diff options
| -rw-r--r-- | src/argaze/utils/calibrate_tobii_camera.py | 50 | ||||
| -rw-r--r-- | src/argaze/utils/track_aruco_rois_with_tobii_glasses.py | 142 |
2 files changed, 102 insertions, 90 deletions
diff --git a/src/argaze/utils/calibrate_tobii_camera.py b/src/argaze/utils/calibrate_tobii_camera.py index ea35386..c50b499 100644 --- a/src/argaze/utils/calibrate_tobii_camera.py +++ b/src/argaze/utils/calibrate_tobii_camera.py @@ -61,39 +61,43 @@ def main(): expected_markers_number = len(aruco_board.get_ids()) expected_corners_number = (aruco_board.get_size()[0] - 1 ) * (aruco_board.get_size()[1] - 1) - # capture frame with a full displayed board - while True: + # running until keyboard interruption + try: - frame, frame_width, frame_height, frame_time, frame_pts = tobii_video_thread.read() + while True: - # track all markers in the board - aruco_tracker.track_board(frame, aruco_board, expected_markers_number) + # capture frame with a full displayed board + frame, frame_width, frame_height, frame_time, frame_pts = tobii_video_thread.read() - # draw only markers - aruco_tracker.draw(frame) + # track all markers in the board + aruco_tracker.track_board(frame, aruco_board, expected_markers_number) - # draw current calibration data count - cv.putText(frame, f'Capture: {aruco_camera.get_calibration_data_count()}', (50, 50), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv.LINE_AA) - cv.imshow('Tobii Camera Calibration', frame) + # draw only markers + aruco_tracker.draw(frame) - # if all board corners are detected - if aruco_tracker.get_board_corners_number() == expected_corners_number: + # draw current calibration data count + cv.putText(frame, f'Capture: {aruco_camera.get_calibration_data_count()}', (50, 50), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv.LINE_AA) + cv.imshow('Tobii Camera Calibration', frame) - # draw board corners to notify a capture is done - aruco_tracker.draw_board(frame) + # if all board corners are detected + if aruco_tracker.get_board_corners_number() == expected_corners_number: - # append data - aruco_camera.store_calibration_data(aruco_tracker.get_board_corners(), aruco_tracker.get_board_corners_ids()) + # draw board corners to notify a capture is done + aruco_tracker.draw_board(frame) - cv.imshow(f'Tobii Camera Calibration', frame) + # append data + aruco_camera.store_calibration_data(aruco_tracker.get_board_corners(), aruco_tracker.get_board_corners_ids()) - time.sleep(2) + cv.imshow(f'Tobii Camera Calibration', frame) - # quit on 'Esc' command - key = cv.waitKey(1) - if key == 27: - cv.destroyAllWindows() - break + time.sleep(2) + + # exit on keyboard interruption + except KeyboardInterrupt: + pass + + # stop frame display + cv.destroyAllWindows() # stop tobii objects tobii_video_thread.stop() diff --git a/src/argaze/utils/track_aruco_rois_with_tobii_glasses.py b/src/argaze/utils/track_aruco_rois_with_tobii_glasses.py index e7abc05..82e25bc 100644 --- a/src/argaze/utils/track_aruco_rois_with_tobii_glasses.py +++ b/src/argaze/utils/track_aruco_rois_with_tobii_glasses.py @@ -33,6 +33,9 @@ def main(): # create tobii controller tobii_controller = TobiiController.TobiiController(args.tobii_ip, 'ArGaze', 1) + # calibrate tobii glasses + tobii_controller.calibrate() + # create tobii data thread tobii_data_thread = TobiiData.TobiiDataThread(tobii_controller) tobii_data_thread.start() @@ -56,77 +59,82 @@ def main(): tobii_controller.start_streaming() # process video frames + frame_time = 0 last_frame_time = 0 roi2D_buffer = [] marker_buffer = [] - while True: - - frame, frame_width, frame_height, frame_time, pts = tobii_video_thread.read() - - # draw tobii gaze - # TODO : sync gaze data according frame pts - gp_data = tobii_data_thread.read_gaze_data(pts) - if 'TIMESTAMP' in gp_data: - pointer = (int(gp_data['X'] * frame_width), int(gp_data['Y'] * frame_height)) - cv.circle(frame, pointer, 4, (0, 255, 255), -1) - else: - pointer = (0, 0) - - # track markers with pose estimation and draw them - aruco_tracker.track(frame) - aruco_tracker.draw(frame) - - # project 3D scenes related to each aruco markers - if aruco_tracker.get_markers_number(): - - for (i, marker_id) in enumerate(aruco_tracker.get_markers_ids()): - - # TODO : select different 3D scenes depending on aruco id - - marker_rotation = aruco_tracker.get_marker_rotation(i) - marker_translation = aruco_tracker.get_marker_translation(i) - - roi3D_scene.set_rotation(marker_rotation) - roi3D_scene.set_translation(marker_translation) - - # zero distorsion matrix - D0 = numpy.asarray([0.0, 0.0, 0.0, 0.0, 0.0]) - - # 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 ROI, where the distorsion is low, it is acceptable. - roi2D_scene = roi3D_scene.project(aruco_camera.getK(), D0) - - # check if gaze is inside 2D rois - roi2D_scene.inside(pointer) - - # draw 2D rois - roi2D_scene.draw(frame) - - # store roi2D into buffer - for roi2D in roi2D_scene: - roi2D['TIME'] = frame_time - del roi2D['VERTICES'] - roi2D_buffer.append(roi2D) - - # store marker into buffer - marker = { - 'TIME': frame_time, - 'ID': i, - 'X': marker_translation[0][0], - 'Y': marker_translation[0][1], - 'Z': marker_translation[0][2] - } - marker_buffer.append(marker) - - cv.imshow(f'Live Scene', frame) - - # quit on 'Esc' command - key = cv.waitKey(1) - if key == 27: - cv.destroyAllWindows() - last_frame_time = frame_time - break + # running until keyboard interruption + try: + + while True: + + frame, frame_width, frame_height, frame_time, pts = tobii_video_thread.read() + + # draw tobii gaze + # TODO : sync gaze data according frame pts + gp_data = tobii_data_thread.read_gaze_data(pts) + if 'TIMESTAMP' in gp_data: + pointer = (int(gp_data['X'] * frame_width), int(gp_data['Y'] * frame_height)) + cv.circle(frame, pointer, 4, (0, 255, 255), -1) + else: + pointer = (0, 0) + + # track markers with pose estimation and draw them + aruco_tracker.track(frame) + aruco_tracker.draw(frame) + + # project 3D scenes related to each aruco markers + if aruco_tracker.get_markers_number(): + + for (i, marker_id) in enumerate(aruco_tracker.get_markers_ids()): + + # TODO : select different 3D scenes depending on aruco id + + marker_rotation = aruco_tracker.get_marker_rotation(i) + marker_translation = aruco_tracker.get_marker_translation(i) + + roi3D_scene.set_rotation(marker_rotation) + roi3D_scene.set_translation(marker_translation) + + # zero distorsion matrix + D0 = numpy.asarray([0.0, 0.0, 0.0, 0.0, 0.0]) + + # 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 ROI, where the distorsion is low, it is acceptable. + roi2D_scene = roi3D_scene.project(aruco_camera.getK(), D0) + + # check if gaze is inside 2D rois + roi2D_scene.inside(pointer) + + # draw 2D rois + roi2D_scene.draw(frame) + + # store roi2D into buffer + for roi2D in roi2D_scene: + roi2D['TIME'] = frame_time + del roi2D['VERTICES'] + roi2D_buffer.append(roi2D) + + # store marker into buffer + marker = { + 'TIME': frame_time, + 'ID': i, + 'X': marker_translation[0][0], + 'Y': marker_translation[0][1], + 'Z': marker_translation[0][2] + } + marker_buffer.append(marker) + + cv.imshow(f'Live Scene', frame) + + # exit on keyboard interruption + except KeyboardInterrupt: + pass + + # stop frame display + cv.destroyAllWindows() + last_frame_time = frame_time # stop tobii objects tobii_video_thread.stop() |