diff options
Diffstat (limited to 'src/argaze/utils/export_tobii_segment_aruco_visual_scan.py')
| -rw-r--r-- | src/argaze/utils/export_tobii_segment_aruco_visual_scan.py | 100 |
1 files changed, 76 insertions, 24 deletions
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 4622b00..4f84943 100644 --- a/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py +++ b/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py @@ -14,6 +14,17 @@ import numpy import cv2 as cv +aoi_color = { + 'Scene_Plan': (127, 127, 127), + 'PFD_Plan': (63, 127, 63), + 'Attitude_Plan': (0, 255, 0), + 'Air_Speed_Plan': (255, 0, 255), + 'Vertical_Speed_Plan': (255, 255, 0), + 'Localiser_Plan': (0, 0, 255), + 'ND_Plan': (127, 63, 63), + 'Marker_Plan': (0, 0, 0) +} + def main(): """ Track any ArUco marker into Tobii Glasses Pro 2 segment video file. @@ -50,13 +61,15 @@ def main(): os.makedirs(os.path.dirname(args.output)) print(f'{os.path.dirname(args.output)} folder created') - visual_scan_filepath = f'{args.output}/visual_scan.csv' - video_filepath = f'{args.output}/fullstream+visu.mp4' + vs_data_filepath = f'{args.output}/visual_scan.csv' + vs_visu_filepath = f'{args.output}/visual_scan.jpg' + vs_video_filepath = f'{args.output}/visual_scan.mp4' else: - visual_scan_filepath = f'{args.segment_path}/visual_scan.csv' - video_filepath = f'{args.segment_path}/fullstream+visu.mp4' + vs_data_filepath = f'{args.segment_path}/visual_scan.csv' + vs_visu_filepath = f'{args.segment_path}/visual_scan.jpg' + vs_video_filepath = f'{args.segment_path}/visual_scan.mp4' # Load a tobii segment tobii_segment = TobiiEntities.TobiiSegment(args.segment_path, int(args.time_range[0] * 1000000), int(args.time_range[1] * 1000000) if args.time_range[1] != None else None) @@ -69,12 +82,16 @@ def main(): tobii_segment_data = tobii_segment.load_data() print(f'Data keys: {tobii_segment_data.keys()}') - # Access to timestamped gaze position data buffer + # Access to timestamped gaze positions data buffer tobii_ts_gaze_positions = tobii_segment_data.gidx_l_gp print(f'{len(tobii_ts_gaze_positions)} gaze positions loaded') + # Access to timestamped gaze 3D positions data buffer + #tobii_ts_gaze_3d_positions = tobii_segment_data.gidx_gp3 + #print(f'{len(tobii_ts_gaze_3d_positions)} gaze 3D positions loaded') + # Prepare video exportation at the same format than segment video - output_video = TobiiVideo.TobiiVideoOutput(video_filepath, tobii_segment_video.get_stream()) + output_video = TobiiVideo.TobiiVideoOutput(vs_video_filepath, tobii_segment_video.get_stream()) # Create aruco camera aruco_camera = ArUcoCamera.ArUcoCamera() @@ -86,7 +103,7 @@ def main(): # Create AOIs 3D scene aoi3D_scene = AOI3DScene.AOI3DScene() aoi3D_scene.load(args.aoi_scene) - print(f'AOIs names: {aoi3D_scene.areas.keys()}') + print(f'AOIs names: {aoi3D_scene.keys()}') # Create timestamped buffer to store AOIs scene in time ts_aois_scenes = AOIFeatures.TimeStampedAOIScenes() @@ -94,6 +111,26 @@ def main(): # Create timestamped buffer to store gaze positions in time ts_gaze_positions = GazeFeatures.TimeStampedGazePositions() + # Create a visual scan visualisation frame + visu_width = 1920 + visu_height = 1080 + visu_ratio = visu_height + visu_frame = numpy.full((visu_height, visu_width, 3), 255, dtype=numpy.uint8) + + # Project 3D scene on the reference frame + # TODO : center projection on a reference AOI + # TODO: pass the reference AOI in argument + aoi3D_scene.rotation = numpy.asarray([[-numpy.pi, 0.0, 0.0]]) + aoi3D_scene.translation = numpy.asarray([[25.0, -32.0, 20.0]]) + + # Edit a projection matrix for the reference frame + K0 = numpy.asarray([[visu_ratio, 0.0, visu_width/2], [0.0, visu_ratio, visu_height/2], [0.0, 0.0, 1.0]]) + + aoi2D_visu_scene = aoi3D_scene.project(K0) + + for name, aoi in aoi2D_visu_scene.items(): + aoi.draw(visu_frame, aoi_color[name]) + # Video and data replay loop try: @@ -109,11 +146,11 @@ def main(): closest_gaze_ts, closest_gaze_position = tobii_ts_gaze_positions.pop_first_until(video_ts) # Draw gaze position - gaze_position = (int(closest_gaze_position.gp[0] * video_frame.width), int(closest_gaze_position.gp[1] * video_frame.height)) - cv.circle(video_frame.matrix, gaze_position, 4, (0, 255, 255), -1) + video_gaze_pixel = (int(closest_gaze_position.gp[0] * video_frame.width), int(closest_gaze_position.gp[1] * video_frame.height)) + cv.circle(video_frame.matrix, video_gaze_pixel, 4, (0, 255, 255), -1) # Store gaze position at this time in millisecond - ts_gaze_positions[video_ts/1000] = gaze_position + ts_gaze_positions[round(video_ts/1000)] = video_gaze_pixel # Wait for gaze position except ValueError: @@ -123,7 +160,7 @@ def main(): aruco_tracker.track(video_frame.matrix) aruco_tracker.draw(video_frame.matrix) - # Project 3D scene related to each aruco marker + # Project 3D scene on each video frame and the visualisation frame if aruco_tracker.get_markers_number(): for (i, marker_id) in enumerate(aruco_tracker.get_markers_ids()): @@ -137,19 +174,30 @@ def main(): aoi3D_scene.rotation = aruco_tracker.get_marker_rotation(i) aoi3D_scene.translation = aruco_tracker.get_marker_translation(i) - - # Edit 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 AOI, where the distorsion is low, it is acceptable. - aoi2D_scene = aoi3D_scene.project(aruco_camera.get_K(), D0) + aoi2D_video_scene = aoi3D_scene.project(aruco_camera.get_K()) - # Draw 2D scene - aoi2D_scene.draw(video_frame.matrix, gaze_position) + # Draw 2D scene on video frame + aoi2D_video_scene.draw(video_frame.matrix, video_gaze_pixel) # Store 2D scene at this time in millisecond - ts_aois_scenes[video_ts/1000] = aoi2D_scene + ts_aois_scenes[round(video_ts/1000)] = aoi2D_video_scene + + # Draw gaze path + for name, aoi in aoi2D_video_scene.items(): + + if not aoi.looked(video_gaze_pixel): + continue + + ref_aoi = name #'Scene_Plan' + + look_at = aoi2D_video_scene[ref_aoi].look_at(video_gaze_pixel) + + visu_gaze_pixel = aoi2D_visu_scene[ref_aoi].looked_pixel(look_at) + + cv.circle(visu_frame, visu_gaze_pixel, 4, aoi_color[ref_aoi], -1) # Close window using 'Esc' key if cv.waitKey(1) == 27: @@ -158,6 +206,9 @@ def main(): # Display video cv.imshow(f'Segment {tobii_segment.get_id()} video', video_frame.matrix) + # Display visual scan frame + cv.imshow(f'Segment {tobii_segment.get_id()} visual scan', visu_frame) + # Write video output_video.write(video_frame.matrix) @@ -174,18 +225,19 @@ def main(): # End output video file output_video.close() - - print(f'\nAOIs video saved into {video_filepath}') + print(f'\nVisual scan video saved into {vs_video_filepath}') # Build visual scan based on a pointer position visual_scan = GazeFeatures.PointerBasedVisualScan(ts_aois_scenes, ts_gaze_positions) - print(f'{len(visual_scan.steps())} visual scan steps found') - # Export visual scan - visual_scan.export_as_csv(visual_scan_filepath) + # Export visual scan data + visual_scan.export_as_csv(vs_data_filepath) + print(f'Visual scan data saved into {vs_data_filepath}') - print(f'Visual scan saved into {visual_scan_filepath}') + # Export visual scan image + cv.imwrite(vs_visu_filepath, visu_frame) + print(f'Visual scan image saved into {vs_visu_filepath}') if __name__ == '__main__': |