diff options
| -rw-r--r-- | src/argaze/utils/tobii_segment_arscene_export.py | 58 |
1 files changed, 21 insertions, 37 deletions
diff --git a/src/argaze/utils/tobii_segment_arscene_export.py b/src/argaze/utils/tobii_segment_arscene_export.py index a1acc55..9d92e56 100644 --- a/src/argaze/utils/tobii_segment_arscene_export.py +++ b/src/argaze/utils/tobii_segment_arscene_export.py @@ -14,26 +14,6 @@ from argaze.utils import MiscFeatures import cv2 as cv import numpy -def make_rotation_matrix(x, y, z): - - # Create rotation matrix around x axis - c = numpy.cos(numpy.deg2rad(x)) - s = numpy.sin(numpy.deg2rad(x)) - Rx = numpy.array([[1, 0, 0], [0, c, -s], [0, s, c]]) - - # Create rotation matrix around y axis - c = numpy.cos(numpy.deg2rad(y)) - s = numpy.sin(numpy.deg2rad(y)) - Ry = numpy.array([[c, 0, s], [0, 1, 0], [-s, 0, c]]) - - # Create rotation matrix around z axis - c = numpy.cos(numpy.deg2rad(z)) - s = numpy.sin(numpy.deg2rad(z)) - Rz = numpy.array([[c, -s, 0], [s, c, 0], [0, 0, 1]]) - - # Return intrinsic rotation matrix - return Rx.dot(Ry.dot(Rz)) - def main(): """ Track ArUcoPlan into Tobii Glasses Pro 2 camera video stream. @@ -78,8 +58,9 @@ def main(): os.makedirs(destination_path) print(f'{destination_path} folder created') - vs_data_filepath = f'{destination_path}/aoi.csv' - vs_video_filepath = f'{destination_path}/aoi.mp4' + aoi_json_filepath = f'{destination_path}/aoi.json' + aoi_csv_filepath = f'{destination_path}/aoi.csv' + aoi_mp4_filepath = f'{destination_path}/aoi.mp4' # Load a 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) @@ -102,7 +83,7 @@ def main(): tobii_ts_gaze_positions = tobii_segment_data['GazePosition'] # Prepare video exportation at the same format than segment video - output_video = TobiiVideo.TobiiVideoOutput(vs_video_filepath, tobii_segment_video.stream) + output_video = TobiiVideo.TobiiVideoOutput(aoi_mp4_filepath, tobii_segment_video.stream) # Load ar scene ar_scene = ArScene.ArScene.from_json(args.project_path) @@ -136,6 +117,7 @@ def main(): _, nearest_vts = tobii_ts_vts.get_last_before(video_ts) projected_aois['offset'] = nearest_vts.offset + projected_aois['comment'] = '' # Hide frame left and right borders before tracking to ignore markers outside focus area cv.rectangle(video_frame.matrix, (0, 0), (int(video_frame.width/6), int(video_frame.height)), (0, 0, 0), -1) @@ -155,21 +137,22 @@ def main(): # Draw scene projection scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255)) - # Catch warnings raised by project_scene method - except UserWarning as w: - - projected_aois['comment'] = w + # Catch exceptions raised by project_scene method + except (ArScene.PoseEstimationFailed, ArScene.SceneProjectionFailed) as e: # Draw tracked markers ar_scene.aruco_tracker.draw_tracked_markers(visu_frame.matrix) - if w == 'Pose estimation fails': + if str(e) == 'Unconsistent marker poses': + + projected_aois['comment'] = str(e) + ': ' + str(e.unconsistencies) - # Draw black AOI scene - scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 0, 0)) + else: + + projected_aois['comment'] = str(e) cv.rectangle(visu_frame.matrix, (0, 50), (550, 100), (127, 127, 127), -1) - cv.putText(visu_frame.matrix, str(w), (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) + cv.putText(visu_frame.matrix, str(e), (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) # Raised when timestamped buffer is empty except KeyError as e: @@ -184,7 +167,7 @@ def main(): # Store projected AOI ts_offset_aois[video_ts] = projected_aois - + # Draw focus area cv.rectangle(visu_frame.matrix, (int(video_frame.width/6), 0), (int(visu_frame.width*(1-1/6)), int(visu_frame.height)), (255, 150, 150), 1) @@ -223,18 +206,19 @@ def main(): output_video.close() # Print aruco tracking metrics - print('\nAruco marker tracking metrics') + print('\n\nAruco marker tracking metrics') try_count, tracked_counts = ar_scene.aruco_tracker.track_metrics for marker_id, tracked_count in tracked_counts.items(): - print(f'Markers {marker_id} has been detected in {tracked_count} / {try_count} frames ({round(100 * tracked_count / try_count, 2)} %)') + print(f'\tMarkers {marker_id} has been detected in {tracked_count} / {try_count} frames ({round(100 * tracked_count / try_count, 2)} %)') # Export aruco aoi data - ts_offset_aois.as_dataframe().to_csv(vs_data_filepath, index=True) - print(f'Aruco AOI data saved into {vs_data_filepath}') + ts_offset_aois.to_json(aoi_json_filepath) + ts_offset_aois.as_dataframe().to_csv(aoi_csv_filepath) + print(f'Aruco AOI data saved into {aoi_json_filepath} and {aoi_csv_filepath}') # Notify when the aruco aoi video has been exported - print(f'Aruco AOI video saved into {vs_video_filepath}') + print(f'Aruco AOI video saved into {aoi_mp4_filepath}') if __name__ == '__main__': |