diff options
| -rw-r--r-- | src/argaze/utils/tobii_stream_display.py | 162 |
1 files changed, 83 insertions, 79 deletions
diff --git a/src/argaze/utils/tobii_stream_display.py b/src/argaze/utils/tobii_stream_display.py index 8dd2341..8c67cee 100644 --- a/src/argaze/utils/tobii_stream_display.py +++ b/src/argaze/utils/tobii_stream_display.py @@ -23,109 +23,109 @@ def main(): # Create tobii controller tobii_controller = TobiiController.TobiiController(args.tobii_ip, 'myProject', 'mySelf') - # Enable tobii data stream + # Enable tobii data stream tobii_data_stream = tobii_controller.enable_data_stream() # Enable tobii video stream tobii_video_stream = tobii_controller.enable_video_stream() - # Prepare to timestamped gaze position data stream bufferring - tobii_ts_gaze_positions = DataStructures.TimeStampedBuffer() + # Init head movement + head_movement_px = numpy.array((0, 0)) - # Prepare to timestamped gaze position 3d data stream bufferring - tobii_ts_gaze_positions_3d = DataStructures.TimeStampedBuffer() + # Init gaze position + gaze_position_px = GazeFeatures.GazePosition((0, 0)) - # Prepare to timestamped head rotations data stream bufferring - tobii_ts_head_rotations = DataStructures.TimeStampedBuffer() - - # Start streaming - tobii_controller.start_streaming() - - # Live video and data stream capture loop - try: - - # Assess loop performance - loop_chrono = MiscFeatures.TimeProbe() - fps = 0 - - while tobii_video_stream.is_alive(): - - # Read video stream - video_ts, video_frame = tobii_video_stream.read() - video_ts_ms = video_ts / 1e3 - - # Read data stream - data_ts, data_stream = tobii_data_stream.read() - data_ts_ms = data_ts / 1e3 - - try: - - # Buffer last received gaze positions - tobii_ts_gaze_positions.append(data_stream['GazePosition']) - - # Buffer last received gaze positions 3d - tobii_ts_gaze_positions_3d.append(data_stream['GazePosition3D']) + # Init data timestamped in millisecond + data_ts_ms = 0 + + # Assess temporal performance + loop_chrono = MiscFeatures.TimeProbe() + gyroscope_chrono = MiscFeatures.TimeProbe() + gaze_chrono = MiscFeatures.TimeProbe() + + loop_ps = 0 + gyroscope_ps = 0 + gaze_ps = 0 + + def data_stream_callback(data_ts, data_object, data_object_type): - # Buffer last received gaze positions 3d - tobii_ts_head_rotations.append(data_stream['Gyroscope']) + nonlocal head_movement_px + nonlocal gaze_position_px + nonlocal data_ts_ms + nonlocal gyroscope_chrono + nonlocal gaze_chrono - # Ignore missing data stream - except KeyError as e: - pass + data_ts_ms = data_ts / 1e3 - try: + match data_object_type: - # Get nearest head rotation before video timestamp and remove all head rotations before - earliest_ts, earliest_head_rotation = tobii_ts_head_rotations.pop_last() + case 'Gyroscope': + + # Assess gyroscope stream performance + gyroscope_chrono.lap() # Calculate head movement considering only head yaw and pitch - head_movement = numpy.array(earliest_head_rotation.value) + head_movement = numpy.array(data_object.value) head_movement_px = head_movement.astype(int) - head_movement_norm = numpy.linalg.norm(head_movement[0:2]) - - # Draw movement vector - cv.line(video_frame.matrix, (int(video_frame.width/2), int(video_frame.height/2)), (int(video_frame.width/2) + head_movement_px[1], int(video_frame.height/2) - head_movement_px[0]), (150, 150, 150), 3) - - # Wait for head rotation - except KeyError: - pass - try: - - # Get nearest gaze position before video timestamp and remove all gaze positions before - _, earliest_gaze_position = tobii_ts_gaze_positions.pop_last() + case 'GazePosition': + + # Assess gaze position stream performance + gaze_chrono.lap() # Ignore frame when gaze position is not valid - if earliest_gaze_position.validity == 0: + if data_object.validity == 0: - gaze_position_pixel = GazeFeatures.GazePosition( (int(earliest_gaze_position.value[0] * video_frame.width), int(earliest_gaze_position.value[1] * video_frame.height)) ) + gaze_position_px = GazeFeatures.GazePosition( (int(data_object.value[0] * video_frame.width), int(data_object.value[1] * video_frame.height)) ) + + case 'GazePosition3D': + + # Ignore frame when gaze position 3D is not valid + if data_object.validity == 0: - # Get nearest gaze position 3D before video timestamp and remove all gaze positions before - _, earliest_gaze_position_3d = tobii_ts_gaze_positions_3d.pop_last() + gaze_accuracy_mm = numpy.tan(numpy.deg2rad(TobiiSpecifications.ACCURACY)) * data_object.value[2] + tobii_camera_hfov_mm = numpy.tan(numpy.deg2rad(TobiiSpecifications.CAMERA_HFOV / 2)) * data_object.value[2] - # Ignore frame when gaze position 3D is not valid - if earliest_gaze_position_3d.validity == 0: - - gaze_accuracy_mm = numpy.tan(numpy.deg2rad(TobiiSpecifications.ACCURACY)) * earliest_gaze_position_3d.value[2] - tobii_camera_hfov_mm = numpy.tan(numpy.deg2rad(TobiiSpecifications.CAMERA_HFOV / 2)) * earliest_gaze_position_3d.value[2] + gaze_position_px.accuracy = round(video_frame.width * float(gaze_accuracy_mm) / float(tobii_camera_hfov_mm)) - gaze_position_pixel.accuracy = round(video_frame.width * float(gaze_accuracy_mm) / float(tobii_camera_hfov_mm)) - - # Draw gaze - gaze_position_pixel.draw(video_frame.matrix) + tobii_data_stream.reading_callback = data_stream_callback + + # Start streaming + tobii_controller.start_streaming() + + # Live video stream capture loop + try: + + while tobii_video_stream.is_alive(): + + # Read video stream + video_ts, video_frame = tobii_video_stream.read() + video_ts_ms = video_ts / 1e3 - # Wait for gaze position - except KeyError: - pass - # Assess loop performance - loop_time, loop_counter, elapsed_time = loop_chrono.lap() + lap_time, lap_counter, elapsed_time = loop_chrono.lap() # Update fps each 10 loops - if loop_counter >= 10: + if lap_counter >= 10: - fps = loop_counter / elapsed_time + loop_ps = 1e3 * lap_counter / elapsed_time loop_chrono.restart() + + # Assess gyroscope streaming performance + elapsed_time, lap_counter = gyroscope_chrono.end() + gyroscope_ps = 1e3 * lap_counter / elapsed_time + gyroscope_chrono.restart() + + # Assess gaze streaming performance + elapsed_time, lap_counter = gaze_chrono.end() + gaze_ps = 1e3 * lap_counter / elapsed_time + gaze_chrono.restart() + + # Draw head movement + cv.line(video_frame.matrix, (int(video_frame.width/2), int(video_frame.height/2)), (int(video_frame.width/2) + head_movement_px[1], int(video_frame.height/2) - head_movement_px[0]), (150, 150, 150), 3) + + # Draw gaze + gaze_position_px.draw(video_frame.matrix) # Draw center cv.line(video_frame.matrix, (int(video_frame.width/2) - 50, int(video_frame.height/2)), (int(video_frame.width/2) + 50, int(video_frame.height/2)), (255, 150, 150), 1) @@ -135,14 +135,18 @@ def main(): cv.rectangle(video_frame.matrix, (0, 0), (1100, 50), (63, 63, 63), -1) cv.putText(video_frame.matrix, f'Data stream time: {int(data_ts_ms)} ms', (20, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) cv.putText(video_frame.matrix, f'Video delay: {int(data_ts_ms - video_ts_ms)} ms', (550, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - cv.putText(video_frame.matrix, f'Fps: {int(fps)}', (950, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) + cv.putText(video_frame.matrix, f'Fps: {int(loop_ps)}', (950, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) + cv.rectangle(video_frame.matrix, (0, 50), (580, 100), (127, 127, 127), -1) + cv.putText(video_frame.matrix, f'Gyroscope fps: {int(gyroscope_ps)}', (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) + cv.putText(video_frame.matrix, f'Gaze fps: {int(gaze_ps)}', (350, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) + + cv.imshow(f'Video and data stream', video_frame.matrix) + # Close window using 'Esc' key if cv.waitKey(1) == 27: break - cv.imshow(f'Video and data stream', video_frame.matrix) - # Exit on 'ctrl+C' interruption except KeyboardInterrupt: pass |