diff options
| -rw-r--r-- | src/argaze/ArFeatures.py | 189 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoCamera.py | 72 | ||||
| -rw-r--r-- | src/argaze/DataFeatures.py | 2 |
3 files changed, 129 insertions, 134 deletions
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py index 262ebd0..f023d08 100644 --- a/src/argaze/ArFeatures.py +++ b/src/argaze/ArFeatures.py @@ -379,59 +379,64 @@ class ArLayer(DataFeatures.SharedObject): gaze_movement: gaze movement to project """ - # Lock layer exploitation - self.acquire() + # Use try block to always release the layer lock in finally block + try: - # Update current gaze movement - self.__gaze_movement = gaze_movement + # Lock layer exploitation + self.acquire() - # No new analysis available by default - self.__new_analysis_available = False + # Update current gaze movement + self.__gaze_movement = gaze_movement - # No looked aoi by default - self.__looked_aoi_name = None + # No new analysis available by default + self.__new_analysis_available = False + + # No looked aoi by default + self.__looked_aoi_name = None - if self.aoi_matcher is not None: + if self.aoi_matcher is not None: - # Update looked aoi thanks to aoi matcher - # Note: don't filter valid/unvalid and finished/unfinished fixation/saccade as we don't know how the aoi matcher works internally - self.__looked_aoi_name, _ , match_time, match_exception = self.aoi_matcher.match(self.aoi_scene, gaze_movement) + # Update looked aoi thanks to aoi matcher + # Note: don't filter valid/unvalid and finished/unfinished fixation/saccade as we don't know how the aoi matcher works internally + self.__looked_aoi_name, _ , match_time, match_exception = self.aoi_matcher.match(self.aoi_scene, gaze_movement) - # Valid and finished gaze movement has been identified - if gaze_movement.valid and gaze_movement.finished: + # Valid and finished gaze movement has been identified + if gaze_movement.valid and gaze_movement.finished: - if GazeFeatures.is_fixation(gaze_movement): + if GazeFeatures.is_fixation(gaze_movement): - # Append fixation to aoi scan path - if self.aoi_scan_path is not None and self.__looked_aoi_name is not None: + # Append fixation to aoi scan path + if self.aoi_scan_path is not None and self.__looked_aoi_name is not None: - aoi_scan_step = self.aoi_scan_path.append_fixation(timestamp, gaze_movement, self.__looked_aoi_name) + aoi_scan_step = self.aoi_scan_path.append_fixation(timestamp, gaze_movement, self.__looked_aoi_name) - # Is there a new step? - if aoi_scan_step is not None and len(self.aoi_scan_path) > 1: + # Is there a new step? + if aoi_scan_step is not None and len(self.aoi_scan_path) > 1: - for aoi_scan_path_analyzer_module_path, aoi_scan_path_analyzer in self.aoi_scan_path_analyzers.items(): + for aoi_scan_path_analyzer_module_path, aoi_scan_path_analyzer in self.aoi_scan_path_analyzers.items(): - # Analyze aoi scan path - analyze_time, analyze_exception = aoi_scan_path_analyzer.analyze(self.aoi_scan_path) + # Analyze aoi scan path + analyze_time, analyze_exception = aoi_scan_path_analyzer.analyze(self.aoi_scan_path) - # Update new analysis available state - self.__new_analysis_available = True + # Update new analysis available state + self.__new_analysis_available = True - elif GazeFeatures.is_saccade(gaze_movement): + elif GazeFeatures.is_saccade(gaze_movement): - # Append saccade to aoi scan path - if self.aoi_scan_path is not None: + # Append saccade to aoi scan path + if self.aoi_scan_path is not None: - self.aoi_scan_path.append_saccade(timestamp, gaze_movement) + self.aoi_scan_path.append_saccade(timestamp, gaze_movement) - # Log look data - for logger_name, logger in self.loggers.items(): + # Log look data + for logger_name, logger in self.loggers.items(): - logger.emit(locals()) + logger.emit(locals()) - # Unlock layer exploitation - self.release() + finally: + + # Unlock layer exploitation + self.release() def draw(self, image: numpy.array, draw_aoi_scene: dict = None, draw_aoi_matching: dict = None): """ @@ -830,86 +835,91 @@ class ArFrame(DataFeatures.SharedObject): gaze_position: gaze position to project """ - # Lock frame exploitation - self.acquire() + # Use try block to always release the frame lock in finally block + try: - # No new analysis by default - self.__new_analysis_available = False + # Lock frame exploitation + self.acquire() - # No gaze movement identified by default - self.__identified_gaze_movement = GazeFeatures.UnvalidGazeMovement() + # No new analysis by default + self.__new_analysis_available = False - # Apply gaze position calibration - if self.gaze_position_calibrator is not None: + # No gaze movement identified by default + self.__identified_gaze_movement = GazeFeatures.UnvalidGazeMovement() - self.__calibrated_gaze_position = self.gaze_position_calibrator.apply(gaze_position) + # Apply gaze position calibration + if self.gaze_position_calibrator is not None: - # Or update gaze position at least - else: + self.__calibrated_gaze_position = self.gaze_position_calibrator.apply(gaze_position) - self.__calibrated_gaze_position = gaze_position + # Or update gaze position at least + else: - # Identify gaze movement - if self.gaze_movement_identifier is not None: + self.__calibrated_gaze_position = gaze_position - # Identify finished gaze movement - self.__identified_gaze_movement, identify_time, identify_exception = self.gaze_movement_identifier.identify(timestamp, self.__calibrated_gaze_position) + # Identify gaze movement + if self.gaze_movement_identifier is not None: - # Valid and finished gaze movement has been identified - if self.__identified_gaze_movement.valid and self.__identified_gaze_movement.finished: + # Identify finished gaze movement + self.__identified_gaze_movement, identify_time, identify_exception = self.gaze_movement_identifier.identify(timestamp, self.__calibrated_gaze_position) - if GazeFeatures.is_fixation(self.__identified_gaze_movement): + # Valid and finished gaze movement has been identified + if self.__identified_gaze_movement.valid and self.__identified_gaze_movement.finished: - # Append fixation to scan path - if self.scan_path is not None: + if GazeFeatures.is_fixation(self.__identified_gaze_movement): - self.scan_path.append_fixation(timestamp, self.__identified_gaze_movement) + # Append fixation to scan path + if self.scan_path is not None: - elif GazeFeatures.is_saccade(self.__identified_gaze_movement): + self.scan_path.append_fixation(timestamp, self.__identified_gaze_movement) - # Append saccade to scan path - if self.scan_path is not None: - - scan_step = self.scan_path.append_saccade(timestamp, self.__identified_gaze_movement) + elif GazeFeatures.is_saccade(self.__identified_gaze_movement): - # Is there a new step? - if scan_step and len(self.scan_path) > 1: + # Append saccade to scan path + if self.scan_path is not None: + + scan_step = self.scan_path.append_saccade(timestamp, self.__identified_gaze_movement) - for scan_path_analyzer_module_path, scan_path_analyzer in self.scan_path_analyzers.items(): + # Is there a new step? + if scan_step and len(self.scan_path) > 1: - # Analyze aoi scan path - analyze_time, analyze_exception = scan_path_analyzer.analyze(self.scan_path) + for scan_path_analyzer_module_path, scan_path_analyzer in self.scan_path_analyzers.items(): - # Update new analysis available state - self.__new_analysis_available = True + # Analyze aoi scan path + analyze_time, analyze_exception = scan_path_analyzer.analyze(self.scan_path) - # No valid finished gaze movement: optionnaly stop in progress identification filtering - elif self.gaze_movement_identifier is not None and not self.filter_in_progress_identification: + # Update new analysis available state + self.__new_analysis_available = True - self.__identified_gaze_movement = self.gaze_movement_identifier.current_gaze_movement + # No valid finished gaze movement: optionnaly stop in progress identification filtering + elif self.gaze_movement_identifier is not None and not self.filter_in_progress_identification: - # Update heatmap - if self.heatmap is not None: + self.__identified_gaze_movement = self.gaze_movement_identifier.current_gaze_movement - # Scale gaze position value - scale = numpy.array([self.heatmap.size[0] / self.size[0], self.heatmap.size[1] / self.size[1]]) + # Update heatmap + if self.heatmap is not None: - # Update heatmap image - update_time, update_exception = self.heatmap.update(self.__calibrated_gaze_position.value * scale) + # Scale gaze position value + scale = numpy.array([self.heatmap.size[0] / self.size[0], self.heatmap.size[1] / self.size[1]]) - # Look layers with valid identified gaze movement - # Note: don't filter valid/unvalid finished/unfished gaze movement to allow layers to reset internally - for layer_name, layer in self.layers.items(): + # Update heatmap image + update_time, update_exception = self.heatmap.update(self.__calibrated_gaze_position.value * scale) - look_time, look_exception = layer.look(timestamp, self.__identified_gaze_movement) + # Look layers with valid identified gaze movement + # Note: don't filter valid/unvalid finished/unfished gaze movement to allow layers to reset internally + for layer_name, layer in self.layers.items(): - # Log look data - for logger_name, logger in self.loggers.items(): + look_time, look_exception = layer.look(timestamp, self.__identified_gaze_movement) - logger.emit(locals()) + # Log look data + for logger_name, logger in self.loggers.items(): - # Unlock frame exploitation - self.release() + logger.emit(locals()) + + finally: + + # Unlock frame exploitation + self.release() def __image(self, background_weight: float = None, heatmap_weight: float = None, draw_gaze_position_calibrator: dict = None, draw_scan_path: dict = None, draw_layers: dict = None, draw_gaze_positions: dict = None, draw_fixations: dict = None, draw_saccades: dict = None) -> numpy.array: """ @@ -1360,16 +1370,13 @@ class ArCamera(ArFrame): yield scene_frame - def watch(self, timestamp: int|float, image: numpy.array) -> Tuple[float, dict]: + @DataFeatures.PipelineStep + def watch(self, timestamp: int|float, image: numpy.array): """Detect AR features from image and project scenes into camera frame. Parameters: timestamp: image time stamp (unit does'nt matter) image: image where to extract AR features - - Returns: - detection time: AR features detection time in ms. - exception: dictionary with exception raised per scene. """ raise NotImplementedError('watch() method not implemented') diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py index 3ef572b..86802a5 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py @@ -142,6 +142,7 @@ class ArUcoCamera(ArFeatures.ArCamera): return ArUcoCamera.from_dict(aruco_camera_data, working_directory) + @DataFeatures.PipelineStep def watch(self, timestamp: int|float, image: numpy.array) -> Tuple[float, float, dict]: """Detect environment aruco markers from image and project scenes into camera frame. @@ -150,47 +151,40 @@ class ArUcoCamera(ArFeatures.ArCamera): Returns: detection time: aruco marker detection time in ms. - projection time: scenes projection time in ms. - exception: dictionary with exception raised per scene. """ - # Lock camera frame exploitation - self.acquire() - - # Detect aruco markers - detection_time = self.aruco_detector.detect_markers(image) - - # Store projection execution start date - projection_start = time.perf_counter() + # Use try block to always release the camera frame lock in finally block + try: - # Fill camera frame background with image - self.background = image + # Lock camera frame exploitation + self.acquire() - # Clear former layers projection into camera frame - for layer_name, layer in self.layers.items(): - - layer.aoi_scene = AOI2DScene.AOI2DScene() + # Detect aruco markers + detection_time = self.aruco_detector.detect_markers(image) - # Store exceptions for each scene - exceptions = {} + # Fill camera frame background with image + self.background = image - # Project each aoi 3d scene into camera frame - for scene_name, scene in self.scenes.items(): + # Clear former layers projection into camera frame + for layer_name, layer in self.layers.items(): + + layer.aoi_scene = AOI2DScene.AOI2DScene() - ''' TODO: Enable aruco_aoi processing - if scene.aruco_aoi: + # Project each aoi 3d scene into camera frame + for scene_name, scene in self.scenes.items(): - try: + ''' TODO: Enable aruco_aoi processing + if scene.aruco_aoi: - # Build AOI scene directly from detected ArUco marker corners - self.layers[??].aoi_2d_scene |= scene.build_aruco_aoi_scene(self.aruco_detector.detected_markers) + try: - except ArFeatures.PoseEstimationFailed: + # Build AOI scene directly from detected ArUco marker corners + self.layers[??].aoi_2d_scene |= scene.build_aruco_aoi_scene(self.aruco_detector.detected_markers) - pass - ''' + except ArFeatures.PoseEstimationFailed: - try: + pass + ''' # Estimate scene pose from detected scene markers tvec, rmat, _ = scene.estimate_pose(self.aruco_detector.detected_markers) @@ -210,22 +204,16 @@ class ArUcoCamera(ArFeatures.ArCamera): pass - # Store exceptions and continue - except Exception as e: - - exceptions[scene_name] = e - - # Assess projection time in ms - projection_time = (time.perf_counter() - projection_start) * 1e3 + finally: - # Unlock camera frame exploitation - self.release() + # Unlock camera frame exploitation + self.release() - # Timestamp camera frame - self.timestamp = timestamp + # Timestamp camera frame + self.timestamp = timestamp - # Return detection time, projection time and exceptions - return detection_time, projection_time, exceptions + # Return detection time + return detection_time def __image(self, draw_detected_markers: dict = None, draw_scenes: dict = None, draw_optic_parameters_grid: dict = None, **kwargs: dict) -> numpy.array: """Get frame image with ArUco detection visualisation. diff --git a/src/argaze/DataFeatures.py b/src/argaze/DataFeatures.py index 12e7bff..2636aaa 100644 --- a/src/argaze/DataFeatures.py +++ b/src/argaze/DataFeatures.py @@ -430,7 +430,7 @@ class DataDictionary(dict): __delattr__ = dict.__delitem__ def PipelineStep(method): - """Define a decorator to define a method as a pipeline step.""" + """Define a decorator to declare a method as a pipeline step.""" def handler(*args, **kw) -> Tuple[Any, float, Exception]: """Handle pipeline step |