diff options
Diffstat (limited to 'src/argaze/utils/contexts/TobiiProGlasses3.py')
-rw-r--r-- | src/argaze/utils/contexts/TobiiProGlasses3.py | 128 |
1 files changed, 128 insertions, 0 deletions
diff --git a/src/argaze/utils/contexts/TobiiProGlasses3.py b/src/argaze/utils/contexts/TobiiProGlasses3.py new file mode 100644 index 0000000..a53c095 --- /dev/null +++ b/src/argaze/utils/contexts/TobiiProGlasses3.py @@ -0,0 +1,128 @@ +"""Handle network connection to Tobii Pro G3 devices. + Based on Tobii Realtime Python API. + g3pylib must be installed. +""" + +""" +This program is free software: you can redistribute it and/or modify it under +the terms of the GNU General Public License as published by the Free Software +Foundation, either version 3 of the License, or (at your option) any later +version. +This program is distributed in the hope that it will be useful, but WITHOUT +ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +You should have received a copy of the GNU General Public License along with +this program. If not, see <https://www.gnu.org/licenses/>. + +""" + +__author__ = "Damien Mouratille" +__credits__ = [] +__copyright__ = "Copyright 2024, Ecole Nationale de l'Aviation Civile (ENAC)" +__license__ = "GPLv3" + +import sys +import logging +import time +import dill +import threading +from dataclasses import dataclass +import numpy +import cv2 +import asyncio +import os + +from argaze import ArFeatures, DataFeatures, GazeFeatures +from argaze.utils import UtilsFeatures + + +from g3pylib import connect_to_glasses + + +class LiveStream(ArFeatures.DataCaptureContext): + + @DataFeatures.PipelineStepInit + def __init__(self, **kwargs): + + # Init DataCaptureContext class + super().__init__() + + def __enter__(self): + + logging.info('Tobii Pro G3 connexion starts...') + + # Init timestamp + self.__start_time = time.time() + + self.__loop = asyncio.new_event_loop() + self.__loop.run_until_complete(self.__stream_rtsp()) + + return self + + async def __stream_rtsp(self): + """Stream video and gaze.""" + + logging.info('Stream gaze from Tobii Pro G3') + + while self.is_running(): + + try: + async with connect_to_glasses.with_zeroconf(True,10000) as g3: + async with g3.stream_rtsp(scene_camera=True, gaze=True) as streams: + async with streams.gaze.decode() as gaze_stream, streams.scene_camera.decode() as scene_stream: + while True: + frame, frame_timestamp = await scene_stream.get() + gaze, gaze_timestamp = await gaze_stream.get() + while gaze_timestamp is None or frame_timestamp is None: + if frame_timestamp is None: + frame, frame_timestamp = await scene_stream.get() + if gaze_timestamp is None: + gaze, gaze_timestamp = await gaze_stream.get() + while gaze_timestamp < frame_timestamp: + gaze, gaze_timestamp = await gaze_stream.get() + while gaze_timestamp is None: + gaze, gaze_timestamp = await gaze_stream.get() + + scene_frame = frame.to_ndarray(format="bgr24") + + gaze_timestamp = int((gaze_timestamp - self.__start_time) * 1e3) + + logging.debug('Gaze received at %i timestamp', gaze_timestamp) + + # If given gaze data + if "gaze2d" in gaze: + gaze2d = gaze["gaze2d"] + # Convert rational (x,y) to pixel location (x,y) + h, w = scene_frame.shape[:2] + gaze_scene = (int(gaze2d[0] * w), int(gaze2d[1] * h)) + + + self._process_gaze_position( + timestamp=gaze_timestamp, + x=gaze_scene[0], + y=gaze_scene[1]) + else: + # Process empty gaze position + logging.debug('Not worn at %i timestamp', gaze_timestamp) + + scene_timestamp = int((frame_timestamp - self.__start_time) * 1e3) + + logging.debug('Video received at %i timestamp', scene_timestamp) + + self._process_camera_image( + timestamp=scene_timestamp, + image=scene_frame) + + except KeyboardInterrupt: + pass + + + + @DataFeatures.PipelineStepExit + def __exit__(self, exception_type, exception_value, exception_traceback): + + logging.debug('Tobii Pro G3 context stops...') + + # Close data stream + self.stop() + |