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-rw-r--r--src/argaze/TobiiGlassesPro2/TobiiInertialMeasureUnit.py134
-rw-r--r--src/argaze/TobiiGlassesPro2/__init__.py2
2 files changed, 135 insertions, 1 deletions
diff --git a/src/argaze/TobiiGlassesPro2/TobiiInertialMeasureUnit.py b/src/argaze/TobiiGlassesPro2/TobiiInertialMeasureUnit.py
new file mode 100644
index 0000000..e115de7
--- /dev/null
+++ b/src/argaze/TobiiGlassesPro2/TobiiInertialMeasureUnit.py
@@ -0,0 +1,134 @@
+#!/usr/bin/env python
+
+import json
+import time
+
+from argaze import DataStructures
+from argaze.TobiiGlassesPro2 import TobiiData
+
+import numpy
+
+class TobiiInertialMeasureUnit():
+ """Ease Tobbi IMU data handling."""
+
+ def __init__(self):
+ """Define IMU calibration data."""
+
+ self.__gyroscope_offset = TobiiData.Gyroscope((0., 0., 0.))
+ self.__accelerometer_offset = TobiiData.Accelerometer((0., 0., 0.))
+
+ # Define data stream acquisition variables
+ self.__data_stream_selector = ''
+ self.__data_ts_buffer = DataStructures.TimeStampedBuffer()
+ self.__data_ts_buffer_size = 0
+
+ def load_calibration_file(self, calibration_filepath):
+ """Load IMU calibration from a .json file."""
+
+ with open(calibration_filepath) as calibration_file:
+
+ # Deserialize .json
+ # TODO find a better way
+ configuration = json.load(configuration_file)
+
+ # Load calibration data
+ self.__gyroscope_offset = TobiiData.Gyroscope(configuration['gyroscope_offset'])
+ self.__accelerometer_offset = TobiiData.Accelerometer(configuration['accelerometer_offset'])
+
+ def save_calibration_file(self, calibration_filepath):
+ """Save IMU calibration into .json file."""
+
+ calibration_data = {'gyroscope_offset': self.__gyroscope_offset.value, 'accelerometer_offset': self.__accelerometer_offset.value}
+ with open(calibration_filepath, 'w', encoding='utf-8') as calibration_file:
+
+ json.dump(calibration_data, calibration_file, ensure_ascii=False, indent=4)
+
+ def get_gyroscope_offset(self):
+ """Get gyroscope offset."""
+ return self.__gyroscope_offset
+
+ def get_accelerometer_offset(self):
+ """Get accelerometer offset."""
+ return self.__accelerometer_offset
+
+ def __data_stream_callback(self, data_ts, data_object, data_object_type):
+ """Store incoming data to calibrate into timestamped buffer"""
+
+ if data_object_type == self.__data_stream_selector:
+
+ if len(self.__data_ts_buffer.keys()) < self.__data_ts_buffer_size:
+
+ self.__data_ts_buffer[data_ts / 1e3] = numpy.array(data_object.value)
+
+ def calibrate_gyroscope(self, tobii_data_stream = TobiiData.TobiiDataStream, buffer_size = 500):
+
+ # Prepare for gyroscope data acquisition
+ self.__data_stream_selector = 'Gyroscope'
+ self.__data_ts_buffer = DataStructures.TimeStampedBuffer()
+ self.__data_ts_buffer_size = buffer_size
+
+ # Subscribe to tobii data stream
+ tobii_data_stream.reading_callback = self.__data_stream_callback
+ tobii_data_stream.open()
+
+ # Share data acquisition progress
+ data_size = 0
+ while data_size < buffer_size:
+
+ time.sleep(0.1)
+
+ data_size = len(self.__data_ts_buffer.keys())
+
+ yield data_size
+
+ # Unsubscribe to tobii data stream
+ tobii_data_stream.close()
+ tobii_data_stream.reading_callback = None
+
+ # Consider gyroscope values without timestamps
+ gyroscope_values = []
+ for ts, value in self.__data_ts_buffer.items():
+ gyroscope_values.append(value)
+
+ # Calculate average value for each axis
+ gx_offset = numpy.mean(numpy.array(gyroscope_values)[:, 0])
+ gy_offset = numpy.mean(numpy.array(gyroscope_values)[:, 1])
+ gz_offset = numpy.mean(numpy.array(gyroscope_values)[:, 2])
+
+ # Store result as gyroscope value
+ self.__gyroscope_offset = TobiiData.Gyroscope((gx_offset, gy_offset, gz_offset))
+
+ def calibrate_accelerometer(self, tobii_data_stream = TobiiData.TobiiDataStream, buffer_size = 500):
+
+ # Prepare for accelerometer data acquisition
+ self.__data_stream_selector = 'Accelerometer'
+ self.__data_ts_buffer = DataStructures.TimeStampedBuffer()
+ self.__data_ts_buffer_size = buffer_size
+
+ # Subscribe to tobii data stream
+ tobii_data_stream.reading_callback = self.__data_stream_callback
+ tobii_data_stream.open()
+
+ # Share data acquisition progress
+ data_size = 0
+ while data_size < buffer_size:
+
+ time.sleep(0.1)
+
+ data_size = len(self.__data_ts_buffer.keys())
+
+ yield data_size
+
+ # Unsubscribe to tobii data stream
+ tobii_data_stream.close()
+ tobii_data_stream.reading_callback = None
+
+ # Consider accelerometer values without timestamps
+ accelerometer_values = []
+ for ts, value in self.__data_ts_buffer.items():
+ accelerometer_values.append(value)
+
+ # Calculate ?
+
+ # Store result as ?
+ #self.__accelerometer_offset = ? \ No newline at end of file
diff --git a/src/argaze/TobiiGlassesPro2/__init__.py b/src/argaze/TobiiGlassesPro2/__init__.py
index 4fc65bb..754e5a1 100644
--- a/src/argaze/TobiiGlassesPro2/__init__.py
+++ b/src/argaze/TobiiGlassesPro2/__init__.py
@@ -2,4 +2,4 @@
.. include:: README.md
"""
__docformat__ = "restructuredtext"
-__all__ = ['TobiiEntities', 'TobiiNetworkInterface', 'TobiiController', 'TobiiData', 'TobiiVideo', 'TobiiSpecifications'] \ No newline at end of file
+__all__ = ['TobiiEntities', 'TobiiNetworkInterface', 'TobiiController', 'TobiiData', 'TobiiVideo', 'TobiiSpecifications', 'TobiiInertialMeasureUnit'] \ No newline at end of file