diff options
| -rw-r--r-- | src/argaze/utils/tobii_segment_arscene_export.py | 178 | ||||
| -rw-r--r-- | src/argaze/utils/tobii_segment_gaze_metrics_export.py | 44 | ||||
| -rw-r--r-- | src/argaze/utils/tobii_segment_gaze_movements_export.py | 53 | ||||
| -rw-r--r-- | src/argaze/utils/tobii_stream_arscene_display.py | 29 |
4 files changed, 132 insertions, 172 deletions
diff --git a/src/argaze/utils/tobii_segment_arscene_export.py b/src/argaze/utils/tobii_segment_arscene_export.py index cc180a2..b2cc0e0 100644 --- a/src/argaze/utils/tobii_segment_arscene_export.py +++ b/src/argaze/utils/tobii_segment_arscene_export.py @@ -23,10 +23,10 @@ def main(): parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0]) parser.add_argument('-s', '--segment_path', metavar='SEGMENT_PATH', type=str, default=None, help='segment path') parser.add_argument('-t', '--time_range', metavar=('START_TIME', 'END_TIME'), nargs=2, type=float, default=(0., None), help='start and end time (in second)') - parser.add_argument('-p', '--project_path', metavar='ARGAZE_PROJECT', type=str, default=None, help='json argaze project filepath') + parser.add_argument('-p', '--env_path', metavar='ENVIRONMENT_PATH', type=str, default=None, help='json argaze environment filepath') parser.add_argument('-b', '--borders', metavar='BORDERS', type=float, default=16.666, help='define left and right borders mask (%) to not detect aruco out of these borders') parser.add_argument('-o', '--output', metavar='OUT', type=str, default=None, help='destination folder path (segment folder by default)') - parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction) + parser.add_argument('-d', '--debug', metavar='DEBUG', type=bool, default=False, help='Enable visualisation and console outputs') args = parser.parse_args() if args.segment_path != None: @@ -99,16 +99,23 @@ def main(): if tobii_gaze_position.validity == 0: gaze_position_px = (int(tobii_gaze_position.value[0] * tobii_segment_video.width), int(tobii_gaze_position.value[1] * tobii_segment_video.height)) - ts_gaze_positions[ts] = GazeFeatures.GazePosition(gaze_position_px) + ts_gaze_positions[ts] = GazeFeatures.GazePosition(gaze_position_px) - # Prepare video exportation at the same format than segment video - output_video = TobiiVideo.TobiiVideoOutput(aoi_mp4_filepath, tobii_segment_video.stream) + print('\n') - # Load ar scene - ar_scene = ArScene.ArScene.from_json(args.project_path) + if args.debug: - print('\n') - print(ar_scene) + # Prepare video exportation at the same format than segment video + output_video = TobiiVideo.TobiiVideoOutput(aoi_mp4_filepath, tobii_segment_video.stream) + + # Load ArEnvironment + ar_env = ArFeatures.ArEnvironment.from_json(args.env_path) + + if args.debug: + print(ar_env) + + # Work with first scene only + _, ar_scene = next(iter(ar_env.items())) # Create timestamped buffer to store AOIs and primary time stamp offset ts_offset_aois = DataStructures.TimeStampedBuffer() @@ -117,7 +124,7 @@ def main(): try: # Initialise progress bar - MiscFeatures.printProgressBar(0, tobii_segment_video.duration/1e3, prefix = 'Progress:', suffix = 'Complete', length = 100) + MiscFeatures.printProgressBar(0, tobii_segment_video.duration/1e3, prefix = 'ArUco detection & AOI projection:', suffix = 'Complete', length = 100) # Iterate on video frames for video_ts, video_frame in tobii_segment_video.frames(): @@ -145,8 +152,14 @@ def main(): cv.rectangle(video_frame.matrix, (0, 0), (int(video_frame.width*args.borders/100), int(video_frame.height)), (0, 0, 0), -1) cv.rectangle(video_frame.matrix, (int(video_frame.width*(1 - args.borders/100)), 0), (int(video_frame.width), int(video_frame.height)), (0, 0, 0), -1) + # Detect aruco markers into frame + ar_env.aruco_detector.detect_markers(video_frame.matrix) + + # Estimate markers poses + ar_env.aruco_detector.estimate_markers_pose() + # Estimate scene pose from ArUco markers into frame. - tvec, rmat, _ = ar_scene.estimate_pose(video_frame.matrix) + tvec, rmat, _ = ar_scene.estimate_pose(ar_env.aruco_detector.detected_markers) # Project AOI scene into frame according estimated pose aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV) @@ -156,17 +169,16 @@ def main(): projected_aois[aoi_name] = numpy.rint(aoi_scene_projection[aoi_name]).astype(int) - # Draw detected markers - ar_scene.aruco_detector.draw_detected_markers(visu_frame.matrix) + if args.debug: - # Draw AOI - aoi_scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255)) + # Draw detected markers + ar_env.aruco_detector.draw_detected_markers(visu_frame.matrix) - # Catch exceptions raised by estimate_pose and project methods - except (ArScene.PoseEstimationFailed, ArScene.SceneProjectionFailed) as e: + # Draw AOI + aoi_scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255)) - # Draw detected markers - ar_scene.aruco_detector.draw_detected_markers(visu_frame.matrix) + # Catch exceptions raised by estimate_pose and project methods + except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e: if str(e) == 'Unconsistent marker poses': @@ -176,8 +188,13 @@ def main(): projected_aois['error'] = str(e) - cv.rectangle(visu_frame.matrix, (0, 100), (550, 150), (127, 127, 127), -1) - cv.putText(visu_frame.matrix, str(e), (20, 130), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) + if args.debug: + + # Draw detected markers + ar_env.aruco_detector.draw_detected_markers(visu_frame.matrix) + + cv.rectangle(visu_frame.matrix, (0, 100), (550, 150), (127, 127, 127), -1) + cv.putText(visu_frame.matrix, str(e), (20, 130), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) # Raised when timestamped buffer is empty except KeyError as e: @@ -187,86 +204,91 @@ def main(): projected_aois['offset'] = 0 projected_aois['error'] = e - cv.rectangle(visu_frame.matrix, (0, 100), (550, 150), (127, 127, 127), -1) - cv.putText(visu_frame.matrix, str(e), (20, 130), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv.LINE_AA) + if args.debug: + + cv.rectangle(visu_frame.matrix, (0, 100), (550, 150), (127, 127, 127), -1) + cv.putText(visu_frame.matrix, str(e), (20, 130), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv.LINE_AA) # Store projected AOI ts_offset_aois[video_ts] = projected_aois - # Draw gaze positions until next frame - try: - - # Get next gaze position - ts_start, start_gaze_position = ts_gaze_positions.first - ts_next, next_gaze_position = ts_gaze_positions.first - - # Check next gaze position is not after next frame time - while ts_next < next_video_ts: + if args.debug: + # Draw gaze positions until next frame + try: - ts_start, start_gaze_position = ts_gaze_positions.pop_first() + # Get next gaze position + ts_start, start_gaze_position = ts_gaze_positions.first ts_next, next_gaze_position = ts_gaze_positions.first + + # Check next gaze position is not after next frame time + while ts_next < next_video_ts: - # Draw start gaze - start_gaze_position.draw(visu_frame.matrix) + ts_start, start_gaze_position = ts_gaze_positions.pop_first() + ts_next, next_gaze_position = ts_gaze_positions.first - if start_gaze_position.valid and next_gaze_position.valid: + # Draw start gaze + start_gaze_position.draw(visu_frame.matrix) - # Draw movement from start to next - cv.line(visu_frame.matrix, start_gaze_position, next_gaze_position, (0, 255, 255), 1) + if start_gaze_position.valid and next_gaze_position.valid: - if start_gaze_position.valid: + # Draw movement from start to next + cv.line(visu_frame.matrix, start_gaze_position, next_gaze_position, (0, 255, 255), 1) - # Write last start gaze position - cv.putText(visu_frame.matrix, str(start_gaze_position.value), start_gaze_position.value, cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) - - # Write last start gaze position timing - cv.rectangle(visu_frame.matrix, (0, 50), (550, 100), (31, 31, 31), -1) - cv.putText(visu_frame.matrix, f'Gaze time: {ts_start*1e-3:.3f} ms', (20, 85), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - - # Empty gaze position - except IndexError: - pass - - # Draw focus area - cv.rectangle(visu_frame.matrix, (int(video_frame.width*args.borders/100.), 0), (int(visu_frame.width*(1-args.borders/100)), int(visu_frame.height)), (255, 150, 150), 1) - - # Draw center - cv.line(visu_frame.matrix, (int(visu_frame.width/2) - 50, int(visu_frame.height/2)), (int(visu_frame.width/2) + 50, int(visu_frame.height/2)), (255, 150, 150), 1) - cv.line(visu_frame.matrix, (int(visu_frame.width/2), int(visu_frame.height/2) - 50), (int(visu_frame.width/2), int(visu_frame.height/2) + 50), (255, 150, 150), 1) - - # Write segment timing - cv.rectangle(visu_frame.matrix, (0, 0), (550, 50), (63, 63, 63), -1) - cv.putText(visu_frame.matrix, f'Video time: {video_ts*1e-3:.3f} ms', (20, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - - if args.window: - - # Close window using 'Esc' key - if cv.waitKey(1) == 27: - break - - # Display visualisation - cv.imshow(f'Segment {tobii_segment.id} ArUco AOI', visu_frame.matrix) - - # Write video - output_video.write(visu_frame.matrix) + if start_gaze_position.valid: + + # Write last start gaze position + cv.putText(visu_frame.matrix, str(start_gaze_position.value), start_gaze_position.value, cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) + + # Write last start gaze position timing + cv.rectangle(visu_frame.matrix, (0, 50), (550, 100), (31, 31, 31), -1) + cv.putText(visu_frame.matrix, f'Gaze time: {ts_start*1e-3:.3f} ms', (20, 85), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) + + # Empty gaze position + except IndexError: + pass + + # Draw focus area + cv.rectangle(visu_frame.matrix, (int(video_frame.width*args.borders/100.), 0), (int(visu_frame.width*(1-args.borders/100)), int(visu_frame.height)), (255, 150, 150), 1) + + # Draw center + cv.line(visu_frame.matrix, (int(visu_frame.width/2) - 50, int(visu_frame.height/2)), (int(visu_frame.width/2) + 50, int(visu_frame.height/2)), (255, 150, 150), 1) + cv.line(visu_frame.matrix, (int(visu_frame.width/2), int(visu_frame.height/2) - 50), (int(visu_frame.width/2), int(visu_frame.height/2) + 50), (255, 150, 150), 1) + + # Write segment timing + cv.rectangle(visu_frame.matrix, (0, 0), (550, 50), (63, 63, 63), -1) + cv.putText(visu_frame.matrix, f'Video time: {video_ts*1e-3:.3f} ms', (20, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) + + if args.debug: + + # Close window using 'Esc' key + if cv.waitKey(1) == 27: + break + + # Display visualisation + cv.imshow(f'Segment {tobii_segment.id} ArUco AOI', visu_frame.matrix) + + # Write video + output_video.write(visu_frame.matrix) # Update Progress Bar progress = video_ts*1e-3 - int(args.time_range[0] * 1e3) - MiscFeatures.printProgressBar(progress, tobii_segment_video.duration*1e-3, prefix = 'Progress:', suffix = 'Complete', length = 100) + MiscFeatures.printProgressBar(progress, tobii_segment_video.duration*1e-3, prefix = 'ArUco detection & AOI projection:', suffix = 'Complete', length = 100) # Exit on 'ctrl+C' interruption except KeyboardInterrupt: pass - # Stop frame display - cv.destroyAllWindows() + if args.debug: + + # Stop frame display + cv.destroyAllWindows() - # End output video file - output_video.close() + # End output video file + output_video.close() # Print aruco detection metrics print('\n\nAruco marker detection metrics') - try_count, detected_counts = ar_scene.aruco_detector.detection_metrics + try_count, detected_counts = ar_env.aruco_detector.detection_metrics for marker_id, detected_count in detected_counts.items(): print(f'\tMarkers {marker_id} has been detected in {detected_count} / {try_count} frames ({round(100 * detected_count / try_count, 2)} %)') diff --git a/src/argaze/utils/tobii_segment_gaze_metrics_export.py b/src/argaze/utils/tobii_segment_gaze_metrics_export.py index a138087..1e530e0 100644 --- a/src/argaze/utils/tobii_segment_gaze_metrics_export.py +++ b/src/argaze/utils/tobii_segment_gaze_metrics_export.py @@ -60,7 +60,6 @@ def main(): fixations_json_filepath = f'{destination_path}/gaze_fixations.json' saccades_json_filepath = f'{destination_path}/gaze_saccades.json' - movements_json_filepath = f'{destination_path}/gaze_movements.json' gaze_status_json_filepath = f'{destination_path}/gaze_status.json' gaze_metrics_period_filepath = f'{destination_path}/gaze_metrics_{int(args.period)}s.csv' @@ -72,13 +71,11 @@ def main(): # Load gaze movements ts_fixations = GazeFeatures.TimeStampedGazeMovements.from_json(fixations_json_filepath) ts_saccades = GazeFeatures.TimeStampedGazeMovements.from_json(saccades_json_filepath) - ts_movements = GazeFeatures.TimeStampedGazeMovements.from_json(movements_json_filepath) ts_status = GazeFeatures.TimeStampedGazeStatus.from_json(gaze_status_json_filepath) print(f'\nLoaded gaze movements count:') print(f'\tFixations: {len(ts_fixations)}') print(f'\tSaccades: {len(ts_saccades)}') - print(f'\tMovements: {len(ts_movements)}') # Load tobii segment tobii_segment = TobiiEntities.TobiiSegment(args.segment_path, int(args.time_range[0] * 1e6), int(args.time_range[1] * 1e6) if args.time_range[1] != None else None) @@ -98,7 +95,6 @@ def main(): positions_exist = len(ts_gaze_positions) > 0 fixations_exist = len(ts_fixations) > 0 saccades_exist = len(ts_saccades) > 0 - movements_exist = len(ts_movements) > 0 status_exist = len(ts_status) > 0 if positions_exist: @@ -131,17 +127,6 @@ def main(): # Add 'end' column saccades_dataframe['end'] = saccades_dataframe.index + saccades_dataframe.duration - if movements_exist: - - # Create pandas dataframe - movements_dataframe = ts_movements.as_dataframe() - - # Reset time range offset - movements_dataframe.index = movements_dataframe.index - movements_dataframe.index[0] - - # Add 'end' column - movements_dataframe['end'] = movements_dataframe.index + movements_dataframe.duration - # Define a function to export metrics for a period of time def metrics_for_period(period_start_ts, period_end_ts): @@ -220,35 +205,10 @@ def main(): period_metrics['saccades_duration_ratio (%)'] = saccades_duration_sum / period_duration * 100 period_metrics['saccades_distance_mean (px)'] = saccades_period_dataframe.distance.mean() - # Default movements movement analysis - movements_duration_sum = 0.0 - period_metrics['movements_number'] = 0 - period_metrics['movements_duration_mean (ms)'] = None - period_metrics['movements_duration_sum (ms)'] = None - period_metrics['movements_duration_ratio (%)'] = None - period_metrics['movements_distance_mean (px)'] = None - - # Analyse movements movements - if movements_exist: - - # Select period - movements_period_dataframe = movements_dataframe[(movements_dataframe.index >= period_start_ts) & (movements_dataframe.end < period_end_ts)] - - if not movements_period_dataframe.empty: - - #print('\n* Unknown movements:\n', movements_period_dataframe) - - movements_duration_sum = movements_period_dataframe.duration.sum() - period_metrics['movements_number'] = movements_period_dataframe.shape[0] - period_metrics['movements_duration_mean (ms)'] = movements_period_dataframe.duration.mean() * 1e-3 - period_metrics['movements_duration_sum (ms)'] = movements_duration_sum * 1e-3 - period_metrics['movements_duration_ratio (%)'] = movements_duration_sum / period_duration * 100 - period_metrics['movements_distance_mean (px)'] = movements_period_dataframe.distance.mean() - # Analyse exploit/explore - if saccades_duration_sum != 0.0 or movements_duration_sum != 0.0: + if saccades_duration_sum != 0.0: - period_metrics['exploit_explore_ratio'] = fixations_duration_sum / (saccades_duration_sum + movements_duration_sum) + period_metrics['exploit_explore_ratio'] = fixations_duration_sum / saccades_duration_sum else: diff --git a/src/argaze/utils/tobii_segment_gaze_movements_export.py b/src/argaze/utils/tobii_segment_gaze_movements_export.py index f8bdb48..85fe74b 100644 --- a/src/argaze/utils/tobii_segment_gaze_movements_export.py +++ b/src/argaze/utils/tobii_segment_gaze_movements_export.py @@ -26,9 +26,8 @@ def main(): parser.add_argument('-t', '--time_range', metavar=('START_TIME', 'END_TIME'), nargs=2, type=float, default=(0., None), help='start and end time (in second)') parser.add_argument('-dev', '--deviation_max_threshold', metavar='DISPERSION_THRESHOLD', type=int, default=None, help='maximal distance for fixation identification in pixel') parser.add_argument('-dmin', '--duration_min_threshold', metavar='DURATION_MIN_THRESHOLD', type=int, default=200, help='minimal duration for fixation identification in millisecond') - parser.add_argument('-v', '--visu', metavar='VISU', type=bool, default=False, help='enable data visualisation') parser.add_argument('-o', '--output', metavar='OUT', type=str, default=None, help='destination folder path (segment folder by default)') - parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction) + parser.add_argument('-d', '--debug', metavar='DEBUG', type=bool, default=False, help='Enable visualisation and console outputs') args = parser.parse_args() # Manage destination path @@ -291,13 +290,14 @@ def main(): # Start movement identification ts_fixations = GazeFeatures.TimeStampedGazeMovements() ts_saccades = GazeFeatures.TimeStampedGazeMovements() - ts_movements = GazeFeatures.TimeStampedGazeMovements() ts_status = GazeFeatures.TimeStampedGazeStatus() # Initialise progress bar MiscFeatures.printProgressBar(0, tobii_segment_video.duration, prefix = '\nGazeMovements identification:', suffix = 'Complete', length = 100) - for gaze_movement in movement_identifier(ts_gaze_positions): + for ts, gaze_position in ts_gaze_positions.items(): + + gaze_movement = movement_identifier.identify(ts, gaze_position) if isinstance(gaze_movement, DispersionBasedGazeMovementIdentifier.Fixation): @@ -319,24 +319,13 @@ def main(): ts_status[ts] = GazeFeatures.GazeStatus.from_position(position, 'Saccade', len(ts_saccades)) - else: - - start_ts, start_position = gaze_movement.positions.first - - ts_movements[start_ts] = gaze_movement - - for ts, position in gaze_movement.positions.items(): - - ts_status[ts] = GazeFeatures.GazeStatus.from_position(position, 'GazeMovement', len(ts_movements)) - # Update Progress Bar - progress = start_ts - int(args.time_range[0] * 1e6) + progress = ts - int(args.time_range[0] * 1e6) MiscFeatures.printProgressBar(progress, tobii_segment_video.duration, prefix = 'Gaze movements identification:', suffix = 'Complete', length = 100) print(f'\nGazeMovements identification metrics:') print(f'\t{len(ts_fixations)} fixations found') print(f'\t{len(ts_saccades)} saccades found') - print(f'\t{len(ts_movements)} movements found') ts_fixations.to_json(fixations_json_filepath) print(f'\nGaze fixations saved into {fixations_json_filepath}') @@ -344,9 +333,6 @@ def main(): ts_saccades.to_json(saccades_json_filepath) print(f'Gaze saccades saved into {saccades_json_filepath}') - ts_movements.to_json(movements_json_filepath) - print(f'Gaze movements saved into {movements_json_filepath}') - ts_status.to_json(gaze_status_json_filepath) print(f'Gaze status saved into {gaze_status_json_filepath}') @@ -354,7 +340,7 @@ def main(): ts_status.as_dataframe().to_csv(f'{destination_path}/gaze_status.csv') # Edit data visualisation - if args.visu: + if args.debug: # Prepare video exportation at the same format than segment video output_video = TobiiVideo.TobiiVideoOutput(gaze_status_video_filepath, tobii_segment_video.stream) @@ -373,7 +359,6 @@ def main(): fixations_exist = len(ts_fixations) > 0 saccades_exist = len(ts_saccades) > 0 - movements_exist = len(ts_movements) > 0 status_exist = len(ts_status) > 0 if fixations_exist: @@ -383,9 +368,6 @@ def main(): if saccades_exist: current_saccade_ts, current_saccade = ts_saccades.pop_first() - if movements_exist: - current_movements_ts, current_movements = ts_movements.pop_first() - # Iterate on video frames for video_ts, video_frame in tobii_segment_video.frames(): @@ -461,17 +443,6 @@ def main(): if video_ts >= current_saccade_ts and video_ts < current_saccade_ts + current_saccade.duration: pass - if movements_exist: - - # Check next movements movement - if video_ts >= current_movements_ts + current_movements.duration and len(ts_movements) > 0: - - current_movements_ts, current_movements = ts_movements.pop_first() - - # While current time belongs to the current movements movement - if video_ts >= current_movements_ts and video_ts < current_movements_ts + current_movements.duration: - pass - # Draw gaze status until next frame try: @@ -569,14 +540,12 @@ def main(): cv.circle(visu_matrix, (selected_deviation_max_threshold + 400, 230), 2, (0, 255, 255), -1) cv.circle(visu_matrix, (selected_deviation_max_threshold + 400, 230), selected_deviation_max_threshold, (255, 150, 150), 1) - if args.window: - - # Close window using 'Esc' key - if cv.waitKey(1) == 27: - break + # Close window using 'Esc' key + if cv.waitKey(1) == 27: + break - # Display video - cv.imshow(f'Segment {tobii_segment.id} movements', visu_matrix) + # Display video + cv.imshow(f'Segment {tobii_segment.id} movements', visu_matrix) # Write video output_video.write(visu_matrix) diff --git a/src/argaze/utils/tobii_stream_arscene_display.py b/src/argaze/utils/tobii_stream_arscene_display.py index dabaa9b..e7a3bfb 100644 --- a/src/argaze/utils/tobii_stream_arscene_display.py +++ b/src/argaze/utils/tobii_stream_arscene_display.py @@ -20,9 +20,9 @@ def main(): # Manage arguments parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0]) parser.add_argument('-t', '--tobii_ip', metavar='TOBII_IP', type=str, default=None, help='tobii glasses ip') - parser.add_argument('-p', '--project_path', metavar='ARGAZE_PROJECT', type=str, default=None, help='json argaze project filepath') + parser.add_argument('-p', '--env_path', metavar='ENVIRONMENT_PATH', type=str, default=None, help='json argaze environment filepath') parser.add_argument('-b', '--borders', metavar='BORDERS', type=float, default=16.666, help='define left and right borders mask (%) to not detect aruco out of these borders') - parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction) + parser.add_argument('-d', '--debug', metavar='DEBUG', type=bool, default=False, help='Enable visualisation and console outputs') args = parser.parse_args() # Create tobii controller (with auto discovery network process if no ip argument is provided) @@ -52,11 +52,14 @@ def main(): # Enable tobii video stream tobii_video_stream = tobii_controller.enable_video_stream() - # Load ar scene - ar_scene = ArScene.ArScene.from_json(args.project_path) + # Load ArEnvironment + ar_env = ArFeatures.ArEnvironment.from_json(args.env_path) - print('\n') - print(ar_scene) + if args.debug: + print(ar_env) + + # Work with first scene only + _, ar_scene = next(iter(ar_env.items())) # Start streaming tobii_controller.start_streaming() @@ -83,8 +86,14 @@ def main(): # Process video and data frame try: + # Detect aruco markers into frame + ar_env.aruco_detector.detect_markers(video_frame.matrix) + + # Estimate markers poses + ar_env.aruco_detector.estimate_markers_pose() + # Estimate scene pose from ArUco markers into frame. - tvec, rmat, _ = ar_scene.estimate_pose(video_frame.matrix) + tvec, rmat, _ = ar_scene.estimate_pose(ar_env.aruco_detector.detected_markers) # Project AOI scene into frame according estimated pose aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV) @@ -99,13 +108,13 @@ def main(): aoi_scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255)) # Draw detected markers - ar_scene.aruco_detector.draw_detected_markers(visu_frame.matrix) + ar_env.aruco_detector.draw_detected_markers(visu_frame.matrix) # Catch exceptions raised by estimate_pose and project methods - except (ArScene.PoseEstimationFailed, ArScene.SceneProjectionFailed) as e: + except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e: # Draw detected markers - ar_scene.aruco_detector.draw_detected_markers(visu_frame.matrix) + ar_env.aruco_detector.draw_detected_markers(visu_frame.matrix) 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) |