Merge branch 'master' of github.com:amrut-prabhu/table-tennis-ball-tr…

…ajectory

clean_annotation_files.py

@@ -0,0 +1,57 @@
+from os import listdir, rename
+from os.path import isfile, join
+import pandas as pd
+import os
+from shutil import copy2
+
+#mypath = 'C:/Users/cksas/Desktop/Annotation'
+mypath = os.getcwd()
+mypath = join(mypath, 'Actual')
+resultsPath = os.getcwd()
+resultsPath = join(resultsPath, 'CleanData')
+folders = ['CAM1', 'CAM2', 'CAM3']
+fl = pd.read_csv((join(mypath, 'FileList.csv')), names = folders)
+
+for folder in folders:
+    for i in range(10):
+        name = fl[folder][i].split('.')[0]
+        name = name + '.csv'
+        newname = folder + '-' + str(i) + '_cleaned.csv'
+        print (name)
+        print (join(resultsPath, newname))
+        copy2(join(mypath, folder, name), join(resultsPath, newname))
+
+# Clean the data files
+n1 = 'CAM1-'
+n2 = 'CAM2-'
+n3 = 'CAM3-'
+
+for i in range(10):
+    fnames = [n1 + str(i) + '_cleaned.csv', n2 + str(i) + '_cleaned.csv', n3 + str(i) + '_cleaned.csv']
+    df1 = pd.read_csv(join(resultsPath, fnames[0]))
+    df1 = df1.dropna()
+    df2 = pd.read_csv(join(resultsPath, fnames[1]))
+    df2 = df2.dropna()
+    df3 = pd.read_csv(join(resultsPath, fnames[2]))
+    df3 = df3.dropna()
+
+    f2 = df2['frame']
+    f3 = df3['frame']
+    commonFrames = []
+
+    for index, row in df1.iterrows():
+        frameNum = row['frame']
+        if frameNum in f2 and frameNum in f3:
+            commonFrames.append(frameNum)
+
+    print (len(commonFrames))
+
+    df1 = df1.query('frame in @commonFrames')
+    df2 = df2.query('frame in @commonFrames')
+    df3 = df3.query('frame in @commonFrames')
+
+    df1.to_csv(join(resultsPath, fnames[0].split('.')[0] + '.csv'))
+    df2.to_csv(join(resultsPath, fnames[1].split('.')[0] + '.csv'))
+    df3.to_csv(join(resultsPath, fnames[2].split('.')[0] + '.csv'))
+
+

plotErrorVisualization.m

@@ -93,7 +93,7 @@ function plotErrorVisualization(i, res, results_path)
 hold on;
 
 % Plot points
-scatter3(res(:, 1), res(:, 2), res(:, 3), 'MarkerEdgeColor', [0 0 0.5]);
+plot3(res(:, 1), res(:, 2), res(:, 3), 'MarkerEdgeColor', [0 0 0.5]);
 hold on;
 
 % Plot smooth curve for data points
@@ -111,7 +111,8 @@ function plotErrorVisualization(i, res, results_path)
 ylim([-2.5 2.5])
 zlim([-0.5 1.5])
 
-title('Trajectory');
+legend('Actual Data', 'Smooth Data')
+title('Error Analysis');
 
 % Save figure as .jpg
 p = fullfile(results_path, strcat('error_visualization_', num2str(i), '.jpg'));

remove_tracking_results.py

@@ -2,6 +2,7 @@
 
 removedCsvCount = 0;
 removedPngCount = 0;
+removedAviCount = 0;
 
 # Remove all the files generated by the MATLAB code for tracking the table tennis ball
 for camNum in [1, 2, 3]:
@@ -19,5 +20,11 @@
             os.remove(pathToResult)
             removedPngCount += 1
 
+        if file.endswith(".avi"):
+            # Remove the png file containing the averaged background of a video
+            os.remove(pathToResult)
+            removedAviCount += 1
+
 print("Removed ", removedCsvCount, " csv files");
 print("Removed ", removedPngCount, " png files");
+print("Removed ", removedAviCount, " avi files");

showTrackedBall.m

@@ -2,20 +2,24 @@ function showTrackedBall(pathToFile, xPositions, yPositions)
 videoObj = VideoReader(pathToFile);
 NUM_FRAMES = videoObj.NumberOfFrames;
 fig = figure;
+baseName = pathToFile(1:find(pathToFile=='.')-1);
 
 % Read coordinates from csv file, if exists
-csvFile = strcat(pathToFile, '.csv');
+csvFile = strcat(baseName, '.csv');
 if exist(csvFile, 'file')
     trackedCsv = csvread(csvFile,1,0);
     xPositions = trackedCsv(:, 2);
     yPositions = trackedCsv(:, 3);
 end
 
+numTracked = size(xPositions);
+numTracked = numTracked(1);
+
 workingDir = tempname;
 mkdir(workingDir)
 mkdir(workingDir,'images')
 
-for frameNum = 1 : size(trackedCsv)
+for frameNum = 1 : NUM_FRAMES
     % Do not show warnings
     MSGID = 'images:initSize:adjustingMag';
     warning('off', MSGID);
@@ -24,8 +28,13 @@ function showTrackedBall(pathToFile, xPositions, yPositions)
     vidFrame = read(videoObj, frameNum);
     imshow(vidFrame);
 
-    x = xPositions(frameNum);
-    y = yPositions(frameNum);
+    if frameNum <= numTracked
+        x = xPositions(frameNum);
+        y = yPositions(frameNum);
+    else
+        x = -1;
+        y = -1;
+    end
 
     frameWithMarker = vidFrame;
     if x > 0 && y > 0

tracking_error.py

@@ -30,7 +30,6 @@ def calculate_tracking_error(truthFile, resultFile, videoId):
 
 
 numProcessedFiles = 0;
-truthDir = os.path.join('.', 'Actual');
 
 <<<<<<< HEAD
 for camNum in [2]:
@@ -43,7 +42,7 @@ def calculate_tracking_error(truthFile, resultFile, videoId):
             pathToResultFile = os.path.join(resultDir, file);
 
             videoId = file.split(".")[0];
-            pathToTruthFile = os.path.join(truthDir, videoId + ".csv");
+            pathToTruthFile = os.path.join('.', 'Actual', 'CAM' + str(camNum), videoId + ".csv");
 
             calculate_tracking_error(pathToTruthFile, pathToResultFile, videoId);
             numProcessedFiles += 1;

triangulate_positions.m

@@ -100,7 +100,7 @@
     ylim([-2.5 2.5])
     zlim([-0.5 1.5])
 
-    title('Trajectory');
+    title('Trajectory of ball');
 
     figName = strcat('Trajectory of Ball for Sequence: ', num2str(i));
     set(figH, 'NumberTitle', 'off', 'Name', figName);