diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/utils/README.md | 14 | ||||
| -rw-r--r-- | src/argaze/utils/export_tobii_segment_aruco_markers.py | 82 | ||||
| -rw-r--r-- | src/argaze/utils/live_tobii_aruco_rois.py | 4 |
3 files changed, 64 insertions, 36 deletions
diff --git a/src/argaze/utils/README.md b/src/argaze/utils/README.md index 64f7f88..ecb5352 100644 --- a/src/argaze/utils/README.md +++ b/src/argaze/utils/README.md @@ -60,20 +60,26 @@ python ./src/argaze/utils/explore_tobii_sdcard.py -r RECORDING_PATH python ./src/argaze/utils/explore_tobii_sdcard.py -s SEGMENT_PATH ``` +- Replay a Tobii Glasses Pro 2 session (replace SEGMENT_PATH) synchronizing video and data together. + +``` +python ./src/argaze/utils/replay_tobii_session.py -s SEGMENT_PATH +``` + - Export Tobii segment fixations (replace SEGMENT_PATH) into a fixations.json file into the segment folder ``` python ./src/argaze/utils/export_tobii_segment_fixations.py -s SEGMENT_PATH ``` -- Replay a Tobii Glasses Pro 2 session (replace SEGMENT_PATH) synchronizing video and data together. +- Track ArUco markers into a Tobii camera video segment (replace SEGMENT_PATH). Load an roi scene (replace ROI_SCENE) .obj file, position it virtually relatively to any detected ArUco markers and project the scene into camera frame. Then, detect if Tobii gaze point is inside any ROI. ``` -python ./src/argaze/utils/replay_tobii_session.py -s SEGMENT_PATH +python ./src/argaze/utils/live_tobii_aruco_rois.py -s SEGMENT_PATH -c export/tobii_camera.json -m 7.5 -r ROI_SCENE ``` -- Track any 4.5cm Original ArUco marker into calibrated Tobii camera video stream (replace IP_ADDRESS). Load an roi scene (replace ROI_SCENE) .obj file, position it virtually relatively to any detected ArUco markers and project the scene into camera frame. Then, detect if Tobii gaze point is inside any ROI. +- Track ArUco markers into Tobii camera video stream (replace IP_ADDRESS). Load an roi scene (replace ROI_SCENE) .obj file, position it virtually relatively to any detected ArUco markers and project the scene into camera frame. Then, detect if Tobii gaze point is inside any ROI. ``` -python ./src/argaze/utils/live_tobii_aruco_rois.py -t IP_ADDRESS -c export/tobii_camera.json -m 4.5 -s ROI_SCENE +python ./src/argaze/utils/live_tobii_aruco_rois.py -t IP_ADDRESS -c export/tobii_camera.json -m 7.5 -r ROI_SCENE ``` diff --git a/src/argaze/utils/export_tobii_segment_aruco_markers.py b/src/argaze/utils/export_tobii_segment_aruco_markers.py index 11c5c1b..2195169 100644 --- a/src/argaze/utils/export_tobii_segment_aruco_markers.py +++ b/src/argaze/utils/export_tobii_segment_aruco_markers.py @@ -20,6 +20,10 @@ def main(): # manage arguments parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0]) parser.add_argument('-s', '--segment_path', metavar='SEGMENT_PATH', type=str, default=None, help='segment path') + parser.add_argument('-c', '--camera_calibration', metavar='CAM_CALIB', type=str, default='tobii_camera.json', help='json camera calibration filepath') + parser.add_argument('-r', '--roi_scene', metavar='ROI_SCENE', type=str, default='roi3D_scene.obj', help='obj roi scene filepath') + parser.add_argument('-d', '--dictionary', metavar='DICT', type=str, default='DICT_ARUCO_ORIGINAL', help='aruco marker dictionnary') + parser.add_argument('-m', '--marker_size', metavar='MKR', type=float, default=6, help='aruco marker size (cm)') args = parser.parse_args() if args.segment_path != None: @@ -27,44 +31,59 @@ def main(): # Load a tobii segment tobii_segment = TobiiEntities.TobiiSegment(args.segment_path) - # create aruco camera - aruco_camera = ArUcoCamera.ArUcoCamera() - aruco_camera.load_calibration_file('/Users/Robotron/Developpements/ArGaze/export/tobii_camera.json') - - # create aruco tracker - aruco_tracker = ArUcoTracker.ArUcoTracker('DICT_ARUCO_ORIGINAL', 7.5, aruco_camera) # aruco dictionary, marker length (cm), camera - # Load a tobii segment video tobii_segment_video = tobii_segment.load_video() print(f'Video duration: {tobii_segment_video.get_duration()}, frame number: {tobii_segment_video.get_frame_number()}, width: {tobii_segment_video.get_width()}, height: {tobii_segment_video.get_height()}') - # create ROIs 3D scene + # Load a tobii segment data + tobii_segment_data = tobii_segment.load_data() + print(f'Data keys: {tobii_segment_data.keys()}') + + # Access to timestamped gaze position data buffer + tobii_ts_gaze_positions = tobii_segment_data.gidx_l_gp + print(f'{len(tobii_ts_gaze_positions)} gaze positions loaded') + + # Create aruco camera + aruco_camera = ArUcoCamera.ArUcoCamera() + aruco_camera.load_calibration_file(args.camera_calibration) + + # Create aruco tracker + aruco_tracker = ArUcoTracker.ArUcoTracker(args.dictionary, args.marker_size, aruco_camera) + + # Create ROIs 3D scene roi3D_scene = ROI3DScene.ROI3DScene() - roi3D_scene.load('/Users/Robotron/Developpements/ArGaze/export/test.obj') + roi3D_scene.load(args.roi_scene) - # replay loop + # Video and data replay loop try: - last_ts = 0 - for frame_ts, frame in tobii_segment_video.frames(): + # Iterate on video frames activating video / data synchronisation through vts data buffer + for video_ts, video_frame in tobii_segment_video.frames(tobii_segment_data.vts): + + try: - if frame_ts > last_ts: + # Get closest gaze position before video timestamp and remove all gaze positions before + closest_gaze_ts, closest_gaze_position = tobii_ts_gaze_positions.pop_first_until(video_ts) - delay = int((frame_ts - last_ts) / 1000) + # Draw video synchronized gaze pointer + pointer = (int(closest_gaze_position.gp[0] * video_frame.width), int(closest_gaze_position.gp[1] * video_frame.height)) + cv.circle(video_frame.matrix, pointer, 4, (0, 255, 255), -1) - if cv.waitKey(delay) == 27: - break + # When expected values can't be found + except (KeyError, AttributeError, ValueError): - # track markers with pose estimation and draw them - aruco_tracker.track(frame.matrix) - aruco_tracker.draw(frame.matrix) + pointer = (0,0) - # project 3D scenes related to each aruco markers + # Track markers with pose estimation and draw them + aruco_tracker.track(video_frame.matrix) + aruco_tracker.draw(video_frame.matrix) + + # 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 + # 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) @@ -72,27 +91,30 @@ def main(): roi3D_scene.set_rotation(marker_rotation) roi3D_scene.set_translation(marker_translation) - # zero distorsion matrix + # 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 ROI, where the distorsion is low, it is acceptable. roi2D_scene = roi3D_scene.project(aruco_camera.get_K(), D0) - # check if gaze is inside 2D rois - #roi2D_scene.inside(pointer) + # Check if gaze is inside 2D rois + roi2D_scene.inside(pointer) + + # Draw 2D rois + roi2D_scene.draw(video_frame.matrix) - # draw 2D rois - roi2D_scene.draw(frame.matrix) + # Close window using 'Esc' key + if cv.waitKey(1) == 27: + break - cv.imshow(f'Segment {tobii_segment.get_id()} video', frame.matrix) - last_ts = frame_ts + cv.imshow(f'Segment {tobii_segment.get_id()} video', video_frame.matrix) - # exit on 'ctrl+C' interruption + # Exit on 'ctrl+C' interruption except KeyboardInterrupt: pass - # stop frame display + # Stop frame display cv.destroyAllWindows() if __name__ == '__main__': diff --git a/src/argaze/utils/live_tobii_aruco_rois.py b/src/argaze/utils/live_tobii_aruco_rois.py index 92e8772..e8ed71f 100644 --- a/src/argaze/utils/live_tobii_aruco_rois.py +++ b/src/argaze/utils/live_tobii_aruco_rois.py @@ -23,7 +23,7 @@ def main(): parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0]) parser.add_argument('-t', '--tobii_ip', metavar='TOBII_IP', type=str, default='192.168.1.10', help='tobii glasses ip') parser.add_argument('-c', '--camera_calibration', metavar='CAM_CALIB', type=str, default='tobii_camera.json', help='json camera calibration filepath') - parser.add_argument('-s', '--roi_scene', metavar='ROI_SCENE', type=str, default='roi3D_scene.obj', help='obj roi scene filepath') + parser.add_argument('-r', '--roi_scene', metavar='ROI_SCENE', type=str, default='roi3D_scene.obj', help='obj roi scene filepath') parser.add_argument('-d', '--dictionary', metavar='DICT', type=str, default='DICT_ARUCO_ORIGINAL', help='aruco marker dictionnary') parser.add_argument('-m', '--marker_size', metavar='MKR', type=float, default=6, help='aruco marker size (cm)') args = parser.parse_args() @@ -45,7 +45,7 @@ def main(): aruco_camera.load_calibration_file(args.camera_calibration) # Create aruco tracker - aruco_tracker = ArUcoTracker.ArUcoTracker(args.dictionary, 7.5, aruco_camera) # aruco dictionary, marker length (cm), camera + aruco_tracker = ArUcoTracker.ArUcoTracker(args.dictionary, args.marker_size, aruco_camera) # Create ROIs 3D scene roi3D_scene = ROI3DScene.ROI3DScene() |