FicTrac changed number of output fields.

Fixed fictrac state structure to have additional field.

Author: davidt0x

pybmt/fictrac/state.py

@@ -1,9 +1,6 @@
 import numpy as np
 import ctypes
 
-# The number of FicTrac fields in the output file
-NUM_FICTRAC_FIELDS = 23
-
 class FicTracState(ctypes.Structure):
     """
     This class represents the FicTrac tracking state. These are the exact same values written to the output log file
@@ -26,6 +23,7 @@ class FicTracState(ctypes.Structure):
         ('inty', ctypes.c_double),
         ('timestamp', ctypes.c_double),
         ('seq_num', ctypes.c_int),
+        ('delta_timestamp', ctypes.c_double),
     ]
 
     @classmethod
@@ -38,13 +36,16 @@ def zmq_string_msg_to_state(cls, data):
         :return: The FicTracState structure with values corresponding to data.
         """
 
+        # The number of FicTrac fields in the output file
+        num_fictrac_fields = 24
+
         # Create a FicTrac state object\structure
         fstate = cls()
 
         # Parse the string
         values = [x.strip() for x in data.split(',')]
 
-        if len(values) != NUM_FICTRAC_FIELDS:
+        if len(values) != num_fictrac_fields:
             raise ValueError("Message from FicTrac did not have appropriate number of fields.")
 
         # Convert strings to appropriate types and assign fields
@@ -93,7 +94,8 @@ def to_np_array(self):
                          self.intx,
                          self.inty,
                          self.timestamp,
-                         self.seq_num
+                         self.seq_num,
+                         self.delta_timestamp
                          ])
 
     def __repr__(self):

tests/fictrac/test_config_data/test_config_local.txt

@@ -1,4 +1,4 @@
-## FicTrac config file (build Nov  2 2018)
+## FicTrac config file (build Nov 21 2019)
 c2a_cnrs_yz      : { 304, 37, 293, 37, 293, 48, 304, 48 }
 c2a_r            : { -1.209684, 1.208704, 1.208508 }
 c2a_src          : c2a_cnrs_yz
@@ -17,11 +17,10 @@ roi_circ         : { 82, 162, 97, 118, 131, 81, 289, 94, 324, 162 }
 roi_ignr         : { { 46, 186, 358, 192, 364, 286, 44, 284 }, { 193, 125, 205, 120, 224, 127, 234, 134, 237, 154, 229, 170, 209, 173, 189, 170, 184, 155, 181, 141 } }
 roi_r            : 0.022890
 save_debug       : n
-save_raw         : 0
+save_raw         : n
 socket_port      : 5556
 src_fn           : test.mp4
 src_fps          : -1.000000
 thr_ratio        : 1.25
 thr_win_pc       : 0.25
 vfov             : 3.085
-

tests/fictrac/test_state.py

@@ -5,7 +5,7 @@
 from pybmt.fictrac.state import FicTracState
 
 # A test message that is exactly formatted like fictrac's state messages
-test_msg = "1, 0.00061658055072047, 0.00049280924124894, 0.00028854775028054, 4383.0244305051, -0.00049229297796647, 0.00028846777828354, -0.00061703022026165, 0.0053108667004006, -0.0013475230246914, 0.00028682299296761, -1.2046443372631, 1.2104273986131, 1.2054460682211, 0.00028831588044736, 0.00049238194388207, 0.00061703022026165, 1.0407586027826, 0.00057058394234585, 0.00028846777828354, 0.00049229297796647, 20, 1"
+test_msg = "1, 0.00061658055072047, 0.00049280924124894, 0.00028854775028054, 4383.0244305051, -0.00049229297796647, 0.00028846777828354, -0.00061703022026165, 0.0053108667004006, -0.0013475230246914, 0.00028682299296761, -1.2046443372631, 1.2104273986131, 1.2054460682211, 0.00028831588044736, 0.00049238194388207, 0.00061703022026165, 1.0407586027826, 0.00057058394234585, 0.00028846777828354, 0.00049229297796647, 20, 1, 0.0000234"
 
 # The values of the message.
 test_values = np.array([1, 0.00061658055072047, 0.00049280924124894, 0.00028854775028054,
@@ -14,7 +14,7 @@
                         0.00028682299296761, -1.2046443372631, 1.2104273986131, 1.2054460682211,
                         0.00028831588044736, 0.00049238194388207, 0.00061703022026165,
                         1.0407586027826, 0.00057058394234585, 0.00028846777828354, 0.00049229297796647,
-                        20, 1])
+                        20, 1, 0.0000234])
 
 # Create a state from the above message
 fstate = FicTracState.zmq_string_msg_to_state(test_msg)