Using custom exceptions.

2 files changed, 102 insertions, 90 deletions

diff --git a/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py b/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py
index 7817a39..d301f55 100644
--- a/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py
+++ b/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py
@@ -235,13 +235,17 @@ def main():
                     if head_moving and head_movement_norm < 10:
                         head_moving = False
 
-                    # Ignore frame where head is moving
+                    # When head is moving, ArUco tracking could return bad pose estimation and so bad AOI scene projection
                     if head_moving:
-                        raise UserWarning('Head is moving')
+                        raise AOIFeatures.AOISceneMissing('Head is moving')
 
                     # Get nearest gaze position before video timestamp and remove all gaze positions before
                     _, nearest_gaze_position = tobii_ts_gaze_positions.pop_first_until(video_ts)
 
+                    # Ignore frame when gaze position is not valid
+                    if nearest_gaze_position.validity == 1:
+                        raise GazeFeatures.InvalidGazeData('Unvalid gaze position')
+
                     gaze_position_pixel = (int(nearest_gaze_position.value[0] * visu_frame.width), int(nearest_gaze_position.value[1] * visu_frame.height))
 
                     # Draw gaze position
@@ -250,9 +254,9 @@ def main():
                     # Get nearest gaze position 3D before video timestamp and remove all gaze positions before
                     _, nearest_gaze_position_3d = tobii_ts_gaze_positions_3d.pop_first_until(video_ts)
 
-                    # Ignore frame when gaze precison can't be evaluated
-                    if nearest_gaze_position_3d.value[2] <= 0:
-                        raise UserWarning('Negative Z gaze position 3D')
+                    # Ignore frame when gaze position 3D is not valid
+                    if nearest_gaze_position_3d.validity == 1:
+                        raise GazeFeatures.InvalidGazeData('Unvalid gaze position 3D')
 
                     gaze_accuracy_mm = numpy.tan(numpy.deg2rad(tobii_accuracy)) * nearest_gaze_position_3d.value[2]
                     tobii_camera_hfov_mm = numpy.tan(numpy.deg2rad(tobii_camera_hfov / 2)) * nearest_gaze_position_3d.value[2]
@@ -261,7 +265,7 @@ def main():
                     # Draw gaze accuracy
                     cv.circle(visu_frame.matrix, gaze_position_pixel, gaze_accuracy_pixel, (0, 255, 255), 1)
 
-                    # Store gaze position and precision at this time in millisecond
+                    # Store gaze position and accuracy in millisecond for further visual scan processing
                     ts_gaze_positions[round(video_ts_ms)] = gaze_position_pixel
                     ts_gaze_accuracies[round(video_ts_ms)] = gaze_accuracy_pixel
 
@@ -273,8 +277,9 @@ def main():
                     aruco_tracker.track(video_frame.matrix)
                     aruco_tracker.draw(visu_frame.matrix)
 
+                    # When no marker is detected, no AOI scene projection can't be done
                     if aruco_tracker.get_markers_number() == 0:
-                        raise UserWarning('No marker detected')
+                        raise AOIFeatures.AOISceneMissing('No marker detected')
 
                     # Store aoi 2D video for further scene merging
                     aoi2D_dict = {}
@@ -282,57 +287,47 @@ def main():
                     # Project 3D scene on each video frame and the visualisation frame
                     for (i, marker_id) in enumerate(aruco_tracker.get_markers_ids()):
 
-                        # Process marker pose
-                        try:
-
-                            # Copy 3D scene related to detected marker
-                            aoi3D_scene = aoi3D_scene_selector(marker_id)
-                            
-                            if aoi3D_scene == None:
-                                raise UserWarning('No AOI 3D scene')
-
-                            # Transform scene into camera referential
-                            aoi3D_camera = aoi3D_scene.transform(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i))
+                        # Copy 3D scene related to detected marker
+                        aoi3D_scene = aoi3D_scene_selector(marker_id)
+                        
+                        if aoi3D_scene == None:
+                            continue
 
-                            # Get aoi inside vision cone field 
-                            cone_vision_height_cm = nearest_gaze_position_3d.value[2]/10 # cm
-                            cone_vision_radius_cm = numpy.tan(numpy.deg2rad(tobii_visual_hfov / 2)) * cone_vision_height_cm
+                        # Transform scene into camera referential
+                        aoi3D_camera = aoi3D_scene.transform(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i))
 
-                            aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(cone_vision_radius_cm, cone_vision_height_cm)
+                        # Get aoi inside vision cone field 
+                        cone_vision_height_cm = nearest_gaze_position_3d.value[2]/10 # cm
+                        cone_vision_radius_cm = numpy.tan(numpy.deg2rad(tobii_visual_hfov / 2)) * cone_vision_height_cm
 
-                            # Keep only aoi inside vision cone field
-                            aoi3D_scene = aoi3D_scene.copy(exclude=aoi3D_outside.keys())
+                        aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(cone_vision_radius_cm, cone_vision_height_cm)
 
-                            # DON'T APPLY CAMERA DISTORSION : it projects points which are far from the frame into it
-                            # This hack isn't realistic but as the gaze will mainly focus on centered AOI, where the distorsion is low, it is acceptable.
-                            aoi2D_video_scene = aoi3D_scene.project(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i), aruco_camera.get_K())
+                        # Keep only aoi inside vision cone field
+                        aoi3D_scene = aoi3D_scene.copy(exclude=aoi3D_outside.keys())
 
-                            # Store each 2D aoi for further scene merging
-                            for name, aoi in aoi2D_video_scene.items():
+                        # DON'T APPLY CAMERA DISTORSION : it projects points which are far from the frame into it
+                        # This hack isn't realistic but as the gaze will mainly focus on centered AOI, where the distorsion is low, it is acceptable.
+                        aoi2D_video_scene = aoi3D_scene.project(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i), aruco_camera.get_K())
 
-                                if name not in aoi2D_dict.keys():
-                                    aoi2D_dict[name] = []
+                        # Store each 2D aoi for further scene merging
+                        for name, aoi in aoi2D_video_scene.items():
 
-                                aoi2D_dict[name].append(aoi.clockwise())
+                            if name not in aoi2D_dict.keys():
+                                aoi2D_dict[name] = []
 
-                            # Select 2D visu scene if there is one for the detected marker
-                            aoi2D_visu_scene = aoi2D_visu_scene_selector(marker_id)
-                            aoi2D_visu_frame = aoi2D_visu_frame_selector(marker_id)
-                            
-                            if aoi2D_visu_scene == None:
-                                continue
-                            
-                            look_at = aoi2D_video_scene['Visualisation_Plan'].look_at(gaze_position_pixel)
+                            aoi2D_dict[name].append(aoi.clockwise())
 
-                            visu_gaze_pixel = aoi2D_visu_scene['Visualisation_Plan'].looked_pixel(look_at)
-                            cv.circle(aoi2D_visu_frame, visu_gaze_pixel, 4, (0, 0, 255), -1)
+                        # Select 2D visu scene if there is one for the detected marker
+                        aoi2D_visu_scene = aoi2D_visu_scene_selector(marker_id)
+                        aoi2D_visu_frame = aoi2D_visu_frame_selector(marker_id)
+                        
+                        if aoi2D_visu_scene == None:
+                            continue
+                        
+                        look_at = aoi2D_video_scene['Visualisation_Plan'].look_at(gaze_position_pixel)
 
-                        # Write warning related to marker pose processing 
-                        except UserWarning as e:
-                
-                            top = int(visu_frame.height) - (marker_id+1) * 40
-                            cv.rectangle(visu_frame.matrix, (0, top), (550, top+40), (127, 127, 127), -1)
-                            cv.putText(visu_frame.matrix, f'Marker {marker_id}: {e}', (20, top + 30), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
+                        visu_gaze_pixel = aoi2D_visu_scene['Visualisation_Plan'].looked_pixel(look_at)
+                        cv.circle(aoi2D_visu_frame, visu_gaze_pixel, 4, (0, 0, 255), -1)
 
                     # Merge all 2D aoi into a single 2D scene
                     aoi2D_merged_scene = AOI2DScene.AOI2DScene()
@@ -340,16 +335,27 @@ def main():
                         aoi2D_merged_scene[name] = numpy.sum(aoi_array, axis=0) / len(aoi_array)
 
                     aoi2D_merged_scene.draw(visu_frame.matrix, gaze_position_pixel, gaze_accuracy_pixel, exclude=['Visualisation_Plan'])
+
+                    # When the merged scene is empty
+                    if len(aoi2D_merged_scene.keys()) == 0:
+                        raise AOIFeatures.AOISceneMissing('Scene is empty')
                         
                     # Store 2D merged scene at this time in millisecond
                     ts_aois_scenes[round(video_ts_ms)] = aoi2D_merged_scene
 
-                # Write warning related to video and data frame processing
-                except UserWarning as e:
+                # Raised when gaze data can't be processed
+                except GazeFeatures.InvalidGazeData as e:
+
+                    cv.rectangle(visu_frame.matrix, (0, 50), (550, 100), (127, 127, 127), -1)
+                    cv.putText(visu_frame.matrix, str(e), (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
+
+                # Raised when aoi scene is missing
+                except AOIFeatures.AOISceneMissing as e:
 
                     cv.rectangle(visu_frame.matrix, (0, 50), (550, 100), (127, 127, 127), -1)
                     cv.putText(visu_frame.matrix, str(e), (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
 
+                # Raised when buffer is empty
                 except ValueError:
                     pass
 
diff --git a/src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py b/src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py
index 8462be8..b794054 100644
--- a/src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py
+++ b/src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py
@@ -134,13 +134,17 @@ def main():
                 if head_moving and head_movement_norm < 10:
                     head_moving = False
 
-                # Ignore frame where head is moving
+                # When head is moving, ArUco tracking could return bad pose estimation and so bad AOI scene projection
                 if head_moving:
-                    raise UserWarning('Head is moving')
+                    raise AOIFeatures.AOISceneMissing('Head is moving')
 
                 # Get nearest gaze position before video timestamp and remove all gaze positions before
                 _, nearest_gaze_position = tobii_ts_gaze_positions.pop_first_until(video_ts)
 
+                # Ignore frame when gaze position is not valid
+                if nearest_gaze_position.validity == 1:
+                    raise GazeFeatures.InvalidGazeData('Unvalid gaze position')
+
                 gaze_position_pixel = (int(nearest_gaze_position.value[0] * visu_frame.width), int(nearest_gaze_position.value[1] * visu_frame.height))
 
                 # Draw gaze position
@@ -149,9 +153,9 @@ def main():
                 # Get nearest gaze position 3D before video timestamp and remove all gaze positions before
                 _, nearest_gaze_position_3d = tobii_ts_gaze_positions_3d.pop_first_until(video_ts)
 
-                # Ignore frame when gaze precison can't be evaluated
-                if nearest_gaze_position_3d.value[2] <= 0:
-                    raise UserWarning('Negative Z gaze position 3D value')
+                # Ignore frame when gaze position 3D is not valid
+                if nearest_gaze_position_3d.validity == 1:
+                    raise GazeFeatures.InvalidGazeData('Unvalid gaze position 3D')
 
                 gaze_position_pixel = (int(nearest_gaze_position.value[0] * visu_frame.width), int(nearest_gaze_position.value[1] * visu_frame.height))
 
@@ -171,8 +175,9 @@ def main():
                 aruco_tracker.track(video_frame.matrix)
                 aruco_tracker.draw(visu_frame.matrix)
 
+                # When no marker is detected, no AOI scene projection can't be done
                 if aruco_tracker.get_markers_number() == 0:
-                    raise UserWarning('No marker detected')
+                    raise AOIFeatures.AOISceneMissing('No marker detected')
 
                 # Store aoi 2D video for further scene merging
                 aoi2D_dict = {}
@@ -180,45 +185,35 @@ def main():
                 # Project 3D scenes related to each aruco markers
                 for (i, marker_id) in enumerate(aruco_tracker.get_markers_ids()):
 
-                    # Process marker pose
-                    try:
-
-                        # Select 3D scene related to detected marker
-                        aoi3D_scene = aoi3D_scene_selector(marker_id)
-                        
-                        if aoi3D_scene == None:
-                            raise UserWarning('No AOI 3D scene')
-
-                        # Transform scene into camera referential
-                        aoi3D_camera = aoi3D_scene.transform(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i))
+                    # Select 3D scene related to detected marker
+                    aoi3D_scene = aoi3D_scene_selector(marker_id)
+                    
+                    if aoi3D_scene == None:
+                        continue
 
-                        # Get aoi inside vision cone field 
-                        cone_vision_height_cm = nearest_gaze_position_3d.value[2]/10 # cm
-                        cone_vision_radius_cm = numpy.tan(numpy.deg2rad(tobii_visual_hfov / 2)) * cone_vision_height_cm
+                    # Transform scene into camera referential
+                    aoi3D_camera = aoi3D_scene.transform(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i))
 
-                        aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(cone_vision_radius_cm, cone_vision_height_cm)
+                    # Get aoi inside vision cone field 
+                    cone_vision_height_cm = nearest_gaze_position_3d.value[2]/10 # cm
+                    cone_vision_radius_cm = numpy.tan(numpy.deg2rad(tobii_visual_hfov / 2)) * cone_vision_height_cm
 
-                        # Keep only aoi inside vision cone field
-                        aoi3D_scene = aoi3D_scene.copy(exclude=aoi3D_outside.keys())
+                    aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(cone_vision_radius_cm, cone_vision_height_cm)
 
-                        # DON'T APPLY CAMERA DISTORSION : it projects points which are far from the frame into it
-                        # This hack isn't realistic but as the gaze will mainly focus on centered AOI, where the distorsion is low, it is acceptable.
-                        aoi2D_video_scene = aoi3D_scene.project(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i), aruco_camera.get_K())
+                    # Keep only aoi inside vision cone field
+                    aoi3D_scene = aoi3D_scene.copy(exclude=aoi3D_outside.keys())
 
-                        # Store each 2D aoi for further scene merging
-                        for name, aoi in aoi2D_video_scene.items():
+                    # DON'T APPLY CAMERA DISTORSION : it projects points which are far from the frame into it
+                    # This hack isn't realistic but as the gaze will mainly focus on centered AOI, where the distorsion is low, it is acceptable.
+                    aoi2D_video_scene = aoi3D_scene.project(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i), aruco_camera.get_K())
 
-                            if name not in aoi2D_dict.keys():
-                                aoi2D_dict[name] = []
+                    # Store each 2D aoi for further scene merging
+                    for name, aoi in aoi2D_video_scene.items():
 
-                            aoi2D_dict[name].append(aoi.clockwise())
+                        if name not in aoi2D_dict.keys():
+                            aoi2D_dict[name] = []
 
-                    # Write warning related to marker pose processing 
-                    except UserWarning as e:
-                
-                        top = int(visu_frame.height) - (marker_id+1) * 40
-                        cv.rectangle(visu_frame.matrix, (0, top), (550, top+40), (127, 127, 127), -1)
-                        cv.putText(visu_frame.matrix, f'Marker {marker_id}: {e}', (20, top + 30), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
+                        aoi2D_dict[name].append(aoi.clockwise())
 
                 # Merge all 2D aoi into a single 2D scene
                 aoi2D_merged_scene = AOI2DScene.AOI2DScene()
@@ -227,6 +222,10 @@ def main():
 
                 aoi2D_merged_scene.draw(visu_frame.matrix, video_gaze_pixel, gaze_accuracy_pixel, exclude=['Visualisation_Plan'])
 
+                # When the merged scene is empty
+                if len(aoi2D_merged_scene.keys()) == 0:
+                    raise AOIFeatures.AOISceneMissing('Scene is empty')
+
                 # Send look at aoi pointer
                 for name, aoi in aoi2D_merged_scene.items():
                     
@@ -238,12 +237,19 @@ def main():
                         else:
                             IvySendMsg(f'looking {name}')
 
-            # Write warning related to video and data frame processing
-            except UserWarning as e:
-                
+            # Raised when gaze data can't be processed
+            except GazeFeatures.InvalidGazeData as e:
+
+                cv.rectangle(visu_frame.matrix, (0, 50), (550, 100), (127, 127, 127), -1)
+                cv.putText(visu_frame.matrix, str(e), (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
+
+            # Raised when aoi scene is missing
+            except AOIFeatures.AOISceneMissing as e:
+
                 cv.rectangle(visu_frame.matrix, (0, 50), (550, 100), (127, 127, 127), -1)
                 cv.putText(visu_frame.matrix, str(e), (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
 
+            # Raised when buffer is empty
             except ValueError:
                 pass