
% create NaN entries
if ~Optitrack_obj.singleShot && ~isempty(Optitrack_obj.rigidBodyLogData.droppedFrames)
tempNaN = NaN(numel(Optitrack_obj.rigidBodyLogData.data(:,1,1))+numel((Optitrack_obj.rigidBodyLogData.droppedFrames(:,1))),13,Optitrack_obj.numRigidBodies);
......@@ -659,14 +663,14 @@ classdef itaOptitrack < handle
Optitrack_obj.rigidBodyLogData.data(:,:,idx) = sortrows(tempNaN(:,:,idx),1);
end
end
if all(diff(Optitrack_obj.rigidBodyLogData.data(:,1,1)))==0 % grid vectors are not monotonically increasing
% duplicate frames have been written (strange: needs further investigation)
% quick fix: erase duplicate frames and append NaN frames at the end
% TODO: find real reason
kickout = diff(Optitrack_obj.rigidBodyLogData.data(:,1,1))==0;
Optitrack_obj.rigidBodyLogData.data(kickout,:,:) = [];
Optitrack_obj.rigidBodyLogData.data = [Optitrack_obj.rigidBodyLogData.data; NaN(sum(kickout),13,Optitrack_obj.numRigidBodies)];
Optitrack_obj.rigidBodyLogData.data(end-sum(kickout)+1:end,1,:) = repmat(Optitrack_obj.rigidBodyLogData.data(end-sum(kickout),1,:),sum(kickout),1,1) + ...
......@@ -674,7 +678,7 @@ classdef itaOptitrack < handle
Optitrack_obj.rigidBodyLogData.data(end-sum(kickout)+1:end,2,:) = repmat(Optitrack_obj.rigidBodyLogData.data(end-sum(kickout),2,:),sum(kickout),1,1) + ...
reshape(repmat((1:sum(kickout))',1,Optitrack_obj.numRigidBodies),[sum(kickout)',1,Optitrack_obj.numRigidBodies]).*1/Optitrack_obj.frameRate;
end
% create final data struct
for idx = 1:Optitrack_obj.numRigidBodies %TODO: implement without for loop
if idx==1
......@@ -685,12 +689,12 @@ classdef itaOptitrack < handle
Optitrack_obj.info.TotalFrames = numel(Optitrack_obj.rigidBodyLogData.data(:,1,1));
Optitrack_obj.info.LengthUnits = 'Meters'; % TODO: query somehow if possible?
Optitrack_obj.info.CoordinateSpace = 'Global'; % TODO: query somehow if possible?
dataDescriptions = Optitrack_obj.theClient.GetDataDescriptions();
end
descriptor = dataDescriptions.Item(idx-1);
Optitrack_obj.data(idx).frameID = Optitrack_obj.rigidBodyLogData.data(:,1,idx);
Optitrack_obj.data(idx).frameTime = Optitrack_obj.rigidBodyLogData.data(:,2,idx);
Optitrack_obj.data(idx).rigidBodyID = Optitrack_obj.rigidBodyLogData.data(1,3,idx);
......@@ -698,7 +702,7 @@ classdef itaOptitrack < handle
% interpolate missing data points using PCHIP interpolation
if ~isempty(Optitrack_obj.rigidBodyLogData.droppedFrames)
Optitrack_obj.data(idx).position = itaCoordinates( interp1(Optitrack_obj.data(idx).frameID(~isnan(Optitrack_obj.rigidBodyLogData.data(:,4,idx))), ...
Optitrack_obj.rigidBodyLogData.data(~isnan(Optitrack_obj.rigidBodyLogData.data(:,4,idx)),4:6,idx), ...
Optitrack_obj.data(idx).frameID, 'pchip') );
......@@ -706,12 +710,12 @@ classdef itaOptitrack < handle
Optitrack_obj.data(idx).orientation = itaOrientation( interp1(Optitrack_obj.data(idx).frameID(~isnan(Optitrack_obj.rigidBodyLogData.data(:,4,idx))),...
Optitrack_obj.rigidBodyLogData.data(~isnan(Optitrack_obj.rigidBodyLogData.data(:,4,idx)),7:10,idx), ...
Optitrack_obj.data(idx).frameID, 'pchip') );
else
Optitrack_obj.data(idx).position = itaCoordinates( Optitrack_obj.rigidBodyLogData.data(:,4:6,idx) );
Optitrack_obj.data(idx).orientation = itaOrientation( Optitrack_obj.rigidBodyLogData.data(:,7:10,idx) );
end
% apply calibration data on first rigid body
if Optitrack_obj.data(idx).rigidBodyID == 1
if Optitrack_obj.useCalibration
......@@ -727,7 +731,7 @@ classdef itaOptitrack < handle
Optitrack_obj.rigidBodyLogData.info.calibratedData = false;
end
end
% interpolate mean error
if ~isempty(Optitrack_obj.rigidBodyLogData.droppedFrames)
Optitrack_obj.data(idx).meanError = interp1(1:sum(~isnan(Optitrack_obj.rigidBodyLogData.data(:,11,idx))),...
......@@ -735,31 +739,42 @@ classdef itaOptitrack < handle
else
Optitrack_obj.data(idx).meanError = Optitrack_obj.rigidBodyLogData.data(:,11,idx);
end
Optitrack_obj.data(idx).isTracked = Optitrack_obj.rigidBodyLogData.data(:,12,idx);
Optitrack_obj.data(idx).nMarkers = Optitrack_obj.rigidBodyLogData.data(:,13,idx);
if ~isempty(Optitrack_obj.rigidBodyLogData.droppedFrames)
Optitrack_obj.data(idx).isTracked(isnan(Optitrack_obj.data(idx).isTracked)) = false; % mark dropped frames as not tracked
Optitrack_obj.data(idx).nMarkers(isnan(Optitrack_obj.data(idx).nMarkers)) = 0; % zero markers had been available because frame was dropped / "not tracked"
Optitrack_obj.data(idx).droppedFrameID = Optitrack_obj.rigidBodyLogData.droppedFrames(:,1);
Optitrack_obj.data(idx).droppedFrameTime = Optitrack_obj.rigidBodyLogData.droppedFrames(:,2);
end
if Optitrack_obj.data(idx).rigidBodyID == 1; % set calibratedData flag
Optitrack_obj.data(idx).calibratedData = Optitrack_obj.rigidBodyLogData.info.calibratedData;
else
Optitrack_obj.data(idx).calibratedData = false;
end;
end
% save data and info
if ~isempty(Optitrack_obj.savePath)&&~isempty(Optitrack_obj.saveName)
LogData = Optitrack_obj.data; %#ok
LogInfo = Optitrack_obj.info; %#ok
save(fullfile(Optitrack_obj.savePath,[Optitrack_obj.saveName,'.mat']), 'LogData','LogInfo');
fprintf('[itaOptitrack] Saved logged tracking data successfully to %s\n\n',fullfile(Optitrack_obj.savePath,[Optitrack_obj.saveName,'.mat']))
else
if Optitrack_obj.saveMe % == true
if isempty(Optitrack_obj.savePath)
Optitrack_obj.savePath = pwd;
end
if isempty(Optitrack_obj.saveName)
cl = clock;
Optitrack_obj.saveName = sprintf('trackerData_%04i%02i%02i_%02i%02i', cl(1), cl(2), cl(3), cl(4), cl(5));
end
if ~isempty(Optitrack_obj.savePath)&&~isempty(Optitrack_obj.saveName)
LogData = Optitrack_obj.data; %#ok
LogInfo = Optitrack_obj.info; %#ok
save(fullfile(Optitrack_obj.savePath,[Optitrack_obj.saveName,'.mat']), 'LogData','LogInfo');
fprintf('[itaOptitrack] Saved logged tracking data successfully to %s\n\n',fullfile(Optitrack_obj.savePath,[Optitrack_obj.saveName,'.mat']))
else
fprintf('[\b[itaOptitrack] Logged tracking data is only stored temporarily in Optitrack_obj.data]\b\n\n')
end
else %2DO: remove q&d solution (mentioned twice)
fprintf('[\b[itaOptitrack] Logged tracking data is only stored temporarily in Optitrack_obj.data]\b\n\n')
end
......@@ -774,7 +789,6 @@ classdef itaOptitrack < handle
else
fprintf('[\b[itaOptitrack] Logging cannot be stopped as there is no connection to an OptiTrack server.]\b\n')
end
end
% function decodeMotiveLogFile(Optitrack_obj,varargin)successfully
......
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