diff options
Diffstat (limited to 'src/examples')
| -rw-r--r-- | src/examples/README.md | 35 | ||||
| -rw-r--r-- | src/examples/export_aruco_markers.py | 24 | ||||
| -rw-r--r-- | src/examples/export_calibration_board.py | 24 | ||||
| -rw-r--r-- | src/examples/tobii_argaze/roi3D_scene.obj | 67 | ||||
| -rw-r--r-- | src/examples/tobii_argaze/scene.blend | bin | 1929540 -> 0 bytes | |||
| -rw-r--r-- | src/examples/tobii_argaze/tobii_argaze.py | 180 | ||||
| -rw-r--r-- | src/examples/tobii_argaze/tobii_camera.json | 29 | ||||
| -rw-r--r-- | src/examples/tobii_camera_calibration.py | 113 |
8 files changed, 0 insertions, 472 deletions
diff --git a/src/examples/README.md b/src/examples/README.md deleted file mode 100644 index ac24dc1..0000000 --- a/src/examples/README.md +++ /dev/null @@ -1,35 +0,0 @@ -# ArGaze examples - -_All examples requires argaze package._ - -## export_aruco_markers.py - -Generates ArUco markers to place into a scene. - -## export_calibration_board.py - -Generates ArUco board to calibrate a camera. - -## tobii_camera_calibration.py - -Captures board pictures and finally outputs camera calibration data into an \_export/tobii_camera.json file. - -* Print the **A3_board_35cmx25cm_markers_4X4_3cm.pdf** file from ArUcoMarkers/utils folder on a A3 sheet to get the correct square and markers length (3 cm). -* Launch the script. -* Place the board in order to view it entirely on screen and move the camera in many configurations (orientation and distance) : the script will automatically take pictures. Do this step with a good lighting and a clear background. -* Once enough pictures have been captured (~20), press Esc key then, wait for the camera calibration processing. -* Finally, open \_export/tobii_camera.json file to see the calibration data : the rms parameter should be between 0. and 1. if the calibration suceeded (lower is better). - -## tobii_argaze - -Coordinates several tasks to : - -* Receive gaze data from Tobii glasses Pro 2, -* Detect ArUco markers inside video stream from Tobii glasses Pro 2, -* Synchronise gaze data and ArUcos detection using timestamp, -* Build 3D AR ROIs from **roi3D_scene.obj** file through ArUcos markers pose estimation and project them onto video frame coordinate system, -* Check if gaze is inside an ROI, -* Store gathered data into unified csv file for further analysis. - -The **scene.blend** file is a Blender project to build and export roi3D_scene.obj file. - diff --git a/src/examples/export_aruco_markers.py b/src/examples/export_aruco_markers.py deleted file mode 100644 index 2d55931..0000000 --- a/src/examples/export_aruco_markers.py +++ /dev/null @@ -1,24 +0,0 @@ -#!/usr/bin/env python - -""" -export_markers.py - -Author: - - Théo de la Hogue, theo.de-la-hogue@enac.fr - -""" -import os -from argaze.ArUcoMarkers import ArUcoMarkers - -# manage export folder -current_folder = os.path.dirname(__file__) -export_folder = os.path.join(current_folder, '_export/markers') -if not os.path.exists(export_folder): - os.makedirs(export_folder) - print(f'\'_export/markers\' folder created') - -# create aruco markers -aruco_markers = ArUcoMarkers.ArUcoMarkers('DICT_4X4_50') - -# export markers -aruco_markers.export_all(export_folder, 300) # destination folder, dpi diff --git a/src/examples/export_calibration_board.py b/src/examples/export_calibration_board.py deleted file mode 100644 index 24d7461..0000000 --- a/src/examples/export_calibration_board.py +++ /dev/null @@ -1,24 +0,0 @@ -#!/usr/bin/env python - -""" -export_board.py - -Author: - - Théo de la Hogue, theo.de-la-hogue@enac.fr - -""" -import os -from argaze.ArUcoMarkers import ArUcoBoard - -# 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 aruco board -aruco_board = ArUcoBoard.ArUcoBoard('DICT_4X4_50', 7, 5, 5, 3) # 7 columns, 5 rows, square size (cm), marker size (cm) - -# export aruco board -aruco_board.export(export_folder, 50) # destination folder, dpi diff --git a/src/examples/tobii_argaze/roi3D_scene.obj b/src/examples/tobii_argaze/roi3D_scene.obj deleted file mode 100644 index d0b7c51..0000000 --- a/src/examples/tobii_argaze/roi3D_scene.obj +++ /dev/null @@ -1,67 +0,0 @@ -# Blender v3.0.1 OBJ File: 'scene.blend' -# www.blender.org -o Marker_Plan -v -3.000000 -3.000000 0.000000 -v 3.000000 -3.000000 0.000000 -v -3.000000 3.000000 0.000000 -v 3.000000 3.000000 0.000000 -s off -f 1 2 4 3 -o Air_Speed_Plan.001 -v -41.971680 -4.745928 -2.684396 -v -39.497086 -4.745928 -2.684396 -v -41.971680 7.846082 -2.684396 -v -39.497086 7.846082 -2.684396 -s off -f 5 6 8 7 -o Attitude_Plan.005 -v -38.940212 -3.709124 -2.684396 -v -30.117123 -3.709124 -2.684396 -v -38.940212 6.711202 -2.684396 -v -30.117123 6.711202 -2.684396 -s off -f 9 10 12 11 -o Localiser_Plan.003 -v -38.940212 -7.889488 -2.684396 -v -30.117125 -7.889488 -2.684396 -v -38.940212 -4.223971 -2.684396 -v -30.117125 -4.223971 -2.684396 -s off -f 13 14 16 15 -o Vertical_Speed_Plan.002 -v -29.570124 -4.718364 -2.684396 -v -26.876801 -4.713788 -2.684396 -v -29.528456 7.846082 -2.684396 -v -26.835133 7.850657 -2.684396 -s off -f 17 18 20 19 -o PFD_Plan.004 -v -42.908882 -9.217942 -2.684396 -v -26.146378 -9.217942 -2.684396 -v -42.908882 14.918060 -2.684396 -v -26.146378 14.918060 -2.684396 -s off -f 21 22 24 23 -o ND_Plan.107 -v -22.813946 -9.217942 -2.684396 -v -6.051440 -9.217942 -2.684396 -v -22.813946 14.918060 -2.684396 -v -6.051440 14.918060 -2.684396 -s off -f 25 26 28 27 -o FCU_Plan.108 -v -6.507059 16.577757 26.295910 -v 50.183128 16.577757 26.295910 -v -6.507059 23.751425 26.295910 -v 50.183128 23.751425 26.295910 -s off -f 29 30 32 31 -o Exterior_Plan.006 -v -46.568127 34.893536 7.561725 -v 12.047465 39.802032 9.644265 -v -46.951084 38.173790 10.614324 -v 11.661365 43.150181 12.620070 -v 13.887004 62.445206 40.607811 -v -35.566383 52.329830 33.684719 -s off -f 33 34 36 37 38 35 diff --git a/src/examples/tobii_argaze/scene.blend b/src/examples/tobii_argaze/scene.blend Binary files differdeleted file mode 100644 index e7e5dda..0000000 --- a/src/examples/tobii_argaze/scene.blend +++ /dev/null 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')
\ No newline at end of file diff --git a/src/examples/tobii_argaze/tobii_camera.json b/src/examples/tobii_argaze/tobii_camera.json deleted file mode 100644 index b7b5108..0000000 --- a/src/examples/tobii_argaze/tobii_camera.json +++ /dev/null @@ -1,29 +0,0 @@ -{ - "rms": 0.2778430441943373, - "camera matrix": [ - [ - 567.7948916261545, - 0.0, - 477.23038710185534 - ], - [ - 0.0, - 566.2897424860757, - 288.75352250724296 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "distortion coefficients": [ - [ - 0.07351688052834335, - -0.18678684802766135, - 0.001473915039947321, - 0.0008389464646594935, - 0.13193649892597786 - ] - ] -}
\ No newline at end of file diff --git a/src/examples/tobii_camera_calibration.py b/src/examples/tobii_camera_calibration.py deleted file mode 100644 index 0e621b5..0000000 --- a/src/examples/tobii_camera_calibration.py +++ /dev/null @@ -1,113 +0,0 @@ -#!/usr/bin/env python - -""" -tobii_camera_calibration.py - -Author: - - Théo de la Hogue, theo.de-la-hogue@enac.fr - -This program: - - Captures board pictures with a full displayed board inside - - Outputs camera calibration data into a camera.json file - -Reference: - - https://automaticaddison.com/how-to-perform-pose-estimation-using-an-aruco-marker/ -""" -import os -import time - -from TobiiGlassesPro2 import TobiiController, TobiiVideo -from ArUcoMarkers import ArUcoBoard, ArUcoTracker, ArUcoCamera - -import cv2 as cv - -# 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 video thread -tobii_video_thread = TobiiVideo.TobiiVideoThread(tobii_controller) -tobii_video_thread.start() - -# create aruco camera -aruco_camera = ArUcoCamera.ArUcoCamera() - -# create aruco board -aruco_board = ArUcoBoard.ArUcoBoard('DICT_4X4_50', 7, 5, 5, 3) # 7 columns, 5 rows, square size (cm), marker size (cm) - -# create aruco tracker -aruco_tracker = ArUcoTracker.ArUcoTracker('DICT_4X4_50', 6, aruco_camera) # aruco dictionaries, marker length (cm), camera - -# start tobii glasses streaming -tobii_controller.start_streaming() - -print("Camera calibration starts") -print("Waiting for calibration board...") - -frame_width = 0 -frame_height = 0 - -expected_markers_number = len(aruco_board.get_ids()) -expected_corners_number = (aruco_board.get_size()[0] - 1 ) * (aruco_board.get_size()[1] - 1) - -# capture frame with a full displayed board -while True: - - frame, frame_width, frame_height, frame_time, frame_pts = tobii_video_thread.read() - - # track all markers in the board - aruco_tracker.track_board(frame, aruco_board, expected_markers_number) - - # draw only markers - aruco_tracker.draw(frame) - - # draw current calibration data count - cv.putText(frame, f'Capture: {aruco_camera.get_calibration_data_count()}', (50, 50), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv.LINE_AA) - cv.imshow('Tobii Camera Calibration', frame) - - # if all board corners are detected - if aruco_tracker.get_board_corners_number() == expected_corners_number: - - # draw board corners to notify a capture is done - aruco_tracker.draw_board(frame) - - # append data - aruco_camera.store_calibration_data(aruco_tracker.get_board_corners(), aruco_tracker.get_board_corners_ids()) - - cv.imshow(f'Tobii Camera Calibration', frame) - - time.sleep(2) - - # quit on 'Esc' command - key = cv.waitKey(1) - if key == 27: - cv.destroyAllWindows() - break - -# stop tobii objects -tobii_video_thread.stop() - -tobii_controller.stop_streaming() -tobii_controller.close() - -print('\nCalibrating camera...') -aruco_camera.calibrate(aruco_board, frame_width, frame_height) - -print('\nCalibration succeeded!') -print(f'\nRMS:\n{aruco_camera.get_rms()}') -print(f'\nCamera matrix:\n{aruco_camera.get_K()}') -print(f'\nDistortion coefficients:\n{aruco_camera.get_D()}') - -aruco_camera.save_calibration_file(os.join(export_folder,'tobii_camera.json')) - -print(f'\nCalibration data exported into tobii_camera.json file') - |