diff options
Diffstat (limited to 'src/argaze/utils/tobii_stream_arscene_display.py')
| -rw-r--r-- | src/argaze/utils/tobii_stream_arscene_display.py | 154 |
1 files changed, 0 insertions, 154 deletions
diff --git a/src/argaze/utils/tobii_stream_arscene_display.py b/src/argaze/utils/tobii_stream_arscene_display.py deleted file mode 100644 index e7a3bfb..0000000 --- a/src/argaze/utils/tobii_stream_arscene_display.py +++ /dev/null @@ -1,154 +0,0 @@ -#!/usr/bin/env python - -import argparse -import os, json - -from argaze import * -from argaze.TobiiGlassesPro2 import * -from argaze.ArUcoMarkers import * -from argaze.AreaOfInterest import * -from argaze.utils import MiscFeatures - -import cv2 as cv -import numpy - -def main(): - """ - Detect ArUcoScene into Tobii Glasses Pro 2 camera video stream. - """ - - # Manage arguments - parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0]) - parser.add_argument('-t', '--tobii_ip', metavar='TOBII_IP', type=str, default=None, help='tobii glasses ip') - parser.add_argument('-p', '--env_path', metavar='ENVIRONMENT_PATH', type=str, default=None, help='json argaze environment filepath') - parser.add_argument('-b', '--borders', metavar='BORDERS', type=float, default=16.666, help='define left and right borders mask (%) to not detect aruco out of these borders') - parser.add_argument('-d', '--debug', metavar='DEBUG', type=bool, default=False, help='Enable visualisation and console outputs') - args = parser.parse_args() - - # Create tobii controller (with auto discovery network process if no ip argument is provided) - print("Looking for a Tobii Glasses Pro 2 device ...") - - try: - - tobii_controller = TobiiController.TobiiController(args.tobii_ip) - print(f'Tobii Glasses Pro 2 device found at {tobii_controller.address} address.') - - except ConnectionError as e: - - print(e) - exit() - - # Setup camera at 25 fps to work on Full HD video stream - tobii_controller.set_scene_camera_freq_25() - - # Print current confirugration - print(f'Tobii Glasses Pro 2 configuration:') - for key, value in tobii_controller.get_configuration().items(): - print(f'\t{key}: {value}') - - # Enable tobii data stream - tobii_data_stream = tobii_controller.enable_data_stream() - - # Enable tobii video stream - tobii_video_stream = tobii_controller.enable_video_stream() - - # Load ArEnvironment - ar_env = ArFeatures.ArEnvironment.from_json(args.env_path) - - if args.debug: - print(ar_env) - - # Work with first scene only - _, ar_scene = next(iter(ar_env.items())) - - # Start streaming - tobii_controller.start_streaming() - - # Live video 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() - - # Copy video frame to edit visualisation on it without disrupting aruco detection - visu_frame = video_frame.copy() - - # Hide frame left and right borders before detection to ignore markers outside focus area - cv.rectangle(video_frame.matrix, (0, 0), (int(video_frame.width*args.borders/100), int(video_frame.height)), (0, 0, 0), -1) - cv.rectangle(video_frame.matrix, (int(video_frame.width*(1 - args.borders/100)), 0), (int(video_frame.width), int(video_frame.height)), (0, 0, 0), -1) - - # Process video and data frame - try: - - # Detect aruco markers into frame - ar_env.aruco_detector.detect_markers(video_frame.matrix) - - # Estimate markers poses - ar_env.aruco_detector.estimate_markers_pose() - - # Estimate scene pose from ArUco markers into frame. - tvec, rmat, _ = ar_scene.estimate_pose(ar_env.aruco_detector.detected_markers) - - # Project AOI scene into frame according estimated pose - aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV) - - # Draw scene axis - ar_scene.draw_axis(visu_frame.matrix) - - # Draw scene places - ar_scene.draw_places(visu_frame.matrix) - - # Draw AOI - aoi_scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255)) - - # Draw detected markers - ar_env.aruco_detector.draw_detected_markers(visu_frame.matrix) - - # Catch exceptions raised by estimate_pose and project methods - except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e: - - # Draw detected markers - ar_env.aruco_detector.draw_detected_markers(visu_frame.matrix) - - cv.rectangle(visu_frame.matrix, (0, 50), (550, 100), (127, 127, 127), -1) - cv.putText(visu_frame.matrix, str(e), (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) - - # Assess loop performance - lap_time, lap_counter, elapsed_time = loop_chrono.lap() - - # Update fps each 10 loops - if lap_counter >= 10: - - fps = 1e3 * lap_counter / elapsed_time - loop_chrono.restart() - - # Write stream timing - cv.rectangle(visu_frame.matrix, (0, 0), (700, 50), (63, 63, 63), -1) - cv.putText(visu_frame.matrix, f'Video stream time: {int(video_ts*1e-3)} ms', (20, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - cv.putText(visu_frame.matrix, f'Fps: {int(fps)}', (550, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - - cv.imshow(f'Stream ArUco AOI', visu_frame.matrix) - - # Close window using 'Esc' key - if cv.waitKey(1) == 27: - break - - # Exit on 'ctrl+C' interruption - except KeyboardInterrupt: - pass - - # Stop frame display - cv.destroyAllWindows() - - # Stop streaming - tobii_controller.stop_streaming() - -if __name__ == '__main__': - - main()
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