diff options
| -rw-r--r-- | src/argaze/AreaOfInterest/AOI3DScene.py | 40 | ||||
| -rw-r--r-- | src/argaze/utils/export_tobii_segment_aruco_visual_scan.py | 18 |
2 files changed, 56 insertions, 2 deletions
diff --git a/src/argaze/AreaOfInterest/AOI3DScene.py b/src/argaze/AreaOfInterest/AOI3DScene.py index 658fa64..ca59024 100644 --- a/src/argaze/AreaOfInterest/AOI3DScene.py +++ b/src/argaze/AreaOfInterest/AOI3DScene.py @@ -96,6 +96,45 @@ class AOI3DScene(AOIFeatures.AOIScene): except IOError: raise IOError(f'File not found: {obj_filepath}') + def clip(self, cone_radius, cone_height, cone_tip=[0., 0., 0.], cone_direction=[0., 0., 1.]): + """Select AOI which are inside a given cone field. + By default, the cone have the tip at origin and the base oriented to positive Z axis. + **Returns:** AOI3DScene""" + + # define cone tip and direction as numpy array + cone_tip = numpy.array(cone_tip).astype(numpy.float32) + cone_direction = numpy.array(cone_direction).astype(numpy.float32) + + # retreive rotation matrix from rotation vector + R, _ = cv.Rodrigues(self.rotation) + + # store valid aoi into a new scene with same pose + aoi3D_scene_clipped = AOI3DScene() + aoi3D_scene_clipped.rotation = self.rotation + aoi3D_scene_clipped.translation = self.translation + + for name, aoi3D in self.items(): + + # rotate and translate back aoi to compensate the scene pose + aoi3D_comp = aoi3D.dot(R.T) + self.translation + + one_vertice_out = False + for vertices in aoi3D_comp: + + distance = numpy.dot(vertices - cone_tip, cone_direction) + radius = (distance / cone_height) * cone_radius + ortho_distance = numpy.linalg.norm((vertices - cone_tip) - distance * cone_direction) + + if ortho_distance > radius: + one_vertice_out = True + break + + # if no vertice is outside the cone, select the aoi + if not one_vertice_out: + aoi3D_scene_clipped[name] = aoi3D + + return aoi3D_scene_clipped + def project(self, K, D=D0): """Project 3D scene onto 2D scene according optical parameters. **Returns:** AOI2DScene""" @@ -105,6 +144,7 @@ class AOI3DScene(AOIFeatures.AOIScene): for name, aoi3D in self.items(): vertices_2D, J = cv.projectPoints(aoi3D, self.rotation, self.translation, K, D) + aoi2D = vertices_2D.reshape((len(vertices_2D), 2)).astype(numpy.float32).view(AOIFeatures.AreaOfInterest) aoi2D_scene[name] = aoi2D 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 721f8d7..25babf6 100644 --- a/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py +++ b/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py @@ -58,6 +58,16 @@ def main(): destination_path = args.segment_path + # Export into a dedicated time range folder + timerange_path = f'[{int(args.time_range[0])}s - {int(args.time_range[1])}s]' + + destination_path = f'{destination_path}/{timerange_path}' + + if not os.path.exists(destination_path): + + os.makedirs(destination_path) + print(f'{destination_path} folder created') + vs_data_filepath = f'{destination_path}/visual_scan.csv' vs_visu_filepath = f'{destination_path}/visual_scan_marker_%d.jpg' vs_video_filepath = f'{destination_path}/visual_scan.mp4' @@ -206,7 +216,7 @@ def main(): aruco_tracker.draw(video_frame.matrix) # Draw focus area - cv.circle(video_frame.matrix, (int(video_frame.width/2), int(video_frame.height/2)), int(video_frame.height/2), (255, 150, 150), 1) + cv.circle(video_frame.matrix, (int(video_frame.width/2), int(video_frame.height/2)), int(video_frame.width/3), (255, 150, 150), 1) # Project 3D scene on each video frame and the visualisation frame if aruco_tracker.get_markers_number(): @@ -226,12 +236,16 @@ def main(): marker_x, marker_y = aruco_tracker.get_marker_center(i) distance_to_center = ( (video_frame.width/2 - marker_x)**2 + (video_frame.height/2 - marker_y)**2 )**0.5 - if distance_to_center > int(video_frame.height/2): + if distance_to_center > int(video_frame.width/3): continue aoi3D_scene.rotation = aruco_tracker.get_marker_rotation(i) aoi3D_scene.translation = aruco_tracker.get_marker_translation(i) + # Remove aoi outside vision field + # The vision cone tip is positionned behind the head + aoi3D_scene = aoi3D_scene.clip(300, 150, cone_tip=[0., 0., -20.]) + # 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_camera.get_K()) |