diff options
| -rw-r--r-- | src/argaze/AreaOfInterest/AOI3DScene.py | 27 | ||||
| -rw-r--r-- | src/argaze/AreaOfInterest/AOIFeatures.py | 4 | ||||
| -rw-r--r-- | src/argaze/utils/edit_tobii_segment_aruco_pose.py | 4 | ||||
| -rw-r--r-- | src/argaze/utils/export_tobii_segment_aruco_visual_scan.py | 11 | ||||
| -rw-r--r-- | src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py | 12 |
5 files changed, 32 insertions, 26 deletions
diff --git a/src/argaze/AreaOfInterest/AOI3DScene.py b/src/argaze/AreaOfInterest/AOI3DScene.py index 44b8e3c..ee07043 100644 --- a/src/argaze/AreaOfInterest/AOI3DScene.py +++ b/src/argaze/AreaOfInterest/AOI3DScene.py @@ -133,8 +133,8 @@ class AOI3DScene(AOIFeatures.AOIScene): file.write('s off\n') file.write(vertices_ids + '\n') - 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. + def vision_cone(self, cone_radius, cone_height, cone_tip=[0., 0., 0.], cone_direction=[0., 0., 1.]): + """Get AOI which are inside and out a given cone field. By default, the cone have the tip at origin and the base oriented to positive Z axis. **Returns:** AOI3DScene""" @@ -142,21 +142,14 @@ class AOI3DScene(AOIFeatures.AOIScene): 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 + # sort aoi + aoi3D_scene_inside = AOI3DScene() + aoi3D_scene_outside = AOI3DScene() 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: + for vertices in aoi3D: distance = numpy.dot(vertices - cone_tip, cone_direction) radius = (distance / cone_height) * cone_radius @@ -166,11 +159,13 @@ class AOI3DScene(AOIFeatures.AOIScene): one_vertice_out = True break - # if no vertice is outside the cone, select the aoi + # if no vertice is outside the cone, aoi is inside if not one_vertice_out: - aoi3D_scene_clipped[name] = aoi3D + aoi3D_scene_inside[name] = aoi3D + else: + aoi3D_scene_outside[name] = aoi3D - return aoi3D_scene_clipped + return aoi3D_scene_inside, aoi3D_scene_outside def project(self, T=T0, R=R0, K=K0, D=D0): """Project 3D scene onto 2D scene according translation, rotation and optical parameters. diff --git a/src/argaze/AreaOfInterest/AOIFeatures.py b/src/argaze/AreaOfInterest/AOIFeatures.py index 987a25f..01bb484 100644 --- a/src/argaze/AreaOfInterest/AOIFeatures.py +++ b/src/argaze/AreaOfInterest/AOIFeatures.py @@ -142,6 +142,10 @@ class AOIScene(): """Add an aoi to the scene.""" self.areas[name] = aoi.tolist() + def __delitem__(self, key): + """Remove an aoi from the scene.""" + del self.areas[key] + def items(self): for name, area in self.areas.items(): yield name, numpy.array(area).astype(numpy.float32).view(AreaOfInterest) diff --git a/src/argaze/utils/edit_tobii_segment_aruco_pose.py b/src/argaze/utils/edit_tobii_segment_aruco_pose.py index 05da07d..fd8f45b 100644 --- a/src/argaze/utils/edit_tobii_segment_aruco_pose.py +++ b/src/argaze/utils/edit_tobii_segment_aruco_pose.py @@ -297,10 +297,6 @@ def main(): cv.putText(video_frame.matrix, f'{T[1]:.3f}', (40, 400), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv.LINE_AA) cv.putText(video_frame.matrix, f'{T[2]:.3f}', (40, 440), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv.LINE_AA) - # Remove aoi outside vision field - # The vision cone tip is positionned behind the head - #aoi3D_scene_edited = aoi3D_scene_edited.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_edited.project(aruco_tracker.get_marker_translation(selected_marker_index), aruco_tracker.get_marker_rotation(selected_marker_index), aruco_camera.get_K()) 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 5e487c1..e2e52cc 100644 --- a/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py +++ b/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py @@ -268,9 +268,16 @@ def main(): if distance_to_center > int(video_frame.width/3): continue - # Remove aoi outside vision field + # Transform scene into camera referential + aoi3D_camera = aoi3D_scene.transform(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i)) + + # Get aoi inside vision cone field # The vision cone tip is positionned behind the head - aoi3D_scene = aoi3D_scene.clip(300, 150, cone_tip=[0., 0., -20.]) + aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(300, 150, cone_tip=[0., 0., -20.]) + + # Keep only aoi inside vision cone field + for name, aoi in aoi3D_outside.items(): + del aoi3D_scene[name] # 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. 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 e1a6e87..51d45f3 100644 --- a/src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py +++ b/src/argaze/utils/live_tobii_aruco_aoi_ivy_controller.py @@ -164,12 +164,16 @@ def main(): if distance_to_center > int(video_frame.width/3): continue - # Remove aoi outside vision field + # Transform scene into camera referential + aoi3D_camera = aoi3D_scene.transform(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i)) + + # Get aoi inside vision cone field # The vision cone tip is positionned behind the head - aoi3D_scene = aoi3D_scene.clip(300, 150, cone_tip=[0., 0., -20.]) + aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(300, 150, cone_tip=[0., 0., -20.]) - # Edit Zero distorsion matrix - D0 = numpy.array([0.0, 0.0, 0.0, 0.0, 0.0]) + # Keep only aoi inside vision cone field + for name, aoi in aoi3D_outside.items(): + del aoi3D_scene[name] # 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. |