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angle_calc.py
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angle_calc.py
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import math
import numpy as np
profile=""
import pandas as pd
tablea=pd.read_csv('./Rula_score/TableA.csv')
tableb=pd.read_csv('./Rula_score/TableB.csv')
tablec=pd.read_csv('./Rula_score/TableC.csv')
tablea1=pd.read_csv('./Reba_score/TableA.csv')
tableb1=pd.read_csv('./Reba_score/TableB.csv')
tablec1=pd.read_csv('./Reba_score/TableC.csv')
def rula_risk(point_score, wrist, trunk, upper_Shoulder, lower_Limb, neck, wrist_twist, legs, muscle_use, force_load_a, force_load_b, upper_body_muscle):
rula={}
rula['score']='NULL'
rula['risk']='NULL'
if wrist!=0 and trunk!=0 and upper_Shoulder!=0 and lower_Limb!=0 and neck!=0 and wrist_twist!=0:
#Table A:
col_name=str(wrist)+'WT'+str(wrist_twist)
# print("upper_Shoulder",upper_Shoulder)
# print("LOWER:",lower_Limb)
tablea_val=tablea[(tablea['UpperArm']==upper_Shoulder) & (tablea['LowerArm']==lower_Limb)]
tablea_val=tablea_val[col_name].values[0]
point_score['posture_score_a']=str(tablea_val)
tablea_val=tablea_val+muscle_use+force_load_a
point_score['wrist_and_arm_score']=str(tablea_val)
#Table B:
col_name=str(trunk)+str(legs)
tableb_val=tableb[(tableb['Neck']==neck)]
tableb_val=tableb_val[col_name].values[0]
point_score['posture_score_b']=str(tableb_val)
tableb_val=tableb_val+force_load_b+upper_body_muscle
point_score['neck_trunk_leg_score']=str(tableb_val)
#Table C
if tablea_val>=8:
tablea_val=8
if tableb_val>=7:
tableb_val=7
col_name=str(tableb_val)
tablec_val=tablec[(tablec['Score']==tablea_val)]
tablec_val=tablec_val[col_name].values[0]
if tablec_val==1 or tablec_val==2:
rula['score']=str(tablec_val)
rula['risk']='Negligible'
elif tablec_val==3 or tablec_val==4:
rula['score']=str(tablec_val)
rula['risk']='Low risk'
elif tablec_val==5 or tablec_val==6:
rula['score']=str(tablec_val)
rula['risk']='Medium risk'
elif tablec_val>6:
rula['score']=str(tablec_val)
rula['risk']='Very high risk'
# print(rula)
return rula, point_score
def reba_risk(point_score, wrist, trunk, upper_Shoulder, lower_Limb, neck, legs, force_load_a, coupling_score, activity_score):
reba={}
reba['score']='NULL'
reba['risk']='NULL'
if wrist!=0 and trunk!=0 and upper_Shoulder!=0 and lower_Limb!=0 and neck!=0 and legs!=0:
#Tabel A:
col_name=str(neck)+str(legs)
tablea_val=tablea1[(tablea1['Trunk']==trunk)]
tablea_val=tablea_val[col_name].values[0]
point_score['posture_score_a']=str(tablea_val)
tablea_val=tablea_val+force_load_a
point_score['wrist_and_arm_score']=str(tablea_val)
#Table B:
col_name=str(lower_Limb)+str(wrist)
tableb_val=tableb1[(tableb1['upper_Shoulder']==upper_Shoulder)]
tableb_val=tableb_val[col_name].values[0]
point_score['posture_score_b']=str(tableb_val)
tableb_val=tableb_val+coupling_score
point_score['score_BE']=str(tableb_val)
#Table C:
col_name=str(tableb_val)
tablec_val=tablec1[(tablec1['Score']==tablea_val)]
tablec_val=tablec_val[col_name].values[0]
point_score['table_C']=str(tablec_val)
tablec_val=tablec_val+activity_score
if tablec_val==1:
reba['score']=str(tablec_val)
reba['risk']='Negligible'
elif tablec_val==3 or tablec_val==2:
reba['score']=str(tablec_val)
reba['risk']='Low risk'
elif tablec_val>=4 and tablec_val<=7:
reba['score']=str(tablec_val)
reba['risk']='Medium risk'
elif tablec_val>=8 and tablec_val<=10:
reba['score']=str(tablec_val)
reba['risk']='High risk'
elif tablec_val>=11:
reba['score']=str(tablec_val)
reba['risk']='Very high risk'
# print(reba,point_score)
return reba, point_score
def reba_score(angle_dict, pose, profile):
R_Ear = pose[8]
L_Ear = pose[7]
R_Shoulder = pose[12]
R_Elbow = pose[14]
L_Shoulder = pose[11]
L_Elbow = pose[13]
point_score={}
if profile:
if profile=='Left' or profile=='Front':
sholder = np.array(L_Elbow[0] - L_Shoulder[0])
elbow = np.array(L_Elbow[1] - L_Shoulder[1])
angle1=np.arctan2(elbow, sholder) * 180 / np.pi
val=angle1
angle1=abs(90-angle1)
if angle1 >90:
angle1=val+270
if str(angle1) !='nan':
if angle1 > 0 and angle1 <=20:
upper_Shoulder=1
elif angle1 >20 and angle1 <=45:
upper_Shoulder=2
elif angle1 >45 and angle1 <=90:
upper_Shoulder=3
elif angle1 >90:
upper_Shoulder=4
else:
upper_Shoulder=1
elif profile=='Right':
sholder = np.array(R_Elbow[0] - R_Shoulder[0])
elbow = np.array(R_Elbow[1] - R_Shoulder[1])
angle1=np.arctan2(elbow, sholder) * 180 / np.pi
val=angle1
angle1=abs(90-angle1)
if angle1 >90:
angle1=val+270
if str(angle1) !='nan':
if angle1 > 0 and angle1 <=20:
upper_Shoulder=1
elif angle1 >20 and angle1 <=45:
upper_Shoulder=2
elif angle1 >45 and angle1 <=90:
upper_Shoulder=3
elif angle1 >90:
upper_Shoulder=4
else:
upper_Shoulder=1
point_score['upper_arm']=upper_Shoulder
u_s_adjustmet=0
point_score['upper_arm_adjustment']=u_s_adjustmet
upper_Shoulder=upper_Shoulder+u_s_adjustmet
if profile=='Left' or profile=='Front':
angle2=angle_dict['left_elbow']
elif profile=='Right':
angle2=angle_dict['right_elbow']
if str(angle2) !='NULL':
angle2=abs(180-int(angle2))
if angle2 >=0 and angle2 <30:
lower_Limb=2
elif angle2 >=30 and angle2 <60:
lower_Limb=1
elif angle2>=60:
lower_Limb=2
else:
lower_Limb=1
point_score['lower_arm']=lower_Limb
l_l_adjustement=0
point_score['lower_arm_adjustment']=l_l_adjustement
lower_Limb=l_l_adjustement+lower_Limb
if profile=='Left' or profile=='Front':
angle3=angle_dict['left_wrist']
elif profile=='Right':
angle3=angle_dict['right_wrist']
if str(angle3) !='NULL':
angle3=abs(int(angle3))
if angle3<=100:
wrist=1
elif angle3 >100:
wrist=2
else:
wrist=1
point_score['wrist']=wrist
w_adjustment=0
point_score['wrist_adjustment']=w_adjustment
wrist=wrist+w_adjustment
angle4=angle_dict['neck']
if str(angle4)!='NULL':
angle4=abs(int(angle4))
angle4=int(angle4)
if angle4 >0 and angle4 <30:
neck=1
elif angle4 >=30 and angle4<45:
neck=2
elif angle4 >=45:
neck=2
else:
neck=0
else:
neck=1
point_score['neck']=neck
n_adjustment=0
point_score['neck_adjustment']=n_adjustment
neck=neck+n_adjustment
angle5=angle_dict['trunk']
if str(angle5) !='NULL':
angle5=int(angle5)
if angle5 <= 0:
trunk=1
elif angle5 >0 and angle5 <=100:
trunk=2
elif angle5 >100 and angle5 <=150:
trunk=3
elif angle5 >150 and angle5<=200:
trunk=4
elif angle5 > 200:
trunk=2
else:
trunk=1
point_score['trunk']=trunk
t_adjustment=0
point_score['trunk_adjustment']=t_adjustment
trunk=trunk+t_adjustment
angle6_r=angle_dict['right_knee']
angle6_l=angle_dict['left_knee']
point_score['legs_adjustment']=0
if str(angle6_l) !='NULL' and str(angle6_r) !='NULL':
angle6_l=int(angle6_l)
angle6_r=int(angle6_r)
ang=abs(angle6_r-angle6_l)
if ang<=20:
legs=1
else:
legs=2
point_score['legs']=legs
if profile=='Right':
if angle6_r>=80 and angle6_r<=100:
legs=legs+1
point_score['legs_adjustment']=1
elif angle6_r<80 and angle6_r>100:
legs=legs+2
point_score['legs_adjustment']=2
elif profile=='Left' or profile=='Front':
if angle6_l>=80 and angle6_l<=100:
legs=legs+1
point_score['legs_adjustment']=1
elif angle6_l<80 or angle6_l>100:
legs=legs+2
point_score['legs_adjustment']=2
else:
legs=1
point_score['legs']=legs
point_score['legs_adjustment']=0
# if profile=='Left' or profile=='Front':
# print(angle1,angle2,angle3,angle4,angle5,angle6_l)
# else:
# print(angle1,angle2,angle3,angle4,angle5,angle6_r)
force_load_a=0
point_score['force_load_a']=force_load_a
coupling_score=0
point_score['coupling_score']=coupling_score
activity_score=0
point_score['activity_score']=activity_score
try:
reba, point_score=reba_risk(point_score, wrist, trunk, upper_Shoulder, lower_Limb, neck, legs, force_load_a, coupling_score, activity_score)
reba['point_score']=point_score
except Exception as e:
reba={}
reba['score']='NULL'
reba['risk']='NULL'
reba['point_score']={}
else:
reba={}
reba['score']='NULL'
reba['risk']='NULL'
reba['point_score']={}
return reba
def rula_score(angle_dict, pose,profile):
Nose = pose[0]
L_Neck = pose[11]
R_Neck = pose[12]
R_Shoulder = pose[12]
R_Elbow = pose[14]
R_Wrist = pose[16]
L_Shoulder = pose[11]
L_Elbow = pose[13]
L_Wrist = pose[15]
R_Hip = pose[24]
L_Hip = pose[23]
R_Knee = pose[26]
R_Ankle = pose[28]
L_Knee = pose[25]
L_Ankle = pose[27]
R_Eye=pose[5]
L_Eye=pose[2]
R_Ear = pose[8]
L_Ear = pose[7]
L_Foot = pose[31]
R_Foot = pose[32]
R_Palm = pose[20]
L_Palm = pose[19]
point_score={}
if profile:
if profile=='Right' or profile=='Left' or profile=='Front':
sholder = np.array((L_Elbow[0]+R_Elbow[0])/2 - (L_Shoulder[0]+R_Shoulder[0])/2)
elbow = np.array((L_Elbow[1]+R_Elbow[1])/2 - (L_Shoulder[1]+R_Shoulder[0])/2)
angle1 = np.arctan2(elbow, sholder) * 180 / np.pi
val=angle1
angle1=abs(90-angle1)
if angle1 >90:
angle1=val+270
if str(angle1) !='nan':
if angle1 > 0 and angle1 <=30:
upper_Shoulder=1
elif angle1 >30 and angle1 <=50:
upper_Shoulder=2
elif angle1 >50 and angle1 <=90:
upper_Shoulder=3
elif angle1 >90:
upper_Shoulder=4
else:
upper_Shoulder=1
point_score['upper_arm']=upper_Shoulder
u_s_adjustmet=0
point_score['upper_arm_adjustment']=u_s_adjustmet
upper_Shoulder=upper_Shoulder+u_s_adjustmet
if profile=='Left' or profile=='Front':
angle2=angle_dict['left_elbow']
elif profile=='Right':
angle2=angle_dict['right_elbow']
if str(angle2) !='NULL':
angle2=int(angle2)
l_l_adjustement=0
point_score['lower_arm_adjustment']=l_l_adjustement
if angle2 > 80 and angle2 <=100:
lower_Limb=1
point_score['lower_arm']=lower_Limb
elif angle2 >130:
lower_Limb=2
point_score['lower_arm']=lower_Limb
elif angle2>100 and angle2<=130:
lower_Limb=3
point_score['lower_arm']=lower_Limb
else:
lower_Limb=1
point_score['lower_arm']=lower_Limb
l_l_adjustement=0
point_score['lower_arm_adjustment']=l_l_adjustement
if profile=='Left' or profile=='Front':
angle3=angle_dict['left_wrist']
elif profile=='Right':
angle3=angle_dict['right_wrist']
if str(angle3) !='NULL':
angle3=abs(int(angle3))
if angle3 > 0 and angle3<=80:
wrist=1
elif angle3 >=80 and angle3 <=140:
wrist=2
elif angle3 >140:
wrist=3
else:
wrist=1
point_score['wrist']=wrist
w_adjustment=0
point_score['wrist_adjustment']=w_adjustment
wrist=wrist+w_adjustment
angle4=angle_dict['neck']
if str(angle4)!='NULL':
angle4=abs(int(angle4))
if angle4 > 0 and angle4 <=30:
neck=1
elif angle4 >30 and angle4 <=45:
neck=2
elif angle4 >45:
neck=3
elif angle4 >=55:
neck=4
else:
neck=1
else:
neck=1
point_score['neck']=neck
n_adjustment=0
point_score['neck_adjustment']=n_adjustment
neck=neck+n_adjustment
angle5=angle_dict['trunk']
if str(angle5) !='NULL':
angle5=abs(int(angle5))
if angle5 < 90:
trunk=1
elif angle5 >90 and angle5 <=150:
trunk=2
elif angle5 >150 and angle5<=200:
trunk=3
elif angle5 <200:
trunk=4
else:
trunk=1
else:
trunk=1
point_score['trunk']=trunk
t_adjustment=0
point_score['trunk_adjustment']=t_adjustment
trunk=trunk+t_adjustment
wrist_twist=2
point_score['wrist_twist']=wrist_twist
legs=2
point_score['legs']=legs
# print(angle1,angle2,angle3,angle4,angle5)
muscle_use=0
force_load_a=0
force_load_b=0
upper_body_muscle=0
point_score['muscle_use_a']=muscle_use
point_score['force_load_a']=force_load_a
point_score['force_load_b']=force_load_b
point_score['muscle_use_b']=upper_body_muscle
try:
rula, point_score=rula_risk(point_score, wrist, trunk, upper_Shoulder, lower_Limb, neck, wrist_twist, legs, muscle_use, force_load_a, force_load_b, upper_body_muscle)
rula['point_score']=point_score
except Exception as e:
rula={}
rula['score']='NULL'
rula['risk']='NULL'
rula['point_score']={}
else:
rula={}
rula['score']='NULL'
rula['risk']='NULL'
rula['point_score']={}
return rula
def angle_calc(pose):
Nose = pose[0]
L_Neck = pose[11]
R_Neck = pose[12]
R_Shoulder = pose[12]
R_Elbow = pose[14]
R_Wrist = pose[16]
L_Shoulder = pose[11]
L_Elbow = pose[13]
L_Wrist = pose[15]
R_Hip = pose[24]
L_Hip = pose[23]
R_Knee = pose[26]
R_Ankle = pose[28]
L_Knee = pose[25]
L_Ankle = pose[27]
R_Eye=pose[5]
L_Eye=pose[2]
R_Ear = pose[8]
L_Ear = pose[7]
L_Foot = pose[31]
R_Foot = pose[32]
R_Palm = pose[20]
L_Palm = pose[19]
# print("R_Eye:",R_Eye,"L_Eye:",L_Eye)
# print("R_Ear:",R_Ear,"L_Ear:",L_Ear)
# print("R_Neck:",R_Neck,"L_Neck:",L_Neck)
# print("R_Elbow:",R_Elbow,"L_Elbow:",L_Elbow)
# print("R_Wrist:",R_Wrist,"L_Wrist:",L_Wrist)
# print("R_Hip:",R_Hip,"L_Hip:",L_Hip)
# print("R_Knee:",R_Knee,"L_Knee:",L_Knee)
# print("R_Ankle:",R_Ankle,"L_Ankle:",L_Ankle)
# print("R_Foot:",R_Foot,"L_Foot:",L_Foot)
# print("R_Palm:",R_Palm,"L_Palm:",L_Palm)
left=0
right=0
front=0
if abs(round(R_Elbow[3],2)-round(L_Elbow[3],2))<=0.2:
front+=1
elif round(R_Elbow[3],2)>round(L_Elbow[3],2)+0.2:
right+=1
else:
left+=1
if abs(round(R_Wrist[3],2)-round(L_Wrist[3],2))<=0.2:
front+=1
elif round(R_Wrist[3],2)>round(L_Wrist[3],2):
right+=1
else:
left+=1
if abs(round(R_Knee[3],2)-round(L_Knee[3],2))<=0.2:
front+=1
elif round(R_Knee[3],2)>round(L_Knee[3],2):
right+=1
else:
left+=1
if abs(round(R_Ankle[3],2)-round(L_Ankle[3],2))<=0.2:
front+=1
elif round(R_Ankle[3],2)>round(L_Ankle[3],2):
right+=1
else:
left+=1
if abs(round(R_Foot[3],2)-round(L_Foot[3],2))<=0.2:
front+=1
elif round(R_Foot[3],2)>round(L_Foot[3],2):
right+=1
else:
left+=1
if abs(round(R_Palm[3],2)-round(L_Palm[3],2))<0.2:
front+=1
elif round(R_Palm[3],2)>round(L_Palm[3],2):
right+=1
else:
left+=1
# print(left,right,front)
if left < right:
if right > front:
profile="Right"
else:
profile="Front"
elif right < left:
if left > front:
profile="Left"
else:
profile="Front"
else:
profile="Front"
# print(profile)
not_indentified=[]
score={}
side_profile=''
angle_dict={}
if profile:
#Right_Elbow
try:
sc=min(R_Wrist[2],R_Elbow[2],R_Shoulder[2])
score['right_elbow']=round(sc*100)
angle1 = abs(math.degrees(math.atan2(R_Wrist[1]-R_Elbow[1], R_Wrist[0]-R_Elbow[0]) - math.atan2(R_Shoulder[1]-R_Elbow[1], R_Shoulder[0]-R_Elbow[0])))
angle_dict['right_elbow']=int(angle1)
except Exception as e:
angle_dict['right_elbow']='NULL'
#Left_elbow
try:
sc=min(L_Wrist[2],L_Elbow[2],L_Shoulder[2])
score['left_elbow']=round(sc*100)
angle2 = abs(math.degrees(math.atan2(L_Wrist[1]-L_Elbow[1], L_Wrist[0]-L_Elbow[0]) - math.atan2(L_Shoulder[1]-L_Elbow[1], L_Shoulder[0]-L_Elbow[0])))
angle_dict['left_elbow']=int(angle2)
except Exception as e:
angle_dict['left_elbow']='NULL'
#Right_knee
try:
sc=min(R_Ankle[2],R_Hip[2],R_Knee[2])
score['right_knee']=round(sc*100)
angle3=abs(np.arctan2((R_Foot[1]-R_Knee[1]), (R_Foot[0]-R_Knee[0])) * 180 / np.pi)
# angle3 = math.degrees(math.atan2(R_Foot[1]-R_Knee[1], R_Foot[0]-R_Knee[0]) - math.atan2(R_Hip[1]-R_Knee[1], R_Hip[0]-R_Knee[0]))
angle_dict['right_knee']=int(angle3)
except Exception as e:
angle_dict['right_knee']='NULL'
#left_knee
try:
sc=min(L_Ankle[2], L_Hip[2], L_Knee[2])
score['left_knee']=round(sc*100)
angle4=abs(np.arctan2((L_Foot[1]-L_Knee[1]), (L_Foot[0]-L_Knee[0])) * 180 / np.pi)
# angle4 = math.degrees(math.atan2(L_Ankle[1]-L_Knee[1], L_Ankle[0]-L_Knee[0]) - math.atan2(L_Hip[1]-L_Knee[1], L_Hip[0]-L_Knee[0]))
angle4=int(angle4)
angle_dict['left_knee']=angle4
except Exception as e:
angle_dict['left_knee']='NULL'
#right_ankle
try:
sc=min(R_Ankle[2], R_Foot[2])
score['right_ankle']=round(sc*100)
angle5=np.arctan2((R_Foot[1]-R_Ankle[1]), (R_Foot[0]-R_Ankle[0])) * 180 / np.pi
angle_dict['right_ankle']=int(angle5)
except Exception as e:
angle_dict['right_ankle']='NULL'
#left_ankle
try:
sc=min(L_Ankle[2], L_Foot[2])
score['left_ankle']=round(sc*100)
angle6=np.arctan2((L_Foot[1]-L_Ankle[1]), (L_Foot[0]-L_Ankle[0])) * 180 / np.pi
angle_dict['left_ankle']=int(angle6)
except Exception as e:
angle_dict['left_ankle']='NULL'
#right_wrist
try:
sc=min(R_Palm[2], R_Wrist[2])
score['right_wrist']=round(sc*100)
angle6=abs(np.arctan2((R_Palm[1]-R_Wrist[1]), (R_Palm[0]-R_Wrist[0])) * 180 / np.pi)
angle_dict['right_wrist']=int(angle6)
except Exception as e:
angle_dict['right_wrist']='NULL'
#left_wrist
try:
sc=min(L_Palm[2], L_Wrist[2], L_Elbow[2])
score['left_wrist']=round(sc*100)
angle7=abs(np.arctan2((L_Palm[1]-L_Wrist[1]), (L_Palm[0]-L_Wrist[0])) * 180 / np.pi)
angle_dict['left_wrist']=int(angle7)
except Exception as e:
angle_dict['left_wrist']='NULL'
#trunk
Neck=[]
Neck.append((L_Neck[0]+R_Neck[0])/2)
Neck.append((L_Neck[1]+R_Neck[1])/2)
Neck.append((L_Neck[2]+R_Neck[2])/2)
try:
if (L_Hip[0]!=0 or L_Hip[1]!=0) and (Neck[0]!=0 or Neck[1]!=0):
angle9=math.degrees(math.atan2(Neck[1]-L_Hip[1], Neck[0]-L_Hip[0]) - math.atan2(R_Knee[1]-L_Hip[1], R_Knee[0]-L_Hip[0]))
sc=min(L_Hip[2],Neck[2])
score['trunk']=round(sc*100)
angle9=-angle9
angle_dict['trunk']=int(angle9)
else:
angle_dict['trunk']='NULL'
except Exception as e:
angle_dict['trunk']='NULL'
#hip
try:
if profile=='Left' or profile=='Right':
if (R_Hip[0]!=0 or R_Hip[1]!=0) and (R_Knee[0]!=0 or R_Knee[1]!=0):
if R_Hip[2]<0.15 or R_Knee[2]<0.15:
not_indentified.append('hip')
sc=min(R_Hip[2],R_Knee[2])
score['hip']=round(sc*100)
angle11=math.degrees(math.atan2(50-R_Hip[1], R_Hip[0]-R_Hip[0]) - math.atan2(R_Knee[1]-R_Hip[1], R_Knee[0]-R_Hip[0]))
angle_dict['hip']=abs(int(angle11))
else:
angle_dict['hip']='NULL'
elif profile=='Front':
if (L_Hip[0]!=0 or L_Hip[1]!=0) and (L_Knee[0]!=0 or L_Knee[1]!=0):
if L_Hip[2]<0.15 or L_Knee[2]<0.15:
not_indentified.append('hip')
sc=min(L_Hip[2],L_Knee[2])
score['hip']=round(sc*100)
angle11=math.degrees(math.atan2(50-L_Hip[1], L_Hip[0]-L_Hip[0]) - math.atan2(L_Knee[1]-L_Hip[1], L_Knee[0]-L_Hip[0]))
if angle11<0:
angle_dict['hip']=360+int(angle11)
else:
angle_dict['hip']=abs(int(angle11))
else:
angle_dict['hip']='NULL'
except Exception as e:
angle_dict['hip']='NULL'
#neck
try:
neck = math.degrees(np.arctan2(Neck[0],Neck[1]))
angle_dict['neck']=int(neck)
except Exception as e:
angle_dict['neck']='NULL'
# print(angle_dict)
rula = rula_score(angle_dict,pose,profile)
reba = reba_score(angle_dict,pose,profile)
return (rula['score'],reba['score'])