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Diffstat (limited to 'src/examples/tobii_argaze/tobii_argaze.py')
| -rw-r--r-- | src/examples/tobii_argaze/tobii_argaze.py | 180 |
1 files changed, 0 insertions, 180 deletions
diff --git a/src/examples/tobii_argaze/tobii_argaze.py b/src/examples/tobii_argaze/tobii_argaze.py deleted file mode 100644 index 8193a03..0000000 --- a/src/examples/tobii_argaze/tobii_argaze.py +++ /dev/null @@ -1,180 +0,0 @@ -#!/usr/bin/env python - -""" -tobii_argaze.py - -Author: - - Théo de la Hogue, theo.de-la-hogue@enac.fr - -""" -import os - -from argaze.ArUcoMarkers import ArUcoTracker, ArUcoCamera -from argaze.RegionOfInterest import * -from argaze.TobiiGlassesPro2 import * - -import cv2 as cv -import pandas -import matplotlib.pyplot as mpyplot -import matplotlib.patches as mpatches - -# tobii glasses ip address -ip_address = '192.168.1.10' - -# manage export folder -current_folder = os.path.dirname(__file__) -export_folder = os.path.join(current_folder, '_export') -if not os.path.exists(export_folder): - os.makedirs(export_folder) - print(f'\'_export\' folder created') - -# create tobii controller -tobii_controller = TobiiController.TobiiController(ip_address, 'ArGaze', 1) - -# create tobii data thread -tobii_data_thread = TobiiData.TobiiDataThread(tobii_controller) -tobii_data_thread.start() - -# create tobii video thread -tobii_video_thread = TobiiVideo.TobiiVideoThread(tobii_controller) -tobii_video_thread.start() - -# create aruco camera -aruco_camera = ArUcoCamera.ArUcoCamera() -aruco_camera.load_calibration_file('tobii_camera.json') - -# create aruco tracker -aruco_tracker = ArUcoTracker.ArUcoTracker('DICT_4X4_50', 6, aruco_camera) # aruco dictionaries, marker length (cm), camera - -# create ROIs 3D scene -roi3D_scene = ROI3DScene.ROI3DScene() -roi3D_scene.load('roi3D_scene.obj') - -# start tobii glasses streaming -tobii_controller.start_streaming() - -# process video frames -last_frame_time = 0 -roi2D_buffer = [] -marker_buffer = [] - -while True: - - frame, frame_width, frame_height, frame_time, pts = tobii_video_thread.read() - - # draw tobii gaze - # TODO : sync gaze data according frame pts - gp_data = tobii_data_thread.read_gaze_data(pts) - if 'TIMESTAMP' in gp_data: - pointer = (int(gp_data['X'] * frame_width), int(gp_data['Y'] * frame_height)) - cv.circle(frame, pointer, 4, (0, 255, 255), -1) - else: - pointer = (0, 0) - - # track markers with pose estimation and draw them - aruco_tracker.track(frame) - aruco_tracker.draw(frame) - - # project 3D scenes related to each aruco markers - if aruco_tracker.get_markers_number(): - - for (i, marker_id) in enumerate(aruco_tracker.get_markers_ids()): - - # TODO : select different 3D scenes depending on aruco id - - marker_rotation = aruco_tracker.get_marker_rotation(i) - marker_translation = aruco_tracker.get_marker_translation(i) - - roi3D_scene.set_rotation(marker_rotation) - roi3D_scene.set_translation(marker_translation) - - # 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 ROI, where the distorsion is low, it is acceptable. - roi2D_scene = roi3D_scene.project(frame, aruco_camera, False) - - # check if gaze is inside 2D rois - roi2D_scene.inside(pointer) - - # draw 2D rois - roi2D_scene.draw(frame) - - # store roi2D into buffer - for roi2D in roi2D_scene: - roi2D['TIME'] = frame_time - del roi2D['VERTICES'] - roi2D_buffer.append(roi2D) - - # store marker into buffer - marker = { - 'TIME': frame_time, - 'ID': i, - 'X': marker_translation[0][0], - 'Y': marker_translation[0][1], - 'Z': marker_translation[0][2] - } - marker_buffer.append(marker) - - cv.imshow(f'Live Scene', frame) - - # quit on 'Esc' command - key = cv.waitKey(1) - if key == 27: - cv.destroyAllWindows() - last_frame_time = frame_time - break - -# stop tobii objects -tobii_video_thread.stop() -tobii_data_thread.stop() - -tobii_controller.stop_streaming() -tobii_controller.close() - -# create a pandas DataFrame for each buffer -ac_dataframe = pandas.DataFrame(tobii_data_thread.read_accelerometer_buffer(), columns=['TIMESTAMP', 'TIME', 'X', 'Y', 'Z']) -gy_dataframe = pandas.DataFrame(tobii_data_thread.read_gyroscope_buffer(), columns=['TIMESTAMP', 'TIME', 'X', 'Y', 'Z']) -gp_dataframe = pandas.DataFrame(tobii_data_thread.read_gaze_buffer(), columns=['TIMESTAMP', 'TIME', 'X', 'Y']) -data_pts_dataframe = pandas.DataFrame(tobii_data_thread.read_pts_buffer(), columns=['TIMESTAMP', 'TIME', 'PTS']) -video_pts_dataframe = pandas.DataFrame(tobii_video_thread.read_pts_buffer(), columns=['TIME', 'PTS']) -roi2D_dataframe = pandas.DataFrame(roi2D_buffer, columns=['TIME', 'NAME', 'POINTER_INSIDE']) -marker_dataframe = pandas.DataFrame(marker_buffer, columns=['TIME', 'ID', 'X', 'Y', 'Z']) - -# export all data frames -ac_dataframe.to_csv(f'{export_folder}/accelerometer.csv', index=False) -gy_dataframe.to_csv(f'{export_folder}/gyroscope.csv', index=False) -gp_dataframe.to_csv(f'{export_folder}/gaze.csv', index=False) -data_pts_dataframe.to_csv(f'{export_folder}/data_pts.csv', index=False) -video_pts_dataframe.to_csv(f'{export_folder}/video_pts.csv', index=False) -roi2D_dataframe.to_csv(f'{export_folder}/rois.csv', index=False) -marker_dataframe.to_csv(f'{export_folder}/markers.csv', index=False) - -# edit figure -figure = mpyplot.figure(figsize=(int(last_frame_time), 5)) - -# plot gaze data -subplot = figure.add_subplot(211) -subplot.set_title('Gaze') - -subplot = gp_dataframe.plot(x='TIME', y='X', xlim=(0, last_frame_time), ax=subplot, color='#276FB6', xlabel='Time (s)', ylabel='X (normalized)', legend=False) -subplot = gp_dataframe.plot(x='TIME', y='Y', xlim=(0, last_frame_time), ax=subplot.twinx(), color='#9427B6', xlabel='Time (s)', ylabel='Y (normalized)', legend=False) - -x_patch = mpatches.Patch(color='#276FB6', label='X') -y_speed_patch = mpatches.Patch(color='#9427B6', label='Y') -subplot.legend(handles=[x_patch, y_speed_patch], loc='upper left') - - -# plot maker position data -subplot = figure.add_subplot(212) -subplot.set_title('Marker') - -subplot = marker_dataframe.plot(x='TIME', y='X', xlim=(0, last_frame_time), ax=subplot, color='#276FB6', xlabel='Time (s)', ylabel='X (cm)', legend=False) -subplot = marker_dataframe.plot(x='TIME', y='Y', xlim=(0, last_frame_time), ax=subplot.twinx(), color='#9427B6', xlabel='Time (s)', ylabel='Y (cm)', legend=False) - -x_patch = mpatches.Patch(color='#276FB6', label='X') -y_speed_patch = mpatches.Patch(color='#9427B6', label='Y') -subplot.legend(handles=[x_patch, y_speed_patch], loc='upper left') - -# export figure -mpyplot.tight_layout() -mpyplot.savefig(f'{export_folder}/visualisation.svg') -mpyplot.close('all')
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