diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/utils/tobii_segment_arscene_edit.py | 26 | ||||
| -rw-r--r-- | src/argaze/utils/tobii_segment_arscene_export.py | 17 | ||||
| -rw-r--r-- | src/argaze/utils/tobii_segment_aruco_aoi_export.py | 343 | ||||
| -rw-r--r-- | src/argaze/utils/tobii_stream_arscene_display.py | 142 | ||||
| -rw-r--r-- | src/argaze/utils/tobii_stream_aruco_aoi_display.py | 311 | ||||
| -rw-r--r-- | src/argaze/utils/tobii_stream_aruco_cube_display.py | 360 |
6 files changed, 173 insertions, 1026 deletions
diff --git a/src/argaze/utils/tobii_segment_arscene_edit.py b/src/argaze/utils/tobii_segment_arscene_edit.py index 2a059aa..b4f5445 100644 --- a/src/argaze/utils/tobii_segment_arscene_edit.py +++ b/src/argaze/utils/tobii_segment_arscene_edit.py @@ -141,8 +141,16 @@ def main(): cv.rectangle(video_frame.matrix, (0, 0), (int(video_frame.width/6), int(video_frame.height)), (0, 0, 0), -1) cv.rectangle(video_frame.matrix, (int(video_frame.width*(1 - 1/6)), 0), (int(video_frame.width), int(video_frame.height)), (0, 0, 0), -1) - # Track markers with pose estimation - ar_scene.aruco_tracker.track(video_frame.matrix) + try: + + # Estimate scene pose from ArUco markers into frame. + tvec, rmat, _ = ar_scene.estimate_pose(video_frame.matrix) + + # Catch exceptions raised by estimate_pose method + except ArScene.PoseEstimationFailed as e: + + cv.rectangle(visu_frame.matrix, (0, 100), (550, 150), (127, 127, 127), -1) + cv.putText(visu_frame.matrix, str(e), (20, 130), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) else: @@ -154,14 +162,22 @@ def main(): # Copy video frame to edit visualisation on it with out disrupting aruco tracking visu_frame = video_frame.copy() - # Project scene into frame - scene_projection = ar_scene.project(video_frame.matrix, consistent_markers_number=1, visual_hfov=TobiiSpecifications.VISUAL_HFOV, pre_tracked_markers=True) + try: + + # Project AOI scene into frame according estimated pose + aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV) + + # Catch exceptions raised by project method + except ArScene.SceneProjectionFailed as e: + + cv.rectangle(visu_frame.matrix, (0, 100), (550, 150), (127, 127, 127), -1) + cv.putText(visu_frame.matrix, str(e), (20, 130), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) # Draw tracked markers ar_scene.aruco_tracker.draw_tracked_markers(visu_frame.matrix) # Draw scene projection - scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255)) + aoi_scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255)) # Project 3D scene on each video frame and the visualisation frame if len(ar_scene.aruco_tracker.tracked_markers) > 0: diff --git a/src/argaze/utils/tobii_segment_arscene_export.py b/src/argaze/utils/tobii_segment_arscene_export.py index 3deb7b1..c4e45ea 100644 --- a/src/argaze/utils/tobii_segment_arscene_export.py +++ b/src/argaze/utils/tobii_segment_arscene_export.py @@ -145,21 +145,24 @@ def main(): 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) - # Project scene into frame - scene_projection = ar_scene.project(video_frame.matrix, consistent_markers_number=1, visual_hfov=TobiiSpecifications.VISUAL_HFOV) + # Estimate scene pose from ArUco markers into frame. + tvec, rmat, _ = ar_scene.estimate_pose(video_frame.matrix) + + # Project AOI scene into frame according estimated pose + aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV) # Store all projected aoi - for aoi_name in scene_projection.keys(): + for aoi_name in aoi_scene_projection.keys(): - projected_aois[aoi_name] = numpy.rint(scene_projection[aoi_name]).astype(int) + projected_aois[aoi_name] = numpy.rint(aoi_scene_projection[aoi_name]).astype(int) # Draw tracked markers ar_scene.aruco_tracker.draw_tracked_markers(visu_frame.matrix) - # Draw scene projection - scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255)) + # Draw AOI + aoi_scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255)) - # Catch exceptions raised by project_scene method + # Catch exceptions raised by estimate_pose and project methods except (ArScene.PoseEstimationFailed, ArScene.SceneProjectionFailed) as e: # Draw tracked markers diff --git a/src/argaze/utils/tobii_segment_aruco_aoi_export.py b/src/argaze/utils/tobii_segment_aruco_aoi_export.py deleted file mode 100644 index 2d1013a..0000000 --- a/src/argaze/utils/tobii_segment_aruco_aoi_export.py +++ /dev/null @@ -1,343 +0,0 @@ -#!/usr/bin/env python - -import argparse -import os -import json - -from argaze import DataStructures -from argaze import GazeFeatures -from argaze.TobiiGlassesPro2 import TobiiEntities, TobiiData, TobiiVideo, TobiiSpecifications -from argaze.ArUcoMarkers import * -from argaze.AreaOfInterest import * -from argaze.utils import MiscFeatures - -import numpy -import cv2 as cv - -def main(): - """ - Track ArUco markers into Tobii Glasses Pro 2 segment video file. - For each loaded AOI scene .obj file, position the scene virtually relatively to each detected ArUco markers and project the scene into camera frame. - Export AOIs video and data as a aruco_aoi.csv, aruco_aoi.mp4 files - """ - - # 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('-r', '--time_range', metavar=('START_TIME', 'END_TIME'), nargs=2, type=float, default=(0., None), help='start and end time (in second)') - parser.add_argument('-c', '--camera_calibration', metavar='CAM_CALIB', type=str, default=None, help='json camera calibration filepath') - parser.add_argument('-p', '--aruco_tracker_configuration', metavar='TRACK_CONFIG', type=str, default=None, help='json aruco tracker configuration filepath') - parser.add_argument('-md', '--marker_dictionary', metavar='MARKER_DICT', type=ArUcoMarkersDictionary.ArUcoMarkersDictionary, default='DICT_ARUCO_ORIGINAL', help='aruco marker dictionnary (DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL, DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11)') - parser.add_argument('-ms', '--marker_size', metavar='MARKER_SIZE', type=float, default=6, help='aruco marker size (cm)') - parser.add_argument('-mi', '--marker_id_scene', metavar='MARKER_ID_SCENE', type=json.loads, help='{"marker": "aoi scene filepath"} dictionary') - parser.add_argument('-o', '--output', metavar='OUT', type=str, default=None, help='destination folder path (segment folder by default)') - parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction) - args = parser.parse_args() - - if args.segment_path != None: - - # Manage markers id to track - if args.marker_id_scene == None: - print(f'Track any Aruco markers from the {args.marker_dictionary.name} dictionary') - else: - print(f'Track Aruco markers {list(args.marker_id_scene.keys())} from the {args.marker_dictionary.name} dictionary') - - # Manage destination path - destination_path = '.' - if args.output != None: - - if not os.path.exists(os.path.dirname(args.output)): - - os.makedirs(os.path.dirname(args.output)) - print(f'{os.path.dirname(args.output)} folder created') - - destination_path = args.output - - else: - - destination_path = args.segment_path - - # Export into a dedicated time range folder - if args.time_range[1] != None: - timerange_path = f'[{int(args.time_range[0])}s - {int(args.time_range[1])}s]' - else: - timerange_path = f'[all]' - - destination_path = f'{destination_path}/{timerange_path}' - - if not os.path.exists(destination_path): - - os.makedirs(destination_path) - print(f'{destination_path} folder created') - - vs_data_filepath = f'{destination_path}/aoi.csv' - vs_video_filepath = f'{destination_path}/aoi.mp4' - - # Load a tobii segment - tobii_segment = TobiiEntities.TobiiSegment(args.segment_path, int(args.time_range[0] * 1e6), int(args.time_range[1] * 1e6) if args.time_range[1] != None else None) - - # Load a tobii segment video - tobii_segment_video = tobii_segment.load_video() - print(f'Video properties:\n\tduration: {tobii_segment_video.duration/1e6} s\n\twidth: {tobii_segment_video.width} px\n\theight: {tobii_segment_video.height} px') - - # Load a tobii segment data - tobii_segment_data = tobii_segment.load_data() - - print(f'Loaded data count:') - for name in tobii_segment_data.keys(): - print(f'\t{name}: {len(tobii_segment_data[name])} data') - - # Access to video timestamp data buffer - tobii_ts_vts = tobii_segment_data['VideoTimeStamp'] - - # Access to timestamped head rotations data buffer - tobii_ts_head_rotations = tobii_segment_data['Gyroscope'] - - # Prepare video exportation at the same format than segment video - output_video = TobiiVideo.TobiiVideoOutput(vs_video_filepath, tobii_segment_video.stream) - - # Create aruco camera - aruco_camera = ArUcoCamera.ArUcoCamera() - - # Load calibration file - if args.camera_calibration != None: - - aruco_camera.from_json(args.camera_calibration) - - else: - - raise UserWarning('.json camera calibration filepath required. Use -c option.') - - # Create aruco tracker - aruco_tracker = ArUcoTracker.ArUcoTracker(args.marker_dictionary, args.marker_size, aruco_camera) - - # Load specific configuration file - if args.aruco_tracker_configuration != None: - - aruco_tracker.load_configuration_file(args.aruco_tracker_configuration) - - print(f'ArUcoTracker configuration for {args.marker_dictionary.format} markers detection:') - aruco_tracker.print_configuration() - - # Load AOI 3D scene for each marker and create a AOI 2D scene and frame when a 'Visualisation_Plan' AOI exist - aoi3D_scenes = {} - aoi2D_visu_scenes = {} - all_aois_names = [] - - if args.marker_id_scene != None: - - for marker_id, aoi_scene_filepath in args.marker_id_scene.items(): - - marker_id = int(marker_id) - - aoi3D_scenes[marker_id] = AOI3DScene.AOI3DScene() - aoi3D_scenes[marker_id].load(aoi_scene_filepath) - - print(f'AOI in {os.path.basename(aoi_scene_filepath)} scene related to marker #{marker_id}:') - for aoi in aoi3D_scenes[marker_id].keys(): - - print(f'\t{aoi}') - - # Store aoi name once - if aoi not in all_aois_names: - all_aois_names.append(aoi) - - def aoi3D_scene_selector(marker_id): - return aoi3D_scenes.get(marker_id, None) - - # Create timestamped buffer to store AOIs and primary time stamp offset - ts_offset_aois = DataStructures.TimeStampedBuffer() - - # Video and data replay loop - try: - - # Initialise progress bar - MiscFeatures.printProgressBar(0, tobii_segment_video.duration/1e3, prefix = 'Progress:', suffix = 'Complete', length = 100) - - head_moving = False - head_movement_last = 0. - - # Iterate on video frames - for video_ts, video_frame in tobii_segment_video.frames(): - - video_ts_ms = video_ts / 1e3 - - # Copy video frame to edit visualisation on it without disrupting aruco tracking - visu_frame = video_frame.copy() - - # Process video and data frame - try: - - # Get nearest video timestamp - _, nearest_vts = tobii_ts_vts.get_last_before(video_ts) - - # Edit dictionary to store 2D aoi with primary timestamp offset and warning - all_aoi2D = { - 'offset': nearest_vts.offset, - 'warning': None - } - - # Get nearest head rotation before video timestamp and remove all head rotations before - _, nearest_head_rotation = tobii_ts_head_rotations.pop_last_before(video_ts) - - # Calculate head movement considering only head yaw and pitch - head_movement = numpy.array(nearest_head_rotation.value) - head_movement_px = head_movement.astype(int) - head_movement_norm = numpy.linalg.norm(head_movement[0:2]) - - # Draw movement vector - cv.line(visu_frame.matrix, (int(visu_frame.width/2), int(visu_frame.height/2)), (int(visu_frame.width/2) + head_movement_px[1], int(visu_frame.height/2) - head_movement_px[0]), (150, 150, 150), 3) - - # Head movement detection hysteresis - # TODO : pass the threshold value as argument - if not head_moving and head_movement_norm > 50: - head_moving = True - - if head_moving and head_movement_norm < 10: - head_moving = False - - # When head is moving, ArUco tracking could return bad pose estimation and so bad AOI scene projection - if head_moving: - - all_aoi2D['warning'] = 'Head is moving' - - ts_offset_aois[video_ts] = all_aoi2D - - raise UserWarning('Head is moving') - - # Hide frame left and right borders before tracking to ignore markers outside focus area - cv.rectangle(video_frame.matrix, (0, 0), (int(video_frame.width/6), int(video_frame.height)), (0, 0, 0), -1) - cv.rectangle(video_frame.matrix, (int(video_frame.width*(1 - 1/6)), 0), (int(video_frame.width), int(video_frame.height)), (0, 0, 0), -1) - - # Track markers with pose estimation and draw them - aruco_tracker.track(video_frame.matrix) - aruco_tracker.draw_tracked_markers(visu_frame.matrix) - - # When no marker is detected, no AOI scene projection can't be done - if len(aruco_tracker.tracked_markers) == 0: - - all_aoi2D['warning'] = 'No marker detected' - - ts_offset_aois[video_ts] = all_aoi2D - - raise UserWarning('No marker detected') - - # Store aoi 2D video for further scene merging - aoi2D_dict = {} - - # Project 3D scene on each video frame and the visualisation frame - for (marker_id, marker) in aruco_tracker.tracked_markers.items(): - - # Copy 3D scene related to detected marker - aoi3D_scene = aoi3D_scene_selector(marker_id) - - if aoi3D_scene == None: - continue - - # Transform scene into camera referential - aoi3D_camera = aoi3D_scene.transform(marker.translation, marker.rotation) - - # Get aoi inside vision cone field - cone_vision_height_cm = 200 # cm - cone_vision_radius_cm = numpy.tan(numpy.deg2rad(TobiiSpecifications.VISUAL_HFOV / 2)) * cone_vision_height_cm - - aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(cone_vision_radius_cm, cone_vision_height_cm) - - # Keep only aoi inside vision cone field - aoi3D_scene = aoi3D_scene.copy(exclude=aoi3D_outside.keys()) - - # 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 AOI, where the distorsion is low, it is acceptable. - aoi2D_video_scene = aoi3D_scene.project(marker.translation, marker.rotation, aruco_camera.K) - - # Store each 2D aoi for further scene merging - for name, aoi in aoi2D_video_scene.items(): - - if name not in aoi2D_dict.keys(): - aoi2D_dict[name] = [] - - aoi2D_dict[name].append(aoi.clockwise()) - - # Merge all 2D aoi into a single 2D scene - aoi2D_merged_scene = AOI2DScene.AOI2DScene() - for name, aoi_array in aoi2D_dict.items(): - aoi2D_merged_scene[name] = AOIFeatures.AreaOfInterest(numpy.sum(aoi_array, axis=0) / len(aoi_array)) - - aoi2D_merged_scene.draw(visu_frame.matrix, (0, 0)) - - # Store all 2D aoi - for aoi_name in aoi2D_merged_scene.keys(): - - all_aoi2D[aoi_name] = numpy.rint(aoi2D_merged_scene[aoi_name]).astype(int) - - ts_offset_aois[video_ts] = all_aoi2D - - # Warn user when the merged scene is empty - if len(aoi2D_merged_scene.keys()) == 0: - - raise UserWarning('Scene is empty') - - # Write warning - except UserWarning as w: - - cv.rectangle(visu_frame.matrix, (0, 50), (550, 100), (127, 127, 127), -1) - cv.putText(visu_frame.matrix, str(w), (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA) - - # Raised when timestamped buffer is empty - except KeyError: - pass - - # Draw focus area - cv.rectangle(visu_frame.matrix, (int(video_frame.width/6), 0), (int(visu_frame.width*(1-1/6)), int(visu_frame.height)), (255, 150, 150), 1) - - # Draw center - cv.line(visu_frame.matrix, (int(visu_frame.width/2) - 50, int(visu_frame.height/2)), (int(visu_frame.width/2) + 50, int(visu_frame.height/2)), (255, 150, 150), 1) - cv.line(visu_frame.matrix, (int(visu_frame.width/2), int(visu_frame.height/2) - 50), (int(visu_frame.width/2), int(visu_frame.height/2) + 50), (255, 150, 150), 1) - - # Write segment timing - cv.rectangle(visu_frame.matrix, (0, 0), (550, 50), (63, 63, 63), -1) - cv.putText(visu_frame.matrix, f'Segment time: {int(video_ts_ms)} ms', (20, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - - if args.window: - - # Close window using 'Esc' key - if cv.waitKey(1) == 27: - break - - # Display visualisation - cv.imshow(f'Segment {tobii_segment.id} ArUco AOI', visu_frame.matrix) - - # Write video - output_video.write(visu_frame.matrix) - - # Update Progress Bar - progress = video_ts_ms - int(args.time_range[0] * 1e3) - MiscFeatures.printProgressBar(progress, tobii_segment_video.duration/1e3, prefix = 'Progress:', suffix = 'Complete', length = 100) - - # Exit on 'ctrl+C' interruption - except KeyboardInterrupt: - pass - - # Stop frame display - cv.destroyAllWindows() - - # End output video file - output_video.close() - - # Print aruco tracking metrics - print('\nAruco marker tracking metrics') - try_count, tracked_counts = aruco_tracker.track_metrics - - for marker_id, tracked_count in tracked_counts.items(): - print(f'Markers {marker_id} has been detected in {tracked_count} / {try_count} frames ({round(100 * tracked_count / try_count, 2)} %)') - - # Export aruco aoi data - ts_offset_aois.as_dataframe().to_csv(vs_data_filepath, index=True) - print(f'Aruco AOI data saved into {vs_data_filepath}') - - # Notify when the aruco aoi video has been exported - print(f'Aruco AOI video saved into {vs_video_filepath}') - -if __name__ == '__main__': - - main()
\ No newline at end of file diff --git a/src/argaze/utils/tobii_stream_arscene_display.py b/src/argaze/utils/tobii_stream_arscene_display.py new file mode 100644 index 0000000..e364e8e --- /dev/null +++ b/src/argaze/utils/tobii_stream_arscene_display.py @@ -0,0 +1,142 @@ +#!/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(): + """ + Track 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', '--project_path', metavar='ARGAZE_PROJECT', type=str, default=None, help='json argaze project filepath') + parser.add_argument('-b', '--borders', metavar='BORDERS', type=float, default=16.666, help='define left and right borders mask (%) to not track aruco out of these borders') + parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction) + 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 ar scene + ar_scene = ArScene.ArScene.from_json(args.project_path) + + print('\n') + print(ar_scene) + + # 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 tracking + visu_frame = video_frame.copy() + + # Process video and data frame + try: + + # Hide frame left and right borders before tracking 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) + + # Estimate scene pose from ArUco markers into frame. + tvec, rmat, _ = ar_scene.estimate_pose(video_frame.matrix) + + # 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 AOI + aoi_scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255)) + + # Draw tracked markers + ar_scene.aruco_tracker.draw_tracked_markers(visu_frame.matrix) + + # Catch exceptions raised by estimate_pose and project methods + except (ArScene.PoseEstimationFailed, ArScene.SceneProjectionFailed) as e: + + # Draw tracked markers + ar_scene.aruco_tracker.draw_tracked_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()
\ No newline at end of file diff --git a/src/argaze/utils/tobii_stream_aruco_aoi_display.py b/src/argaze/utils/tobii_stream_aruco_aoi_display.py deleted file mode 100644 index 7eb5196..0000000 --- a/src/argaze/utils/tobii_stream_aruco_aoi_display.py +++ /dev/null @@ -1,311 +0,0 @@ -#!/usr/bin/env python - -import argparse -import os, json - -from argaze import DataStructures -from argaze import GazeFeatures -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(): - """ - Track any ArUco marker into Tobii Glasses Pro 2 camera video stream. - For each loaded AOI scene .obj file, position the scene virtually relatively to each detected ArUco markers and project the scene into camera frame. - """ - - # 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('-c', '--camera_calibration', metavar='CAM_CALIB', type=str, default=None, help='json camera calibration filepath') - parser.add_argument('-p', '--aruco_tracker_configuration', metavar='TRACK_CONFIG', type=str, default=None, help='json aruco tracker configuration filepath') - parser.add_argument('-md', '--marker_dictionary', metavar='MARKER_DICT', type=ArUcoMarkersDictionary.ArUcoMarkersDictionary, default='DICT_ARUCO_ORIGINAL', help='aruco marker dictionnary (DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11)') - parser.add_argument('-ms', '--marker_size', metavar='MARKER_SIZE', type=float, default=6, help='aruco marker size (cm)') - parser.add_argument('-mi', '--marker_id_scene', metavar='MARKER_ID_SCENE', type=json.loads, help='{"marker": "aoi scene filepath"} dictionary') - parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction) - args = parser.parse_args() - - # Manage markers id to track - if args.marker_id_scene == None: - print(f'Track any Aruco markers from the {args.marker_dictionary.name} dictionary') - else: - print(f'Track Aruco markers {list(args.marker_id_scene.keys())} from the {args.marker_dictionary.name} dictionary') - - # 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() - - # Create aruco camera - aruco_camera = ArUcoCamera.ArUcoCamera() - - # Load calibration file - if args.camera_calibration != None: - - aruco_camera.load_calibration_file(args.camera_calibration) - - else: - - raise UserWarning('.json camera calibration filepath required. Use -c option.') - - # Create aruco tracker - aruco_tracker = ArUcoTracker.ArUcoTracker(args.marker_dictionary, args.marker_size, aruco_camera) - - # Load specific configuration file - if args.aruco_tracker_configuration != None: - - aruco_tracker.load_configuration_file(args.aruco_tracker_configuration) - - print(f'ArUcoTracker configuration for {args.marker_dictionary.name} markers detection:') - aruco_tracker.print_configuration() - - # Load AOI 3D scene for each marker and create a AOI 2D scene and frame when a 'Visualisation_Plan' AOI exist - aoi3D_scenes = {} - aoi2D_visu_scenes = {} - - if args.marker_id_scene != None: - - for marker_id, aoi_scene_filepath in args.marker_id_scene.items(): - - marker_id = int(marker_id) - - aoi3D_scenes[marker_id] = AOI3DScene.AOI3DScene() - aoi3D_scenes[marker_id].load(aoi_scene_filepath) - - print(f'AOI in {os.path.basename(aoi_scene_filepath)} scene related to marker #{marker_id}:') - for aoi in aoi3D_scenes[marker_id].keys(): - - print(f'\t{aoi}') - - def aoi3D_scene_selector(marker_id): - return aoi3D_scenes.get(marker_id, None) - - # Create timestamped buffer to store AOIs scene in time - ts_aois_scenes = AOIFeatures.TimeStampedAOIScenes() - - # Init head movement - head_movement_px = numpy.array((0, 0)) - head_movement_norm = 0 - - # Init data timestamped in millisecond - data_ts_ms = 0 - - # Assess temporal performance - loop_chrono = MiscFeatures.TimeProbe() - gyroscope_chrono = MiscFeatures.TimeProbe() - - loop_ps = 0 - gyroscope_ps = 0 - - def data_stream_callback(data_ts, data_object, data_object_type): - - nonlocal head_movement_px - nonlocal head_movement_norm - nonlocal data_ts_ms - nonlocal gyroscope_chrono - - data_ts_ms = data_ts / 1e3 - - match data_object_type: - - case 'Gyroscope': - - # Assess gyroscope stream performance - gyroscope_chrono.lap() - - # Calculate head movement considering only head yaw and pitch - head_movement = numpy.array(data_object.value) - head_movement_px = head_movement.astype(int) - head_movement_norm = numpy.linalg.norm(head_movement[0:2]) - - tobii_data_stream.reading_callback = data_stream_callback - - # Start streaming - tobii_controller.start_streaming() - - # Live video stream capture loop - try: - - # Assess loop performance - loop_chrono = MiscFeatures.TimeProbe() - fps = 0 - - # Detect head movement - head_moving = False - head_movement_last = 0. - - while tobii_video_stream.is_alive(): - - # Read video stream - video_ts, video_frame = tobii_video_stream.read() - video_ts_ms = video_ts / 1e3 - - # Copy video frame to edit visualisation on it without disrupting aruco tracking - visu_frame = video_frame.copy() - - # Process video and data frame - try: - - # Head movement detection hysteresis - # TODO : pass the threshold value as argument - if not head_moving and head_movement_norm > 50: - head_moving = True - - if head_moving and head_movement_norm < 10: - head_moving = False - - # When head is moving, ArUco tracking could return bad pose estimation and so bad AOI scene projection - if head_moving: - - ts_aois_scenes[round(video_ts_ms)] = AOI2DScene.AOI2DScene() - - raise UserWarning('Head is moving') - - # Hide frame left and right borders before tracking to ignore markers outside focus area - cv.rectangle(video_frame.matrix, (0, 0), (int(video_frame.width/6), int(video_frame.height)), (0, 0, 0), -1) - cv.rectangle(video_frame.matrix, (int(video_frame.width*(1 - 1/6)), 0), (int(video_frame.width), int(video_frame.height)), (0, 0, 0), -1) - - # Track markers with pose estimation and draw them - aruco_tracker.track(video_frame.matrix) - aruco_tracker.draw_tracked_markers(visu_frame.matrix) - - # When no marker is detected, no AOI scene projection can't be done - if aruco_tracker.tracked_markers_number == 0: - - ts_aois_scenes[round(video_ts_ms)] = AOI2DScene.AOI2DScene() - - raise UserWarning('No marker detected') - - # Store aoi 2D video for further scene merging - aoi2D_dict = {} - - # Project 3D scene on each video frame and the visualisation frame - for marker_id, marker in aruco_tracker.tracked_markers.items(): - - # Copy 3D scene related to detected marker - aoi3D_scene = aoi3D_scene_selector(marker_id) - - if aoi3D_scene == None: - continue - - # Transform scene into camera referential - aoi3D_camera = aoi3D_scene.transform(marker.translation, marker.rotation) - - # Get aoi inside vision cone field - cone_vision_height_cm = 200 # cm - cone_vision_radius_cm = numpy.tan(numpy.deg2rad(TobiiSpecifications.VISUAL_HFOV / 2)) * cone_vision_height_cm - - aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(cone_vision_radius_cm, cone_vision_height_cm) - - # Keep only aoi inside vision cone field - aoi3D_scene = aoi3D_scene.copy(exclude=aoi3D_outside.keys()) - - # 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 AOI, where the distorsion is low, it is acceptable. - aoi2D_video_scene = aoi3D_scene.project(marker.translation, marker.rotation, aruco_camera.K) - - # Store each 2D aoi for further scene merging - for name, aoi in aoi2D_video_scene.items(): - - if name not in aoi2D_dict.keys(): - aoi2D_dict[name] = [] - - aoi2D_dict[name].append(aoi.clockwise()) - - # Merge all 2D aoi into a single 2D scene - aoi2D_merged_scene = AOI2DScene.AOI2DScene() - for name, aoi_array in aoi2D_dict.items(): - aoi2D_merged_scene[name] = AOIFeatures.AreaOfInterest(numpy.sum(aoi_array, axis=0) / len(aoi_array)) - - aoi2D_merged_scene.draw(visu_frame.matrix) - - # Store 2D merged scene at this time in millisecond - ts_aois_scenes[round(video_ts_ms)] = aoi2D_merged_scene - - # Warn user when the merged scene is empty - if len(aoi2D_merged_scene.keys()) == 0: - - raise UserWarning('Scene is empty') - - # Write warning - except UserWarning as w: - - cv.rectangle(visu_frame.matrix, (0, 100), (500, 150), (127, 127, 127), -1) - cv.putText(visu_frame.matrix, str(w), (20, 140), 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: - - loop_ps = 1e3 * lap_counter / elapsed_time - loop_chrono.restart() - - # Assess gyroscope streaming performance - elapsed_time, lap_counter = gyroscope_chrono.end() - gyroscope_ps = 1e3 * lap_counter / elapsed_time - gyroscope_chrono.restart() - - # Draw head movement vector - cv.line(visu_frame.matrix, (int(visu_frame.width/2), int(visu_frame.height/2)), (int(visu_frame.width/2) + head_movement_px[1], int(visu_frame.height/2) - head_movement_px[0]), (150, 150, 150), 3) - - # Draw center - cv.line(visu_frame.matrix, (int(visu_frame.width/2) - 50, int(visu_frame.height/2)), (int(visu_frame.width/2) + 50, int(visu_frame.height/2)), (255, 150, 150), 1) - cv.line(visu_frame.matrix, (int(visu_frame.width/2), int(visu_frame.height/2) - 50), (int(visu_frame.width/2), int(visu_frame.height/2) + 50), (255, 150, 150), 1) - - # Write stream timing - cv.rectangle(visu_frame.matrix, (0, 0), (1100, 50), (63, 63, 63), -1) - cv.putText(visu_frame.matrix, f'Data stream time: {int(data_ts_ms)} ms', (20, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - cv.putText(visu_frame.matrix, f'Video delay: {int(data_ts_ms - video_ts_ms)} ms', (550, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - cv.putText(visu_frame.matrix, f'Fps: {int(loop_ps)}', (950, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - - cv.rectangle(visu_frame.matrix, (0, 50), (500, 100), (127, 127, 127), -1) - cv.putText(visu_frame.matrix, f'Gyroscope fps: {int(gyroscope_ps)}', (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 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()
\ No newline at end of file diff --git a/src/argaze/utils/tobii_stream_aruco_cube_display.py b/src/argaze/utils/tobii_stream_aruco_cube_display.py deleted file mode 100644 index e310308..0000000 --- a/src/argaze/utils/tobii_stream_aruco_cube_display.py +++ /dev/null @@ -1,360 +0,0 @@ -#!/usr/bin/env python - -import argparse -import os, json -import math -import threading - -from argaze import DataStructures -from argaze import GazeFeatures -from argaze.TobiiGlassesPro2 import * -from argaze.ArUcoMarkers import * -from argaze.AreaOfInterest import * -from argaze.utils import MiscFeatures - -import cv2 as cv -import numpy - -def make_rotation_matrix(x, y, z): - - # Create rotation matrix around x axis - c = numpy.cos(numpy.deg2rad(x)) - s = numpy.sin(numpy.deg2rad(x)) - Rx = numpy.array([[1, 0, 0], [0, c, -s], [0, s, c]]) - - # Create rotation matrix around y axis - c = numpy.cos(numpy.deg2rad(y)) - s = numpy.sin(numpy.deg2rad(y)) - Ry = numpy.array([[c, 0, s], [0, 1, 0], [-s, 0, c]]) - - # Create rotation matrix around z axis - c = numpy.cos(numpy.deg2rad(z)) - s = numpy.sin(numpy.deg2rad(z)) - Rz = numpy.array([[c, -s, 0], [s, c, 0], [0, 0, 1]]) - - # Return intrinsic rotation matrix - return Rx.dot(Ry.dot(Rz)) - -def main(): - """ - Track ArUcoCube 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('-c', '--camera_calibration', metavar='CAM_CALIB', type=str, default=None, help='json camera calibration filepath') - parser.add_argument('-p', '--aruco_tracker_configuration', metavar='TRACK_CONFIG', type=str, default=None, help='json aruco tracker configuration filepath') - parser.add_argument('-i', '--imu_calibration', metavar='IMU_CALIB', type=str, default=None, help='json imu calibration filepath') - parser.add_argument('-ac', '--aruco_cube', metavar='ARUCO_CUBE', type=str, help='json aruco cube description filepath') - parser.add_argument('-s', '--aoi_scene', metavar='AOI_SCENE', type=str, help='obj aoi 3D scene description filepath') - parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction) - args = parser.parse_args() - - # Create tobii controller (with auto discovery network process if no ip argument is provided) - print('\nLooking 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 aruco cube description - aruco_cube = ArUcoCube.ArUcoCube(args.aruco_cube) - aruco_cube.print_cache() - - # Load AOI 3D scene centered onto aruco cube - aoi3D_scene = AOI3DScene.AOI3DScene() - aoi3D_scene.load(args.aoi_scene) - - print(f'\nAOI in {os.path.basename(args.aoi_scene)} scene related to ArCube:') - for aoi in aoi3D_scene.keys(): - print(f'\t{aoi}') - - # Create aruco camera - aruco_camera = ArUcoCamera.ArUcoCamera() - - # Load calibration file - if args.camera_calibration != None: - - aruco_camera.load_calibration_file(args.camera_calibration) - - else: - - raise UserWarning('.json camera calibration filepath required. Use -c option.') - - # Create aruco tracker - aruco_tracker = ArUcoTracker.ArUcoTracker(aruco_cube.dictionary, aruco_cube.marker_size, aruco_camera) - - # Load specific configuration file - if args.aruco_tracker_configuration != None: - - aruco_tracker.load_configuration_file(args.aruco_tracker_configuration) - - print(f'\nArUcoTracker configuration for markers detection:') - aruco_tracker.print_configuration() - - # Create tobii imu handler to track head pose changes when arcuco cube pose can't be estimated - # So, the resulting head pose is relative to last pose estimation - tobii_imu = TobiiInertialMeasureUnit.TobiiInertialMeasureUnit() - - # Load optional imu calibration file - if args.imu_calibration != None: - - tobii_imu.load_calibration_file(args.imu_calibration) - - # Init tobii imu lock - tobii_imu_lock = threading.Lock() - - # TEST : DIFF ACC - last_accl = numpy.zeros(3) - - # Init data timestamped in millisecond - data_ts_ms = 0 - - # Assess temporal performance - loop_chrono = MiscFeatures.TimeProbe() - loop_ps = 0 - - def data_stream_callback(data_ts, data_object, data_object_type): - - nonlocal tobii_imu - nonlocal tobii_imu_lock - nonlocal data_ts_ms - - #TEST - nonlocal last_accl - - data_ts_ms = data_ts / 1e3 - - # Don't update imu when it is used - if tobii_imu_lock.locked(): - return - - # Lock tobii imu updates - tobii_imu_lock.acquire() - - match data_object_type: - - case 'Gyroscope': - - data_object = tobii_imu.apply_gyroscope_offset(data_object) - - tobii_imu.update_rotation(data_ts, data_object) - - - case 'Accelerometer': - pass - ''' - print('raw accelerometer(m/s2)=', data_object.value) - - # TEST : - diff_accl = last_accl - numpy.array(data_object.value) - last_accl = numpy.array(data_object.value) - print('\tdiff(cm/s2)=', 100 * numpy.linalg.norm(diff_accl)) - - # TEST : ignore acceleration double - if numpy.linalg.norm(diff_accl) > 0.: - - data_object = tobii_imu.apply_accelerometer_coefficients(data_object) - - print('corrected accelerometer(m/s2)=', data_object.value) - - print('current plumb=', tobii_imu.get_plumb()) - - data_object = tobii_imu.apply_plumb(data_object) - - print('corrected accelerometer - gravity(m/s2)=', data_object.value) - print('\tnorm(cm/s2)=', 100 * numpy.linalg.norm(data_object.value)) - - tobii_imu.update_translation(data_ts, data_object) - ''' - # Unlock tobii imu updates - tobii_imu_lock.release() - - tobii_data_stream.reading_callback = data_stream_callback - - # Start streaming - tobii_controller.start_streaming() - - # Live video stream capture loop - try: - - # Assess loop performance - loop_chrono = MiscFeatures.TimeProbe() - fps = 0 - - # Track aruco cube pose - aruco_cube_tvec = numpy.zeros(3) - aruco_cube_rvec = numpy.zeros(3) - aruco_cube_success = False - aruco_cube_validity = False - aruco_cube_ts_ms = 0 - - while tobii_video_stream.is_alive(): - - # Read video stream - video_ts, video_frame = tobii_video_stream.read() - video_ts_ms = video_ts / 1e3 - - # Copy video frame to edit visualisation on it without disrupting aruco tracking - visu_frame = video_frame.copy() - - # Process video and data frame - try: - - # Track markers with pose estimation - aruco_tracker.track(video_frame.matrix) - aruco_tracker.draw_tracked_markers(visu_frame.matrix) - - # Estimate cube pose from tracked markers - tvec, rvec, success, validity = aruco_cube.estimate_pose(aruco_tracker.tracked_markers) - - # Cube pose estimation succeed and is validated by 2 faces at least - if success and validity >= 1: - - # Lock tobii imu updates - tobii_imu_lock.acquire() - - # Reset head rotation, translation and translation speed (cm/s) - # Note : head translation speed is also estimated thanks to accelerometer sensor (see upward) - tobii_imu.reset_rotation() - #tobii_imu.reset_translation(translation_speed = (tvec - aruco_cube_tvec) / (video_ts_ms - aruco_cube_ts_ms)) - - # Create a rotation matrix to transform cube rotation from camera referential to imu referential - F = make_rotation_matrix(*TobiiInertialMeasureUnit.CAMERA_TO_IMU_ROTATION_VECTOR) - R, _ = cv.Rodrigues(rvec) - rvec_flipped, _ = cv.Rodrigues(F.dot(R)) - - # Update head plumb orientation with flipped cube orientation - tobii_imu.rotate_plumb(rvec_flipped) - - # Unlock tobii imu updates - tobii_imu_lock.release() - - # Store cube pose - aruco_cube_tvec = tvec - aruco_cube_rvec = rvec - aruco_cube_success = success - aruco_cube_validity = validity - aruco_cube_ts_ms = video_ts_ms - - # Cube pose estimation fails - elif aruco_cube_success: - - # Use tobii glasses inertial sensors to estimate cube pose from last estimated pose - - # Translate cube into imu referential - imu_tvec = aruco_cube_tvec + numpy.array(TobiiInertialMeasureUnit.CAMERA_TO_IMU_TRANSLATION_VECTOR) - - # Translate cube according head translation - imu_tvec = imu_tvec + tobii_imu.translation - - # Rotate cube around imu origin according head rotation - imu_rvec = tobii_imu.rotation * numpy.array([-1., -1., 1.]) - imu_R = make_rotation_matrix(*imu_rvec) - new_imu_tvec = imu_tvec.dot(imu_R) - - # Translate back cube into camera referential - new_tvec = new_imu_tvec - numpy.array(TobiiInertialMeasureUnit.CAMERA_TO_IMU_TRANSLATION_VECTOR) - - # Rotate cube orientation (supposing cube top is up in ) - imu_rvec = tobii_imu.rotation * numpy.array([1., -1., 1.]) - imu_R = make_rotation_matrix(*imu_rvec) - - C, _ = cv.Rodrigues(aruco_cube_rvec) - C = C.dot(imu_R) - new_rvec, _ = cv.Rodrigues(C) - #new_rvec = aruco_cube_rvec - - # Set cube pose estimation - aruco_cube.translation = new_tvec - aruco_cube.rotation = new_rvec - - else: - - raise UserWarning('Cube pose estimation fails.') - - # Project AOI 3 scene onto camera frame - - # 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 AOI, where the distorsion is low, it is acceptable. - aoi2D_scene = aoi3D_scene.project(aruco_cube.translation, aruco_cube.rotation, aruco_camera.K) - - # Draw projected scene - #aoi2D_scene.draw(visu_frame.matrix) - - # Draw markers pose estimation - #aruco_tracker.draw_tracked_markers(visu_frame.matrix) - - # Draw cube pose estimation (without camera distorsion) - aruco_cube.draw(visu_frame.matrix, aruco_camera.K, aruco_camera.D, draw_places=True) - - # Warn about cube pose validity - if not aruco_cube_validity: - - raise UserWarning('Cube pose estimation is not validated.') - - # Write warning - except UserWarning as w: - - cv.rectangle(visu_frame.matrix, (0, 100), (600, 150), (127, 127, 127), -1) - cv.putText(visu_frame.matrix, str(w), (20, 140), 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: - - loop_ps = 1e3 * lap_counter / elapsed_time - loop_chrono.restart() - - # Draw center - cv.line(visu_frame.matrix, (int(visu_frame.width/2) - 50, int(visu_frame.height/2)), (int(visu_frame.width/2) + 50, int(visu_frame.height/2)), (255, 150, 150), 1) - cv.line(visu_frame.matrix, (int(visu_frame.width/2), int(visu_frame.height/2) - 50), (int(visu_frame.width/2), int(visu_frame.height/2) + 50), (255, 150, 150), 1) - - # Write stream timing - cv.rectangle(visu_frame.matrix, (0, 0), (1100, 50), (63, 63, 63), -1) - cv.putText(visu_frame.matrix, f'Data stream time: {int(data_ts_ms)} ms', (20, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - cv.putText(visu_frame.matrix, f'Video delay: {int(data_ts_ms - video_ts_ms)} ms', (550, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - cv.putText(visu_frame.matrix, f'Fps: {int(loop_ps)}', (950, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA) - - cv.imshow(f'Stream ArUcoCube', 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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