From e6914a65b49ee6864893361e1f9f9641a59c1381 Mon Sep 17 00:00:00 2001
From: woodenbirds <1979309725@qq.com>
Date: Tue, 19 Nov 2024 13:58:35 -0800
Subject: [PATCH] delete aria_utils

---
 aria_utils.py | 211 --------------------------------------------------
 1 file changed, 211 deletions(-)
 delete mode 100755 aria_utils.py

diff --git a/aria_utils.py b/aria_utils.py
deleted file mode 100755
index 50f827d..0000000
--- a/aria_utils.py
+++ /dev/null
@@ -1,211 +0,0 @@
-import pandas as pd
-import numpy as np
-import matplotlib.pyplot as plt
-import projectaria_tools.core.mps as mps
-from projectaria_tools.core import data_provider,calibration
-# from projectaria_tools.core.mps.utils import get_nearest_pose
-from projectaria_tools.core.stream_id import StreamId
-from projectaria_tools.core.sensor_data import DEVICE_TIME,CLOSEST
-from projectaria_tools.core.mps.utils import get_nearest_wrist_and_palm_pose
-import os
-
-def x_y_rot90(x, y, w, h):
-    return h-y, x
-
-def x_y_undistort(x, y, w, h, pinhole, calib):
-    x, y = int(x), int(y)
-    # a zero numpy array of shape (w, h) with coordinate (x,y) having value 1
-    point = np.zeros((w, h))
-    offset = 2
-    for i in range(x-offset, x+offset+1):
-        for j in range(y-offset, y+offset+1):
-            if i>=0 and i<w and j>=0 and j<h:
-                point[i, j] = 1
-    undistorted_point = calibration.distort_by_calibration(point, pinhole, calib)
-    x, y = np.where(undistorted_point != 0)
-
-    if len(x)==0:
-        return -1, -1
-    x = np.mean(x)
-    y = np.mean(y)
-    # x, y = x_y_rot90(x, y, w, h)
-    return x, y
-
-def x_y_around(x, y, pinhole,offset=70):
-    w,h = pinhole.get_image_size()
-    x_max = min(x+offset, w-1)
-    x_min = max(x-offset, 0)
-    y_max = min(y+offset, h-1)
-    y_min = max(y-offset, 0)
-    return np.array([x_min, y_min, x_max, y_max])
-
-def init_plotting():
-    plt.rcParams.update({
-        'axes.spines.top': False,
-        'axes.spines.right': False,
-        'axes.spines.left': False,
-        'axes.spines.bottom': False,
-        'xtick.labelbottom': False,
-        'xtick.bottom': False,
-        'ytick.labelleft': False,
-        'ytick.left': False,
-        'xtick.labeltop': False,
-        'xtick.top': False,
-        'ytick.labelright': False,
-        'ytick.right': False
-    })
-
-def get_offset_abs_list(time_offset=15):
-    offset_abs_list = 0
-    for i in range(1, time_offset+1):
-        offset_abs_list.append(i)
-        offset_abs_list.append(-i)
-    return offset_abs_list
-
-def per_image_hand_tracking(query_timestamp_ns, wrist_and_palm_poses, pinhole, camera_calibration, rgb_calib):
-    """
-    Returns:
-    rgb_image: np.ndarray,
-    l_existed: bool,
-    r_existed: bool,
-    l_p_point: np.ndarray,
-    r_p_point: np.ndarray
-    """
-
-    # rgb_image,_ = vrs_data_provider.get_image_data_by_time_ns(rgb_stream_id, query_timestamp_ns, DEVICE_TIME, CLOSEST)
-    # rgb_image = rgb_image.to_numpy_array()
-    # rgb_image = calibration.distort_by_calibration(rgb_image, pinhole, camera_calibration)
-    # rgb_image = np.rot90(rgb_image, 3)
-    w,h = pinhole.get_image_size()
-    T_device_rgb_camera = camera_calibration.get_transform_device_camera()
-    
-    wrist_and_palm_pose = get_nearest_wrist_and_palm_pose(
-        wrist_and_palm_poses, query_timestamp_ns
-    )
-    if wrist_and_palm_pose==None:
-        return 0, 0, np.array([0, 0, 0, 0]), np.array([0, 0, 0, 0])
-    left_pose_confidence = wrist_and_palm_pose.left_hand.confidence
-    # left_wrist_position_device = wrist_and_palm_pose.left_hand.wrist_position_device
-    left_palm_position_device = wrist_and_palm_pose.left_hand.palm_position_device
-
-    right_pose_confidence = wrist_and_palm_pose.right_hand.confidence
-    # right_wrist_position_device = wrist_and_palm_pose.right_hand.wrist_position_device
-    right_palm_position_device = wrist_and_palm_pose.right_hand.palm_position_device        
-    
-    # max_r_p_x, max_r_p_y, max_l_p_x, max_l_p_y = -1, -1, -1, -1
-    # min_r_p_x, min_r_p_y, min_l_p_x, min_l_p_y = w, h, w, h
-    l_p_x, l_p_y, r_p_x, r_p_y = -1, -1, -1, -1
-
-    l_existed = True
-    if left_pose_confidence!=-1:        
-        l_p_xyz = T_device_rgb_camera.inverse() @ left_palm_position_device
-        # l_w_xyz = T_device_rgb_camera.inverse() @ left_wrist_position_device
-        try:
-            l_p_x, l_p_y = rgb_calib.project_no_checks(l_p_xyz)
-            l_p_x, l_p_y = x_y_undistort(l_p_x, l_p_y, w, h, pinhole, camera_calibration)
-            if l_p_x==-1:
-                l_existed=0
-            # else:
-                # max_l_p_x, min_l_p_x, max_l_p_y, min_l_p_y = x_y_around(l_p_x, l_p_y, w, h,offset=offset)
-
-                # plt.plot(l_p_x, l_p_y, 'ro')
-        except:
-            l_existed=0                
-        # try:
-        #     l_w_x, l_w_y = rgb_calib.project(l_w_xyz)
-        #     l_w_x, l_w_y = x_y_undistort(l_w_x, l_w_y, w, h, pinhole, camera_calibration)
-        #     if l_w_x==-1:
-        #         l_existed=0
-        #     else:
-        #         max_l_w_x, min_l_w_x, max_l_w_y, min_l_w_y = x_y_around(l_w_x, l_w_y, w, h,offset=offset)
-        #         # plt.plot(l_w_x, l_w_y, 'go')        
-        # except:
-        #     l_existed=0  
-        # max_l_x = max(max_l_p_x, max_l_w_x)
-        # min_l_x = min(min_l_p_x, min_l_w_x)
-        # max_l_y = max(max_l_p_y, max_l_w_y)
-        # min_l_y = min(min_l_p_y, min_l_w_y)
-    else:
-        l_existed=0
-
-    r_existed = True            
-    if right_pose_confidence!=-1:
-        r_p_xyz = T_device_rgb_camera.inverse() @ right_palm_position_device
-        # r_w_xyz = T_device_rgb_camera.inverse() @ right_wrist_position_device
-        r_existed=1
-        try:
-            r_p_x, r_p_y = rgb_calib.project_no_checks(r_p_xyz)
-            r_p_x, r_p_y = x_y_undistort(r_p_x, r_p_y, w, h, pinhole, camera_calibration)
-            if r_p_x==-1:
-                r_existed=0
-            # else:
-            #     max_r_p_x, min_r_p_x, max_r_p_y, min_r_p_y = x_y_around(r_p_x, r_p_y, w, h,offset=offset)
-            #     # plt.plot(r_p_x, r_p_y, 'bo')
-        except:
-            r_existed=0
-        # try:
-        #     r_w_x, r_w_y = rgb_calib.project(r_w_xyz)
-        #     r_w_x, r_w_y = x_y_undistort(r_w_x, r_w_y, w, h, pinhole, camera_calibration)
-        #     if r_w_x==-1:
-        #         r_existed=0
-        #     else:
-        #         max_r_w_x, min_r_w_x, max_r_w_y, min_r_w_y = x_y_around(r_w_x, r_w_y, w, h,offset=offset)
-        #         # plt.plot(r_w_x, r_w_y, 'yo')
-        # except:
-        #     r_existed=0
-        # max_r_x = max(max_r_p_x, max_r_w_x)
-        # min_r_x = min(min_r_p_x, min_r_w_x)
-        # max_r_y = max(max_r_p_y, max_r_w_y)
-        # min_r_y = min(min_r_p_y, min_r_w_y)
-    else:
-        r_existed=0
-    
-    return l_existed, r_existed, np.array([l_p_x, l_p_y]), np.array([r_p_x, r_p_y])
-
-def get_online_calib(online_calib_path, rgb_stream_label):
-    online_calibs = mps.read_online_calibration(online_calib_path)
-    find = False
-    for calib in online_calibs:
-        for camCalib in calib.camera_calibs:
-            if camCalib.get_label() == rgb_stream_label:
-                rgb_calib = camCalib
-                find = True
-                break
-        if find:
-            break
-    return rgb_calib
-
-def get_info_from_aria_files(wrist_and_palm_poses_path="/secondary/home/annie/output/aria_try/mps_video_vrs/hand_tracking/wrist_and_palm_poses.csv",online_calib_path="/secondary/home/annie/output/aria_try/mps_video_vrs/slam/online_calibration.jsonl",vrs_file="/secondary/home/annie/output/aria_try/video.vrs"):
-    wrist_and_palm_poses = mps.hand_tracking.read_wrist_and_palm_poses(wrist_and_palm_poses_path)
-    df = pd.read_csv(wrist_and_palm_poses_path)
-
-    online_calibs = mps.read_online_calibration(online_calib_path)
-
-    vrs_data_provider = data_provider.create_vrs_data_provider(vrs_file)
-    rgb_stream_id = StreamId("214-1")
-    rgb_stream_label = vrs_data_provider.get_label_from_stream_id(rgb_stream_id)
-    device_calibration = vrs_data_provider.get_device_calibration()
-    camera_calibration = device_calibration.get_camera_calib(rgb_stream_label)
-    T_device_rgb_camera = camera_calibration.get_transform_device_camera()
-
-    find = False
-    for calib in online_calibs:
-        for camCalib in calib.camera_calibs:
-            if camCalib.get_label() == rgb_stream_label:
-                rgb_calib = camCalib
-                find = True
-                break
-        if find:
-            break
-
-    pinhole = calibration.get_linear_camera_calibration(camera_calibration.get_image_size()[0], camera_calibration.get_image_size()[1], camera_calibration.get_focal_lengths()[0])
-    return wrist_and_palm_poses, df, pinhole, camera_calibration, rgb_calib, T_device_rgb_camera, vrs_data_provider, rgb_stream_id
-    # for i in range(len(df)):
-    #     query_timestamp_ns = df['tracking_timestamp_us'][i]*1000
-    #     per_image_process(query_timestamp_ns, wrist_and_palm_poses, rgb_stream_id, vrs_data_provider, df, pinhole, camera_calibration, rgb_calib, T_device_rgb_camera)
-        
-
-    # return rgb_image, l_existed, r_existed, (max_l_x, min_l_x, max_l_y, min_l_y), (max_r_x, min_r_x, max_r_y, min_r_y)
-        
-
-