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-rw-r--r--src/argaze.test/ArUcoMarkers/ArUcoDetector.py8
-rw-r--r--src/argaze/ArFeatures.py18
-rw-r--r--src/argaze/ArUcoMarkers/ArUcoDetector.py28
-rw-r--r--src/argaze/ArUcoMarkers/ArUcoMarker.py10
-rw-r--r--src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py8
-rw-r--r--src/argaze/ArUcoMarkers/ArUcoScene.py24
-rw-r--r--src/argaze/AreaOfInterest/AOI2DScene.py22
-rw-r--r--src/argaze/AreaOfInterest/AOI3DScene.py4
-rw-r--r--src/argaze/AreaOfInterest/AOIFeatures.py16
-rw-r--r--src/argaze/GazeAnalysis/DispersionThresholdIdentification.py14
-rw-r--r--src/argaze/GazeAnalysis/VelocityThresholdIdentification.py14
-rw-r--r--src/argaze/GazeFeatures.py28
-rw-r--r--src/argaze/utils/aruco_markers_scene_export.py72
-rw-r--r--src/argaze/utils/camera_calibrate.py26
-rw-r--r--src/argaze/utils/demo_ar_features_run.py38
-rw-r--r--src/argaze/utils/demo_gaze_features_run.py80
-rw-r--r--src/argaze/utils/demo_heatmap_run.py14
-rw-r--r--src/argaze/utils/environment_edit.py270
18 files changed, 347 insertions, 347 deletions
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
index 750aaa5..403d1a6 100644
--- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
@@ -89,10 +89,10 @@ class TestArUcoDetectorClass(unittest.TestCase):
# Load picture Full HD to test ArUcoMarker detection
current_directory = os.path.dirname(os.path.abspath(__file__))
- frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png'))
+ image = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png'))
# Check ArUcoMarker detection
- aruco_detector.detect_markers(frame)
+ aruco_detector.detect_markers(image)
self.assertEqual(aruco_detector.detected_markers_number, 1)
@@ -126,10 +126,10 @@ class TestArUcoDetectorClass(unittest.TestCase):
# Load picture Full HD to test ArUcoMarker board detection
current_directory = os.path.dirname(os.path.abspath(__file__))
- frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png'))
+ image = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png'))
# Check ArUcoMarker board detection
- aruco_detector.detect_board(frame, aruco_board, aruco_board.markers_number)
+ aruco_detector.detect_board(image, aruco_board, aruco_board.markers_number)
self.assertEqual(aruco_detector.board_corners_number, aruco_board.corners_number)
self.assertEqual(len(aruco_detector.board_corners), 24)
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 0d2062d..4aedb2b 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -344,7 +344,7 @@ class ArScene():
def build_aruco_aoi_scene(self, detected_markers) -> AOI2DScene.AOI2DScene:
"""
- Build AOI scene from ArUco markers into frame as defined in aruco_aoi dictionary.
+ Build AOI scene from detected ArUco markers as defined in aruco_aoi dictionary.
Returns:
built AOI 2D scene
@@ -385,24 +385,24 @@ class ArScene():
return AOI2DScene.AOI2DScene(aruco_aoi_scene)
- def draw_axis(self, frame: numpy.array):
+ def draw_axis(self, image: numpy.array):
"""
- Draw scene axis into frame.
+ Draw scene axis into image.
Parameters:
- frame: where to draw
+ image: where to draw
"""
- self.aruco_scene.draw_axis(frame, self._environment.aruco_detector.optic_parameters.K, self._environment.aruco_detector.optic_parameters.D)
+ self.aruco_scene.draw_axis(image, self._environment.aruco_detector.optic_parameters.K, self._environment.aruco_detector.optic_parameters.D)
- def draw_places(self, frame: numpy.array):
+ def draw_places(self, image: numpy.array):
"""
- Draw scene places into frame.
+ Draw scene places into image.
Parameters:
- frame: where to draw
+ image: where to draw
"""
- self.aruco_scene.draw_places(frame, self._environment.aruco_detector.optic_parameters.K, self._environment.aruco_detector.optic_parameters.D)
+ self.aruco_scene.draw_places(image, self._environment.aruco_detector.optic_parameters.K, self._environment.aruco_detector.optic_parameters.D)
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 5891f16..b9ee077 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -128,7 +128,7 @@ class ArUcoDetector():
"""Size of ArUco markers to detect in centimeter."""
optic_parameters: ArUcoOpticCalibrator.OpticParameters = field(default_factory=ArUcoOpticCalibrator.OpticParameters)
- """Optic parameters to use for ArUco detection into frame."""
+ """Optic parameters to use for ArUco detection into image."""
parameters: DetectorParameters = field(default_factory=DetectorParameters)
"""ArUco detector parameters."""
@@ -175,10 +175,10 @@ class ArUcoDetector():
return output
- def detect_markers(self, frame: numpy.array):
- """Detect all ArUco markers into a frame.
+ def detect_markers(self, image: numpy.array):
+ """Detect all ArUco markers into an image.
- .. danger:: DON'T MIRROR FRAME
+ .. danger:: DON'T MIRROR IMAGE
It makes the markers detection to fail.
"""
@@ -186,7 +186,7 @@ class ArUcoDetector():
self.__detected_markers, self.__detected_markers_corners, self.__detected_markers_ids = {}, [], []
# Detect markers into gray picture
- self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(frame, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal)
+ self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal)
# Is there detected markers ?
if len(self.__detected_markers_corners) > 0:
@@ -262,22 +262,22 @@ class ArUcoDetector():
return len(list(self.__detected_markers.keys()))
- def draw_detected_markers(self, frame: numpy.array):
+ def draw_detected_markers(self, image: numpy.array):
"""Draw traked markers."""
for marker_id, marker in self.__detected_markers.items():
- marker.draw(frame, self.optic_parameters.K, self.optic_parameters.D)
+ marker.draw(image, self.optic_parameters.K, self.optic_parameters.D)
- def detect_board(self, frame: numpy.array, board, expected_markers_number):
- """Detect ArUco markers board in frame setting up the number of detected markers needed to agree detection.
+ def detect_board(self, image: numpy.array, board, expected_markers_number):
+ """Detect ArUco markers board in image setting up the number of detected markers needed to agree detection.
- .. danger:: DON'T MIRROR FRAME
+ .. danger:: DON'T MIRROR IMAGE
It makes the markers detection to fail.
"""
# detect markers from gray picture
- gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
+ gray = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(gray, self.dictionary.markers, parameters = self.parameters.internal)
# if all board markers are detected
@@ -293,12 +293,12 @@ class ArUcoDetector():
self.__board_corners = []
self.__board_corners_ids = []
- def draw_board(self, frame: numpy.array):
- """Draw detected board corners in frame."""
+ def draw_board(self, image: numpy.array):
+ """Draw detected board corners in image."""
if self.__board != None:
- cv.drawChessboardCorners(frame, ((self.__board.size[0] - 1 ), (self.__board.size[1] - 1)), self.__board_corners, True)
+ cv.drawChessboardCorners(image, ((self.__board.size[0] - 1 ), (self.__board.size[1] - 1)), self.__board_corners, True)
def reset_detection_metrics(self):
"""Enable marker detection metrics."""
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarker.py b/src/argaze/ArUcoMarkers/ArUcoMarker.py
index 8b59166..3a13c10 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarker.py
@@ -41,7 +41,7 @@ class ArUcoMarker():
"""Estimated 3D corners positions in camera world referential."""
color: tuple = field(init=False, repr=False, default_factory=lambda : (0, 255, 0))
- """Color used to draw marker on frame."""
+ """Color used to draw marker on image."""
@property
def center(self) -> numpy.array:
@@ -59,15 +59,15 @@ class ArUcoMarker():
return numpy.repeat(matrix, 3).reshape(dimension, dimension, 3)
- def draw(self, frame: numpy.array, K, D):
- """Draw marker in frame."""
+ def draw(self, image: numpy.array, K, D):
+ """Draw marker in image."""
# Draw marker axis if pose has been estimated
if self.translation.size == 3 and self.rotation.size == 9:
- cv.drawFrameAxes(frame, numpy.array(K), numpy.array(D), self.rotation, self.translation, self.size)
+ cv.drawFrameAxes(image, numpy.array(K), numpy.array(D), self.rotation, self.translation, self.size)
- aruco.drawDetectedMarkers(frame, [self.corners], numpy.array([self.identifier]), self.color)
+ aruco.drawDetectedMarkers(image, [self.corners], numpy.array([self.identifier]), self.color)
def save(self, destination_folder, dpi):
"""Save marker image as .png file into a destination folder."""
diff --git a/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py b/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py
index ed33c95..ec55e44 100644
--- a/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py
+++ b/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py
@@ -30,7 +30,7 @@ class OpticParameters():
"""Root Mean Square error of calibration."""
dimensions: numpy.array = field(default_factory=lambda : numpy.array([0, 0]))
- """Frame dimensions in pixels from which the calibration have been done."""
+ """Image dimensions in pixels from which the calibration have been done."""
K: numpy.array = field(default_factory=lambda : K0)
"""Intrinsic parameters matrix (focal lengths and principal point)."""
@@ -63,7 +63,7 @@ class OpticParameters():
return output
- def draw(self, frame: numpy.array, width:float, height:float, z:float, color=(0, 0, 255)):
+ def draw(self, image: numpy.array, width:float, height:float, z:float, color=(0, 0, 255)):
"""Draw grid to display K and D"""
# Edit 3D grid
@@ -80,7 +80,7 @@ class OpticParameters():
# Ignore point out out field
try:
- cv2.circle(frame, point.astype(int)[0], 1, color, -1)
+ cv2.circle(image, point.astype(int)[0], 1, color, -1)
except:
pass
@@ -98,7 +98,7 @@ class ArUcoOpticCalibrator():
"""Retrieve K and D parameters from stored calibration data.
Parameters:
- dimensions: camera frame dimensions
+ dimensions: camera image dimensions
Returns:
Optic parameters
diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py
index 3783660..b9c20e2 100644
--- a/src/argaze/ArUcoMarkers/ArUcoScene.py
+++ b/src/argaze/ArUcoMarkers/ArUcoScene.py
@@ -617,7 +617,7 @@ class ArUcoScene():
self._rotation = rmat
- def draw_axis(self, frame: numpy.array, K, D, consistency=2):
+ def draw_axis(self, image: numpy.array, K, D, consistency=2):
"""Draw scene axis according a consistency score."""
l = self.marker_size / 2
@@ -634,15 +634,15 @@ class ArUcoScene():
axisPoints, _ = cv.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
axisPoints = axisPoints.astype(int)
- cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (n,n,f), 6) # X (red)
- cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (n,f,n), 6) # Y (green)
- cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (f,n,n), 6) # Z (blue)
+ cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (n,n,f), 6) # X (red)
+ cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (n,f,n), 6) # Y (green)
+ cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (f,n,n), 6) # Z (blue)
# Ignore errors due to out of field axis: their coordinate are larger than int32 limitations.
except cv.error:
pass
- def draw_places(self, frame: numpy.array, K, D, consistency=2):
+ def draw_places(self, image: numpy.array, K, D, consistency=2):
"""Draw scene places and their axis according a consistency score."""
l = self.marker_size / 2
@@ -664,19 +664,19 @@ class ArUcoScene():
axisPoints, _ = cv.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
axisPoints = axisPoints.astype(int)
- cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (n,n,f), 6) # X (red)
- cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (n,f,n), 6) # Y (green)
- cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (f,n,n), 6) # Z (blue)
+ cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (n,n,f), 6) # X (red)
+ cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (n,f,n), 6) # Y (green)
+ cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (f,n,n), 6) # Z (blue)
# Draw place
placePoints = (T + numpy.float32([R.dot([-l, -l, 0]), R.dot([l, -l, 0]), R.dot([l, l, 0]), R.dot([-l, l, 0])])).reshape(-1, 3)
placePoints, _ = cv.projectPoints(placePoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
placePoints = placePoints.astype(int)
- cv.line(frame, tuple(placePoints[0].ravel()), tuple(placePoints[1].ravel()), (f,f,f), 3)
- cv.line(frame, tuple(placePoints[1].ravel()), tuple(placePoints[2].ravel()), (f,f,f), 3)
- cv.line(frame, tuple(placePoints[2].ravel()), tuple(placePoints[3].ravel()), (f,f,f), 3)
- cv.line(frame, tuple(placePoints[3].ravel()), tuple(placePoints[0].ravel()), (f,f,f), 3)
+ cv.line(image, tuple(placePoints[0].ravel()), tuple(placePoints[1].ravel()), (f,f,f), 3)
+ cv.line(image, tuple(placePoints[1].ravel()), tuple(placePoints[2].ravel()), (f,f,f), 3)
+ cv.line(image, tuple(placePoints[2].ravel()), tuple(placePoints[3].ravel()), (f,f,f), 3)
+ cv.line(image, tuple(placePoints[3].ravel()), tuple(placePoints[0].ravel()), (f,f,f), 3)
# Ignore errors due to out of field places: their coordinate are larger than int32 limitations.
except cv.error:
diff --git a/src/argaze/AreaOfInterest/AOI2DScene.py b/src/argaze/AreaOfInterest/AOI2DScene.py
index 69b1391..1d4624a 100644
--- a/src/argaze/AreaOfInterest/AOI2DScene.py
+++ b/src/argaze/AreaOfInterest/AOI2DScene.py
@@ -26,15 +26,15 @@ class AOI2DScene(AOIFeatures.AOIScene):
super().__init__(2, aois_2d)
- def draw(self, frame: numpy.array, exclude=[], color=(0, 255, 255)):
- """Draw AOI polygons on frame."""
+ def draw(self, image: numpy.array, exclude=[], color=(0, 255, 255)):
+ """Draw AOI polygons on image."""
for name, aoi in self.items():
if name in exclude:
continue
- aoi.draw(frame, color)
+ aoi.draw(image, color)
def raycast(self, pointer:tuple) -> Tuple[str, "AOIFeatures.AreaOfInterest", bool]:
"""Iterate over aoi to know which aoi is matching the given pointer position.
@@ -50,7 +50,7 @@ class AOI2DScene(AOIFeatures.AOIScene):
yield name, aoi, matching
- def draw_raycast(self, frame: numpy.array, pointer:tuple, exclude=[], base_color=(0, 0, 255), matching_color=(0, 255, 0)):
+ def draw_raycast(self, image: numpy.array, pointer:tuple, exclude=[], base_color=(0, 0, 255), matching_color=(0, 255, 0)):
"""Draw AOIs with their matching status."""
for name, aoi, matching in self.raycast(pointer):
@@ -63,10 +63,10 @@ class AOI2DScene(AOIFeatures.AOIScene):
if matching:
top_left_corner_pixel = numpy.rint(aoi.clockwise()[0]).astype(int)
- cv2.putText(frame, name, top_left_corner_pixel, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, name, top_left_corner_pixel, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Draw form
- aoi.draw(frame, color)
+ aoi.draw(image, color)
def circlecast(self, center:tuple, radius:float) -> Tuple[str, "AOIFeatures.AreaOfInterest", numpy.array, float, float]:
"""Iterate over areas to know which aoi is matching circle.
@@ -84,7 +84,7 @@ class AOI2DScene(AOIFeatures.AOIScene):
yield name, aoi, matching_region, aoi_ratio, circle_ratio
- def draw_circlecast(self, frame: numpy.array, center:tuple, radius:float, exclude=[], base_color=(0, 0, 255), matching_color=(0, 255, 0)):
+ def draw_circlecast(self, image: numpy.array, center:tuple, radius:float, exclude=[], base_color=(0, 0, 255), matching_color=(0, 255, 0)):
"""Draw AOIs with their matching status and matching region."""
for name, aoi, matching_region, aoi_ratio, circle_ratio in self.circlecast(center, radius):
@@ -94,7 +94,7 @@ class AOI2DScene(AOIFeatures.AOIScene):
# Draw matching region
if aoi_ratio > 0:
- matching_region.draw(frame, base_color, 4)
+ matching_region.draw(image, base_color, 4)
# TODO : Externalise this criteria
matching = aoi_ratio > 0.25 or circle_ratio > 0.5
@@ -104,13 +104,13 @@ class AOI2DScene(AOIFeatures.AOIScene):
if matching:
top_left_corner_pixel = numpy.rint(aoi.clockwise()[0]).astype(int)
- cv2.putText(frame, name, top_left_corner_pixel, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, name, top_left_corner_pixel, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Draw matching region
- matching_region.draw(frame, matching_color, 4)
+ matching_region.draw(image, matching_color, 4)
# Draw form
- aoi.draw(frame, color)
+ aoi.draw(image, color)
def reframe(self, aoi_name: str, size: tuple) -> AOI2DSceneType:
"""
diff --git a/src/argaze/AreaOfInterest/AOI3DScene.py b/src/argaze/AreaOfInterest/AOI3DScene.py
index 2272206..cb5b5a3 100644
--- a/src/argaze/AreaOfInterest/AOI3DScene.py
+++ b/src/argaze/AreaOfInterest/AOI3DScene.py
@@ -200,10 +200,10 @@ class AOI3DScene(AOIFeatures.AOIScene):
D: camera distorsion coefficients vector
!!! danger
- Camera distorsion coefficients could projects points which are far from the frame into it.
+ Camera distorsion coefficients could projects points which are far from image frame into it.
!!! note
- As gaze is mainly focusing on the frame center, where the distorsion is low, it could be acceptable to not use camera distorsion.
+ As gaze is mainly focusing on frame center, where the distorsion is low, it could be acceptable to not use camera distorsion.
"""
aoi2D_scene = AOI2DScene.AOI2DScene()
diff --git a/src/argaze/AreaOfInterest/AOIFeatures.py b/src/argaze/AreaOfInterest/AOIFeatures.py
index 548382c..07ef7c4 100644
--- a/src/argaze/AreaOfInterest/AOIFeatures.py
+++ b/src/argaze/AreaOfInterest/AOIFeatures.py
@@ -201,8 +201,8 @@ class AreaOfInterest(numpy.ndarray):
return empty_array, 0., 0.
- def draw(self, frame: numpy.array, color, border_size=1):
- """Draw 2D AOI into frame.
+ def draw(self, image: numpy.array, color, border_size=1):
+ """Draw 2D AOI into image.
!!! warning
Available for 2D AOI only."""
@@ -212,13 +212,13 @@ class AreaOfInterest(numpy.ndarray):
# Draw form
pixels = numpy.rint(self).astype(int)
- cv2.line(frame, pixels[-1], pixels[0], color, border_size)
+ cv2.line(image, pixels[-1], pixels[0], color, border_size)
for A, B in zip(pixels, pixels[1:]):
- cv2.line(frame, A, B, color, border_size)
+ cv2.line(image, A, B, color, border_size)
# Draw center
center_pixel = numpy.rint(self.center).astype(int)
- cv2.circle(frame, center_pixel, 1, color, -1)
+ cv2.circle(image, center_pixel, 1, color, -1)
AOISceneType = TypeVar('AOIScene', bound="AOIScene")
# Type definition for type annotation convenience
@@ -373,7 +373,7 @@ AOIFrameType = TypeVar('AOIFrame', bound="AOIFrame")
# Type definition for type annotation convenience
class AOIFrame():
- """Define frame to draw into 2D AOI."""
+ """Define image to draw into 2D AOI."""
def __init__(self, aoi: AreaOfInterestType, size: tuple):
"""
@@ -392,7 +392,7 @@ class AOIFrame():
self.heatmap_init()
def point_spread(self, point: tuple, sigma: float):
- """Draw gaussian point spread into frame."""
+ """Draw gaussian point spread into image."""
div = -2 * sigma**2
@@ -429,7 +429,7 @@ class AOIFrame():
self.__point_spread_buffer.append(point_spread)
- # Remove oldest point spread buffer frame
+ # Remove oldest point spread buffer image
if len(self.__point_spread_buffer) > self.__point_spread_buffer_size:
self.__point_spread_sum -= self.__point_spread_buffer.pop(0)
diff --git a/src/argaze/GazeAnalysis/DispersionThresholdIdentification.py b/src/argaze/GazeAnalysis/DispersionThresholdIdentification.py
index c79b4fc..1883d69 100644
--- a/src/argaze/GazeAnalysis/DispersionThresholdIdentification.py
+++ b/src/argaze/GazeAnalysis/DispersionThresholdIdentification.py
@@ -78,11 +78,11 @@ class Fixation(GazeFeatures.Fixation):
return self
- def draw(self, frame: numpy.array, color=(127, 127, 127), border_color=(255, 255, 255)):
- """Draw fixation into frame."""
+ def draw(self, image: numpy.array, color=(127, 127, 127), border_color=(255, 255, 255)):
+ """Draw fixation into image."""
- cv2.circle(frame, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), color, -1)
- cv2.circle(frame, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), border_color, len(self.positions))
+ cv2.circle(image, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), color, -1)
+ cv2.circle(image, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), border_color, len(self.positions))
@dataclass(frozen=True)
class Saccade(GazeFeatures.Saccade):
@@ -91,13 +91,13 @@ class Saccade(GazeFeatures.Saccade):
def __post_init__(self):
super().__post_init__()
- def draw(self, frame: numpy.array, color=(255, 255, 255)):
- """Draw saccade into frame."""
+ def draw(self, image: numpy.array, color=(255, 255, 255)):
+ """Draw saccade into image."""
_, start_position = self.positions.first
_, last_position = self.positions.last
- cv2.line(frame, (int(start_position[0]), int(start_position[1])), (int(last_position[0]), int(last_position[1])), color, 2)
+ cv2.line(image, (int(start_position[0]), int(start_position[1])), (int(last_position[0]), int(last_position[1])), color, 2)
@dataclass
class GazeMovementIdentifier(GazeFeatures.GazeMovementIdentifier):
diff --git a/src/argaze/GazeAnalysis/VelocityThresholdIdentification.py b/src/argaze/GazeAnalysis/VelocityThresholdIdentification.py
index 32af1c5..7d6c7b2 100644
--- a/src/argaze/GazeAnalysis/VelocityThresholdIdentification.py
+++ b/src/argaze/GazeAnalysis/VelocityThresholdIdentification.py
@@ -78,11 +78,11 @@ class Fixation(GazeFeatures.Fixation):
return self
- def draw(self, frame: numpy.array, color=(127, 127, 127), border_color=(255, 255, 255)):
- """Draw fixation into frame."""
+ def draw(self, image: numpy.array, color=(127, 127, 127), border_color=(255, 255, 255)):
+ """Draw fixation into image."""
- cv2.circle(frame, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), color, -1)
- cv2.circle(frame, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), border_color, len(self.positions))
+ cv2.circle(image, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), color, -1)
+ cv2.circle(image, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), border_color, len(self.positions))
@dataclass(frozen=True)
class Saccade(GazeFeatures.Saccade):
@@ -91,13 +91,13 @@ class Saccade(GazeFeatures.Saccade):
def __post_init__(self):
super().__post_init__()
- def draw(self, frame: numpy.array, color=(255, 255, 255)):
- """Draw saccade into frame."""
+ def draw(self, image: numpy.array, color=(255, 255, 255)):
+ """Draw saccade into image."""
_, start_position = self.positions.first
_, last_position = self.positions.last
- cv2.line(frame, (int(start_position[0]), int(start_position[1])), (int(last_position[0]), int(last_position[1])), color, 2)
+ cv2.line(image, (int(start_position[0]), int(start_position[1])), (int(last_position[0]), int(last_position[1])), color, 2)
@dataclass
class GazeMovementIdentifier(GazeFeatures.GazeMovementIdentifier):
diff --git a/src/argaze/GazeFeatures.py b/src/argaze/GazeFeatures.py
index cf1f7b8..d4307a2 100644
--- a/src/argaze/GazeFeatures.py
+++ b/src/argaze/GazeFeatures.py
@@ -88,7 +88,7 @@ class GazePosition():
else:
return distance < self.precision
- def draw(self, frame: numpy.array, color=(0, 255, 255), draw_precision=True):
+ def draw(self, image: numpy.array, color=(0, 255, 255), draw_precision=True):
"""Draw gaze position point and precision circle."""
if self.valid:
@@ -96,11 +96,11 @@ class GazePosition():
int_value = (int(self.value[0]), int(self.value[1]))
# Draw point at position
- cv2.circle(frame, int_value, 2, color, -1)
+ cv2.circle(image, int_value, 2, color, -1)
# Draw precision circle
if self.precision > 0 and draw_precision:
- cv2.circle(frame, int_value, round(self.precision), color, 1)
+ cv2.circle(image, int_value, round(self.precision), color, 1)
class UnvalidGazePosition(GazePosition):
"""Unvalid gaze position."""
@@ -240,7 +240,7 @@ class GazeMovement():
return output
- def draw_positions(self, frame: numpy.array, color=(0, 55, 55)):
+ def draw_positions(self, image: numpy.array, color=(0, 55, 55)):
"""Draw gaze movement positions"""
gaze_positions = self.positions.copy()
@@ -251,10 +251,10 @@ class GazeMovement():
ts_next, next_gaze_position = gaze_positions.first
# Draw start gaze
- start_gaze_position.draw(frame, draw_precision=False)
+ start_gaze_position.draw(image, draw_precision=False)
# Draw movement from start to next
- cv2.line(frame, start_gaze_position, next_gaze_position, color, 1)
+ cv2.line(image, start_gaze_position, next_gaze_position, color, 1)
FixationType = TypeVar('Fixation', bound="Fixation")
# Type definition for type annotation convenience
@@ -274,8 +274,8 @@ class Fixation(GazeMovement):
raise NotImplementedError('merge() method not implemented')
- def draw(self, frame: numpy.array, color):
- """Draw fixation into frame."""
+ def draw(self, image: numpy.array, color):
+ """Draw fixation into image."""
raise NotImplementedError('draw() method not implemented')
@@ -291,8 +291,8 @@ class Saccade(GazeMovement):
super().__post_init__()
- def draw(self, frame: numpy.array, color):
- """Draw saccade into frame."""
+ def draw(self, image: numpy.array, color):
+ """Draw saccade into image."""
raise NotImplementedError('draw() method not implemented')
@@ -519,17 +519,17 @@ class ScanPath(list):
self.__last_fixation = fixation
- def draw(self, frame: numpy.array, fixation_color=(255, 255, 255), saccade_color=(255, 255, 255), deepness=0):
- """Draw scan path into frame."""
+ def draw(self, image: numpy.array, fixation_color=(255, 255, 255), saccade_color=(255, 255, 255), deepness=0):
+ """Draw scan path into image."""
last_step = None
for step in self[-deepness:]:
if last_step != None:
- cv2.line(frame, (int(last_step.first_fixation.focus[0]), int(last_step.first_fixation.focus[1])), (int(step.first_fixation.focus[0]), int(step.first_fixation.focus[1])), saccade_color, 2)
+ cv2.line(image, (int(last_step.first_fixation.focus[0]), int(last_step.first_fixation.focus[1])), (int(step.first_fixation.focus[0]), int(step.first_fixation.focus[1])), saccade_color, 2)
- last_step.first_fixation.draw(frame, fixation_color)
+ last_step.first_fixation.draw(image, fixation_color)
last_step = step
diff --git a/src/argaze/utils/aruco_markers_scene_export.py b/src/argaze/utils/aruco_markers_scene_export.py
index 8045d24..cf617f7 100644
--- a/src/argaze/utils/aruco_markers_scene_export.py
+++ b/src/argaze/utils/aruco_markers_scene_export.py
@@ -19,7 +19,7 @@ import numpy
def main():
"""
- Load a movie with ArUco markers inside and select a frame into it, detect ArUco markers belonging to a given dictionary and size into the selected frame thanks to given optic parameters and detector parameters then, export detected ArUco scene as .obj file.
+ Load a movie with ArUco markers inside and select image into it, detect ArUco markers belonging to a given dictionary and size into the selected image thanks to given optic parameters and detector parameters then, export detected ArUco scene as .obj file.
"""
# Manage arguments
@@ -38,8 +38,8 @@ def main():
video_capture = cv2.VideoCapture(args.movie)
video_fps = video_capture.get(cv2.CAP_PROP_FPS)
- frame_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
- frame_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+ image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+ image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
# Load ArUco dictionary
aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(args.dictionary)
@@ -63,10 +63,10 @@ def main():
# Enable exit signal handler
exit = MiscFeatures.ExitSignalHandler()
- # Init frame selection
- current_frame_index = -1
- _, current_frame = video_capture.read()
- next_frame_index = int(args.start * video_fps)
+ # Init image selection
+ current_image_index = -1
+ _, current_image = video_capture.read()
+ next_image_index = int(args.start * video_fps)
refresh = False
# Hide help
@@ -74,23 +74,23 @@ def main():
while not exit.status():
- # Select a new frame and detect markers once
- if next_frame_index != current_frame_index or refresh:
+ # Select a new image and detect markers once
+ if next_image_index != current_image_index or refresh:
- video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_frame_index)
+ video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index)
- success, video_frame = video_capture.read()
+ success, video_image = video_capture.read()
if success:
# Refresh once
refresh = False
- current_frame_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
- current_frame_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
+ current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
+ current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
# Detect markers
- aruco_detector.detect_markers(video_frame)
+ aruco_detector.detect_markers(video_image)
# Estimate markers pose
aruco_detector.estimate_markers_pose()
@@ -101,48 +101,48 @@ def main():
print(aruco_scene)
# Write scene detected markers
- cv2.putText(video_frame, f'{list(aruco_detector.detected_markers.keys())}', (20, frame_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'{list(aruco_detector.detected_markers.keys())}', (20, image_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Write timing
- cv2.putText(video_frame, f'Time: {int(current_frame_time)} ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Time: {int(current_image_time)} ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
- # Copy frame
- current_frame = video_frame.copy()
+ # Copy image
+ current_image = video_image.copy()
- # Keep last frame
+ # Keep last image
else:
- video_frame = current_frame.copy()
+ video_image = current_image.copy()
# Draw detected markers
- aruco_detector.draw_detected_markers(video_frame)
+ aruco_detector.draw_detected_markers(video_image)
# Write documentation
- cv2.putText(video_frame, f'Press \'h\' for help', (950, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Press \'h\' for help', (950, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
if draw_help:
- cv2.rectangle(video_frame, (0, 50), (500, 300), (127, 127, 127), -1)
- cv2.putText(video_frame, f'> Left arrow: previous frame', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(video_frame, f'> Right arrow: next frame', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(video_frame, f'> Ctrl+s: export ArUco scene', (20, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.rectangle(video_image, (0, 50), (500, 300), (127, 127, 127), -1)
+ cv2.putText(video_image, f'> Left arrow: previous image', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'> Right arrow: next image', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'> Ctrl+s: export ArUco scene', (20, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
key_pressed = cv2.waitKey(10)
#if key_pressed != -1:
# print(key_pressed)
- # Select previous frame with left arrow
+ # Select previous image with left arrow
if key_pressed == 2:
- next_frame_index -= 1
+ next_image_index -= 1
- # Select next frame with right arrow
+ # Select next image with right arrow
if key_pressed == 3:
- next_frame_index += 1
+ next_image_index += 1
- # Clip frame index
- if next_frame_index < 0:
- next_frame_index = 0
+ # Clip image index
+ if next_image_index < 0:
+ next_image_index = 0
# Switch help mode with h key
if key_pressed == 104:
@@ -153,7 +153,7 @@ def main():
if aruco_scene:
- aruco_scene.to_obj(f'{args.output}/{int(current_frame_time)}-aruco_scene.obj')
+ aruco_scene.to_obj(f'{args.output}/{int(current_image_time)}-aruco_scene.obj')
print(f'ArUco scene saved into {args.output}')
else:
@@ -165,12 +165,12 @@ def main():
break
# Display video
- cv2.imshow(window_name, video_frame)
+ cv2.imshow(window_name, video_image)
# Close movie capture
video_capture.release()
- # Stop frame display
+ # Stop image display
cv2.destroyAllWindows()
if __name__ == '__main__':
diff --git a/src/argaze/utils/camera_calibrate.py b/src/argaze/utils/camera_calibrate.py
index c42b721..8b3249b 100644
--- a/src/argaze/utils/camera_calibrate.py
+++ b/src/argaze/utils/camera_calibrate.py
@@ -45,8 +45,8 @@ def main():
# Enable camera video capture
video_capture = cv2.VideoCapture(args.device)
- frame_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
- frame_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+ image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+ image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
# Create aruco optic calibrator
aruco_optic_calibrator = ArUcoOpticCalibrator.ArUcoOpticCalibrator()
@@ -57,7 +57,7 @@ def main():
# Create aruco detector
aruco_detector = ArUcoDetector.ArUcoDetector(dictionary=args.dictionary, marker_size=args.marker_size)
- print(f'{frame_width}x{frame_height} pixels camera calibration starts')
+ print(f'{image_width}x{image_height} pixels camera calibration starts')
print("Waiting for calibration board...")
expected_markers_number = aruco_board.markers_number
@@ -66,33 +66,33 @@ def main():
# Capture loop
try:
- # Capture frames with a full displayed board inside
+ # Capture images with a full displayed board inside
while video_capture.isOpened():
- success, video_frame = video_capture.read()
+ success, video_image = video_capture.read()
if success:
# Detect calibration board
- aruco_detector.detect_board(video_frame, aruco_board, expected_markers_number)
+ aruco_detector.detect_board(video_image, aruco_board, expected_markers_number)
# Draw detected markers
- aruco_detector.draw_detected_markers(video_frame)
+ aruco_detector.draw_detected_markers(video_image)
# Draw current calibration data count
- cv2.putText(video_frame, f'Capture: {aruco_optic_calibrator.calibration_data_count}', (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA)
- cv2.imshow('Optic Calibration', video_frame)
+ cv2.putText(video_image, f'Capture: {aruco_optic_calibrator.calibration_data_count}', (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA)
+ cv2.imshow('Optic Calibration', video_image)
# If all board corners are detected
if aruco_detector.board_corners_number == expected_corners_number:
# Draw board corners to notify a capture is done
- aruco_detector.draw_board(video_frame)
+ aruco_detector.draw_board(video_image)
# Append calibration data
aruco_optic_calibrator.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier)
- cv2.imshow('Optic Calibration', video_frame)
+ cv2.imshow('Optic Calibration', video_image)
# Stop calibration by pressing 'Esc' key
if cv2.waitKey(1) == 27:
@@ -102,11 +102,11 @@ def main():
except KeyboardInterrupt:
pass
- # Stop frame display
+ # Stop image display
cv2.destroyAllWindows()
print('\nCalibrating camera...')
- optic_parameters = aruco_optic_calibrator.calibrate(aruco_board, dimensions=(frame_width, frame_height))
+ optic_parameters = aruco_optic_calibrator.calibrate(aruco_board, dimensions=(image_width, image_height))
if optic_parameters:
diff --git a/src/argaze/utils/demo_ar_features_run.py b/src/argaze/utils/demo_ar_features_run.py
index ec42338..990e234 100644
--- a/src/argaze/utils/demo_ar_features_run.py
+++ b/src/argaze/utils/demo_ar_features_run.py
@@ -17,7 +17,7 @@ import numpy
def main():
"""
- Load AR environment from .json file, detect ArUco markers into camera device frames and estimate environment pose.
+ Load AR environment from .json file, detect ArUco markers into camera device images and estimate environment pose.
"""
current_directory = os.path.dirname(os.path.abspath(__file__))
@@ -65,22 +65,22 @@ def main():
# Waiting for 'ctrl+C' interruption
try:
- # Capture frames
+ # Capture images
while video_capture.isOpened():
- # Read video frame
- success, video_frame = video_capture.read()
+ # Read video image
+ success, video_image = video_capture.read()
- # Create screen frame
- screen_frame = numpy.zeros((240, 320, 3)).astype(numpy.uint8)
+ # Create screen image
+ screen_image = numpy.zeros((240, 320, 3)).astype(numpy.uint8)
if success:
# Detect markers
- demo_environment.aruco_detector.detect_markers(video_frame)
+ demo_environment.aruco_detector.detect_markers(video_image)
# Draw detected markers
- demo_environment.aruco_detector.draw_detected_markers(video_frame)
+ demo_environment.aruco_detector.draw_detected_markers(video_image)
# Try to project scene
try:
@@ -97,33 +97,33 @@ def main():
# Estimate scene pose from detected scene markers
tvec, rmat, _, _ = demo_scene.estimate_pose(demo_environment.aruco_detector.detected_markers)
- # Project AOI scene into video frame according estimated pose
+ # Project AOI scene into video image according estimated pose
aoi_scene_projection = demo_scene.project(tvec, rmat)
# Draw AOI scene projection
- aoi_scene_projection.draw(video_frame, color=(255, 255, 255))
+ aoi_scene_projection.draw(video_image, color=(255, 255, 255))
# Project pointer into screen
if aoi_scene_projection[screen_name].contains_point(pointer):
inner_x, inner_y = aoi_scene_projection[screen_name].clockwise().inner_axis(pointer)
- cv2.circle(screen_frame, (int(inner_x * screen_size[0]), int(inner_y * screen_size[1])), 5, (255, 255, 255), -1)
+ cv2.circle(screen_image, (int(inner_x * screen_size[0]), int(inner_y * screen_size[1])), 5, (255, 255, 255), -1)
# Catch exceptions raised by estimate_pose and project methods
except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e:
- cv2.rectangle(video_frame, (0, 50), (700, 100), (127, 127, 127), -1)
- cv2.putText(video_frame, f'Error: {e}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.rectangle(video_image, (0, 50), (700, 100), (127, 127, 127), -1)
+ cv2.putText(video_image, f'Error: {e}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- # Draw video frame
- cv2.imshow(demo_environment.name, video_frame)
+ # Draw video image
+ cv2.imshow(demo_environment.name, video_image)
# Draw screen scene
- screen_scene.draw(screen_frame, color=(255, 255, 255))
+ screen_scene.draw(screen_image, color=(255, 255, 255))
- # Draw screen frame
- cv2.imshow(screen_name, screen_frame)
+ # Draw screen image
+ cv2.imshow(screen_name, screen_image)
# Stop by pressing 'Esc' key
if cv2.waitKey(10) == 27:
@@ -136,7 +136,7 @@ def main():
# Close camera video capture
video_capture.release()
- # Stop frame display
+ # Stop image display
cv2.destroyAllWindows()
if __name__ == '__main__':
diff --git a/src/argaze/utils/demo_gaze_features_run.py b/src/argaze/utils/demo_gaze_features_run.py
index 65952ec..8bd0a88 100644
--- a/src/argaze/utils/demo_gaze_features_run.py
+++ b/src/argaze/utils/demo_gaze_features_run.py
@@ -58,8 +58,8 @@ def main():
# Init gaze processing
gaze_position = GazeFeatures.GazePosition()
- screen_frame = AOIFeatures.AOIFrame(aoi_scene_projection['Screen'], window_size)
- screen_frame.heatmap_init()
+ screen_image = AOIFeatures.AOIFrame(aoi_scene_projection['Screen'], window_size)
+ screen_image.heatmap_init()
enable_heatmap = False
clear_heatmap = False
@@ -150,11 +150,11 @@ def main():
# Clear heatmap
if clear_heatmap:
- screen_frame.heatmap_init(10 if enable_heatmap_buffer else 0)
+ screen_image.heatmap_init(10 if enable_heatmap_buffer else 0)
clear_heatmap = False
# Update heatmap
- screen_frame.heatmap_update(gaze_position.value, sigma=0.05)
+ screen_image.heatmap_update(gaze_position.value, sigma=0.05)
else:
@@ -248,7 +248,7 @@ def main():
# Analyse mouse positions
while True:
- aoi_matrix = aoi_scene_image.copy()
+ image = aoi_scene_image.copy()
# Lock gaze movement identification
gaze_movement_lock.acquire()
@@ -258,52 +258,52 @@ def main():
enable_disable = 'disable' if enable_heatmap else 'enable'
buffer_on_off = 'on' if enable_heatmap_buffer else 'off'
buffer_enable_disable = 'disable' if enable_heatmap_buffer else 'enable'
- cv2.putText(aoi_matrix, f'Heatmap: {on_off} (Press \'h\' key to {enable_disable}), Buffer: {buffer_on_off} (Press \'b\' key to {buffer_enable_disable})', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_heatmap else (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Heatmap: {on_off} (Press \'h\' key to {enable_disable}), Buffer: {buffer_on_off} (Press \'b\' key to {buffer_enable_disable})', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_heatmap else (255, 255, 255), 1, cv2.LINE_AA)
# Draw gaze spread heatmap
if enable_heatmap:
- aoi_matrix = cv2.addWeighted(screen_frame.heatmap, 0.5, aoi_matrix, 1., 0)
+ image = cv2.addWeighted(screen_image.heatmap, 0.5, image, 1., 0)
else:
# Write identification mode
- cv2.putText(aoi_matrix, f'Gaze movement identification mode: {identification_mode} (Press \'m\' key to switch)', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, fixation_color[identification_mode], 1, cv2.LINE_AA)
+ cv2.putText(image, f'Gaze movement identification mode: {identification_mode} (Press \'m\' key to switch)', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, fixation_color[identification_mode], 1, cv2.LINE_AA)
# Write TPM help
on_off = 'on' if enable_tm_analysis else 'off'
display_hide = 'hide' if enable_tm_analysis else 'display'
- cv2.putText(aoi_matrix, f'Transition matrix: {on_off} (Press \'t\' key to {display_hide})', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_tm_analysis else (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Transition matrix: {on_off} (Press \'t\' key to {display_hide})', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_tm_analysis else (255, 255, 255), 1, cv2.LINE_AA)
# Write Kc help
on_off = 'on' if enable_kc_analysis else 'off'
display_hide = 'hide' if enable_kc_analysis else 'display'
- cv2.putText(aoi_matrix, f'coefficient K: {on_off} (Press \'k\' key to {display_hide})', (20, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_kc_analysis else (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'coefficient K: {on_off} (Press \'k\' key to {display_hide})', (20, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_kc_analysis else (255, 255, 255), 1, cv2.LINE_AA)
# Write LZC help
on_off = 'on' if enable_lzc_analysis else 'off'
display_hide = 'hide' if enable_lzc_analysis else 'display'
- cv2.putText(aoi_matrix, f'Lempel-Ziv complexity: {on_off} (Press \'z\' key to {display_hide})', (20, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_lzc_analysis else (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Lempel-Ziv complexity: {on_off} (Press \'z\' key to {display_hide})', (20, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_lzc_analysis else (255, 255, 255), 1, cv2.LINE_AA)
# Write N-Gram help
on_off = 'on' if enable_ngram_analysis else 'off'
display_hide = 'hide' if enable_ngram_analysis else 'display'
- cv2.putText(aoi_matrix, f'Tri-Gram: {on_off} (Press \'n\' key to {display_hide})', (20, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_ngram_analysis else (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Tri-Gram: {on_off} (Press \'n\' key to {display_hide})', (20, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_ngram_analysis else (255, 255, 255), 1, cv2.LINE_AA)
# Write entropy help
on_off = 'on' if enable_entropy_analysis else 'off'
display_hide = 'hide' if enable_entropy_analysis else 'display'
- cv2.putText(aoi_matrix, f'Entropy: {on_off} (Press \'e\' key to {display_hide})', (20, 280), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_entropy_analysis else (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Entropy: {on_off} (Press \'e\' key to {display_hide})', (20, 280), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_entropy_analysis else (255, 255, 255), 1, cv2.LINE_AA)
# Write nni help
on_off = 'on' if enable_nni_analysis else 'off'
display_hide = 'hide' if enable_nni_analysis else 'display'
- cv2.putText(aoi_matrix, f'Nearest neighbor index: {on_off} (Press \'i\' key to {display_hide})', (20, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_nni_analysis else (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Nearest neighbor index: {on_off} (Press \'i\' key to {display_hide})', (20, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_nni_analysis else (255, 255, 255), 1, cv2.LINE_AA)
# Write xxr help
on_off = 'on' if enable_xxr_analysis else 'off'
display_hide = 'hide' if enable_xxr_analysis else 'display'
- cv2.putText(aoi_matrix, f'Exploit Explore Ratio: {on_off} (Press \'x\' key to {display_hide})', (20, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_xxr_analysis else (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Exploit Explore Ratio: {on_off} (Press \'x\' key to {display_hide})', (20, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255) if enable_xxr_analysis else (255, 255, 255), 1, cv2.LINE_AA)
# Check fixation identification
if gaze_movement_identifier[identification_mode].current_fixation != None:
@@ -311,21 +311,21 @@ def main():
current_fixation = gaze_movement_identifier[identification_mode].current_fixation
# Draw looked AOI
- aoi_scene_projection.draw_circlecast(aoi_matrix, current_fixation.focus, current_fixation.deviation_max, base_color=(0, 0, 0), matching_color=(255, 255, 255))
+ aoi_scene_projection.draw_circlecast(image, current_fixation.focus, current_fixation.deviation_max, base_color=(0, 0, 0), matching_color=(255, 255, 255))
# Draw current fixation
- current_fixation.draw(aoi_matrix, color=current_fixation_color)
+ current_fixation.draw(image, color=current_fixation_color)
# Draw current fixation gaze positions
- current_fixation.draw_positions(aoi_matrix)
+ current_fixation.draw_positions(image)
else:
# Draw pointer as gaze position
- gaze_position.draw(aoi_matrix, draw_precision=False)
+ gaze_position.draw(image, draw_precision=False)
# Draw AOI scene projection
- aoi_scene_projection.draw(aoi_matrix, color=(0, 0, 0))
+ aoi_scene_projection.draw(image, color=(0, 0, 0))
# Check saccade identification
if gaze_movement_identifier[identification_mode].current_saccade != None:
@@ -333,10 +333,10 @@ def main():
current_saccade = gaze_movement_identifier[identification_mode].current_saccade
# Draw current saccade gaze positions
- current_saccade.draw_positions(aoi_matrix)
+ current_saccade.draw_positions(image)
# Draw last 10 steps of raw scan path
- raw_scan_path.draw(aoi_matrix, fixation_color=fixation_color[identification_mode], deepness=10)
+ raw_scan_path.draw(image, fixation_color=fixation_color[identification_mode], deepness=10)
# Write last 5 steps of aoi scan path
path = ''
@@ -346,12 +346,12 @@ def main():
path += f'> {aoi_scan_path.current_aoi}'
- cv2.putText(aoi_matrix, path, (20, window_size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, path, (20, window_size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Draw transition probability matrix
if enable_tm_analysis:
- cv2.putText(aoi_matrix, f'Transition matrix density: {tm_density:.2f}', (20, window_size[1]-160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Transition matrix density: {tm_density:.2f}', (20, window_size[1]-160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Iterate over indexes (departures)
for from_aoi, row in tm_probabilities.iterrows():
@@ -367,66 +367,66 @@ def main():
color = [int(probability*200) + 55, int(probability*200) + 55, int(probability*200) + 55]
- cv2.line(aoi_matrix, start_line, to_center, color, int(probability*10) + 2)
- cv2.line(aoi_matrix, from_center, to_center, [55, 55, 55], 2)
+ cv2.line(image, start_line, to_center, color, int(probability*10) + 2)
+ cv2.line(image, from_center, to_center, [55, 55, 55], 2)
if enable_kc_analysis:
# Write raw Kc analysis
if raw_kc_analysis < 0.:
- cv2.putText(aoi_matrix, f'Raw: Ambient attention', (20, window_size[1]-120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Raw: Ambient attention', (20, window_size[1]-120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
elif raw_kc_analysis > 0.:
- cv2.putText(aoi_matrix, f'Raw: Focal attention', (20, window_size[1]-120), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Raw: Focal attention', (20, window_size[1]-120), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 0), 1, cv2.LINE_AA)
# Write aoi Kc analysis
if aoi_kc_analysis < 0.:
- cv2.putText(aoi_matrix, f'AOI: Ambient attention', (20, window_size[1]-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'AOI: Ambient attention', (20, window_size[1]-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
elif aoi_kc_analysis > 0.:
- cv2.putText(aoi_matrix, f'AOI: Focal attention', (20, window_size[1]-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(image, f'AOI: Focal attention', (20, window_size[1]-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 0), 1, cv2.LINE_AA)
# Write LZC
if enable_lzc_analysis:
- cv2.putText(aoi_matrix, f'Lempel-Ziv complexity: {lzc_analysis}', (20, window_size[1]-200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Lempel-Ziv complexity: {lzc_analysis}', (20, window_size[1]-200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Write N-Gram
if enable_ngram_analysis:
start = window_size[1] - ((len(ngram_analysis) + 1) * 40)
- cv2.putText(aoi_matrix, f'Tri-Gram:', (window_size[0]-700, start-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Tri-Gram:', (window_size[0]-700, start-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
for i, (ngram, count) in enumerate(ngram_analysis.items()):
trigram = f'{ngram[0]}>{ngram[1]}>{ngram[2]}'
- cv2.putText(aoi_matrix, f'{trigram}: {count}', (window_size[0]-700, start+(i*40)), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'{trigram}: {count}', (window_size[0]-700, start+(i*40)), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Write entropy
if enable_entropy_analysis:
- cv2.putText(aoi_matrix, f'Stationary entropy: {entropy_analysis[0]:.3f},', (20, window_size[1]-280), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(aoi_matrix, f'Transition entropy: {entropy_analysis[1]:.3f},', (20, window_size[1]-240), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Stationary entropy: {entropy_analysis[0]:.3f},', (20, window_size[1]-280), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Transition entropy: {entropy_analysis[1]:.3f},', (20, window_size[1]-240), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Write NNI
if enable_nni_analysis:
- cv2.putText(aoi_matrix, f'Nearest neighbor index: {nni_analysis:.3f}', (20, window_size[1]-320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Nearest neighbor index: {nni_analysis:.3f}', (20, window_size[1]-320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Write XXR
if enable_xxr_analysis:
- cv2.putText(aoi_matrix, f'Exploit explore ratio: {xxr_analysis:.3f}', (20, window_size[1]-320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(image, f'Exploit explore ratio: {xxr_analysis:.3f}', (20, window_size[1]-320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Unlock gaze movement identification
gaze_movement_lock.release()
- # Draw frame
- cv2.imshow(window_name, aoi_matrix)
+ # Draw image
+ cv2.imshow(window_name, image)
key_pressed = cv2.waitKey(10)
@@ -500,7 +500,7 @@ def main():
except KeyboardInterrupt:
pass
- # Stop frame display
+ # Stop image display
cv2.destroyAllWindows()
if __name__ == '__main__':
diff --git a/src/argaze/utils/demo_heatmap_run.py b/src/argaze/utils/demo_heatmap_run.py
index df98d33..e4672d4 100644
--- a/src/argaze/utils/demo_heatmap_run.py
+++ b/src/argaze/utils/demo_heatmap_run.py
@@ -10,36 +10,36 @@ import cv2
def main():
window_name = 'Heatmap'
- frame_size = (800, 600)
+ image_size = (800, 600)
aoi = AOIFeatures.AreaOfInterest([[0, 0], [1, 0], [1, 1], [0, 1]])
- aoi_frame = AOIFeatures.AOIFrame(aoi, frame_size)
+ aoi_image = AOIFeatures.AOIFrame(aoi, image_size)
- aoi_frame.heatmap_init()
+ aoi_image.heatmap_init()
cv2.namedWindow(window_name, cv2.WINDOW_AUTOSIZE)
# Update pointer position
def on_mouse_event(event, x, y, flags, param):
- aoi_frame.heatmap_update((x, y), sigma=0.05)
+ aoi_image.heatmap_update((x, y), sigma=0.05)
# Attach mouse callback to window
cv2.setMouseCallback(window_name, on_mouse_event)
while True:
- cv2.imshow(window_name, aoi_frame.heatmap)
+ cv2.imshow(window_name, aoi_image.heatmap)
# Stop and save picture by pressing 'Esc' key
if cv2.waitKey(10) == 27:
current_directory = os.path.dirname(os.path.abspath(__file__))
- cv2.imwrite(os.path.join(current_directory,'heatmap.png'), aoi_frame.heatmap)
+ cv2.imwrite(os.path.join(current_directory,'heatmap.png'), aoi_image.heatmap)
break
- # Stop frame display
+ # Stop image display
cv2.destroyAllWindows()
if __name__ == '__main__':
diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py
index fc17f37..1cf1d2f 100644
--- a/src/argaze/utils/environment_edit.py
+++ b/src/argaze/utils/environment_edit.py
@@ -23,7 +23,7 @@ import numpy
def main():
"""
- Load AR environment from .json file, detect ArUco markers into movie frames and estimate environment pose.
+ Load AR environment from .json file, detect ArUco markers into movie images and estimate environment pose.
Edit environment setup to improve pose estimation.
"""
@@ -100,16 +100,16 @@ def main():
video_capture = cv2.VideoCapture(args.movie)
video_fps = video_capture.get(cv2.CAP_PROP_FPS)
- frame_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
- frame_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+ image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+ image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
# Enable exit signal handler
exit = MiscFeatures.ExitSignalHandler()
- # Init frame selection
- current_frame_index = -1
- _, current_frame = video_capture.read()
- next_frame_index = int(args.start * video_fps)
+ # Init image selection
+ current_image_index = -1
+ _, current_image = video_capture.read()
+ next_image_index = int(args.start * video_fps)
refresh = False
# Init marker selection
@@ -125,32 +125,32 @@ def main():
# Edit fake gaze position from pointer
gaze_position = GazeFeatures.GazePosition(pointer, precision=2)
- # Reset info frame
- info_frame = numpy.full((850, 1500, 3), 0, dtype=numpy.uint8)
+ # Reset info image
+ info_image = numpy.full((850, 1500, 3), 0, dtype=numpy.uint8)
- # Select a new frame and detect markers once
- if next_frame_index != current_frame_index or refresh or draw_cover:
+ # Select a new image and detect markers once
+ if next_image_index != current_image_index or refresh or draw_cover:
- video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_frame_index)
+ video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index)
- success, video_frame = video_capture.read()
+ success, video_image = video_capture.read()
if success:
# Refresh once
refresh = False
- current_frame_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
- current_frame_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
+ current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
+ current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
# Hide zone
if draw_cover:
# Draw black circle under pointer
- cv2.circle(video_frame, pointer, 50, (0, 0, 0), -1)
+ cv2.circle(video_image, pointer, 50, (0, 0, 0), -1)
# Detect markers
- ar_environment.aruco_detector.detect_markers(video_frame)
+ ar_environment.aruco_detector.detect_markers(video_image)
# Filter scene markers
scene_markers, _ = ar_scene.aruco_scene.filter_markers(ar_environment.aruco_detector.detected_markers)
@@ -159,27 +159,27 @@ def main():
ar_environment.aruco_detector.estimate_markers_pose(scene_markers.keys())
# Write scene detected markers
- cv2.putText(video_frame, f'{list(scene_markers.keys())}', (20, frame_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'{list(scene_markers.keys())}', (20, image_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Draw gray panel on top
- cv2.rectangle(video_frame, (0, 0), (frame_width, 50), (63, 63, 63), -1)
+ cv2.rectangle(video_image, (0, 0), (image_width, 50), (63, 63, 63), -1)
# Draw camera calibration
if draw_grid:
- cv2.putText(video_frame, f'Grid at {z_grid} cm', (500, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
- ar_environment.aruco_detector.optic_parameters.draw(video_frame, frame_width/10, frame_height/10, z_grid, color=(127, 127, 127))
+ cv2.putText(video_image, f'Grid at {z_grid} cm', (500, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ ar_environment.aruco_detector.optic_parameters.draw(video_image, image_width/10, image_height/10, z_grid, color=(127, 127, 127))
# Write timing
- cv2.putText(video_frame, f'Time: {int(current_frame_time)} ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Time: {int(current_image_time)} ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
- # Copy frame
- current_frame = video_frame.copy()
+ # Copy image
+ current_image = video_image.copy()
- # Keep last frame
+ # Keep last image
else:
- video_frame = current_frame.copy()
+ video_image = current_image.copy()
# Handle scene marker selection on left click
if len(scene_markers) > 0:
@@ -217,7 +217,7 @@ def main():
m.color = (127, 127, 127)
# Draw center
- cv2.circle(video_frame, m.center.astype(int), 5, m.color, -1)
+ cv2.circle(video_image, m.center.astype(int), 5, m.color, -1)
try:
@@ -230,23 +230,23 @@ def main():
selected_marker = scene_markers[selected_marker_id]
# Write selected marker id
- cv2.rectangle(info_frame, (0, 0), (500, 50), selected_marker.color, -1)
- cv2.putText(info_frame, f'Selected marker #{selected_marker.identifier}', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.rectangle(info_frame, (0, 50), (500, frame_height), (255, 255, 255), -1)
+ cv2.rectangle(info_image, (0, 0), (500, 50), selected_marker.color, -1)
+ cv2.putText(info_image, f'Selected marker #{selected_marker.identifier}', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.rectangle(info_image, (0, 50), (500, image_height), (255, 255, 255), -1)
# Write selected marker rotation matrix
R = ArUcoScene.make_euler_rotation_vector(selected_marker.rotation)
- cv2.putText(info_frame, f'Rotation (camera axis)', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[0]:.3f}', (40, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[1]:.3f}', (40, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[2]:.3f}', (40, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Rotation (camera axis)', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[0]:.3f}', (40, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[1]:.3f}', (40, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[2]:.3f}', (40, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Write selected marker translation vector
T = selected_marker.translation
- cv2.putText(info_frame, f'Translation (camera axis):', (20, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[0]:.3f}', (40, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[1]:.3f}', (40, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[2]:.3f}', (40, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Translation (camera axis):', (20, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[0]:.3f}', (40, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[1]:.3f}', (40, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[2]:.3f}', (40, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Retreive selected marker place
selected_place = ar_scene.aruco_scene.places[selected_marker_id]
@@ -254,7 +254,7 @@ def main():
# On right click
if right_button:
- pointer_delta_x, pointer_delta_y = right_drag[0] / frame_width, right_drag[1] / frame_height
+ pointer_delta_x, pointer_delta_y = right_drag[0] / image_width, right_drag[1] / image_height
place_edit[selected_marker_id] = {'rotation': (0, 0, 0), 'translation': (0, 0, 0)}
@@ -292,40 +292,40 @@ def main():
hovered_marker = scene_markers[hovered_marker_id]
# Write hovered marker id
- cv2.rectangle(info_frame, (500, 0), (1000, 50), hovered_marker.color, -1)
- cv2.putText(info_frame, f'Hovered marker #{hovered_marker.identifier}', (520, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.rectangle(info_frame, (500, 50), (1000, frame_height), (255, 255, 255), -1)
+ cv2.rectangle(info_image, (500, 0), (1000, 50), hovered_marker.color, -1)
+ cv2.putText(info_image, f'Hovered marker #{hovered_marker.identifier}', (520, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.rectangle(info_image, (500, 50), (1000, image_height), (255, 255, 255), -1)
# Write hovered marker rotation matrix
R = ArUcoScene.make_euler_rotation_vector(hovered_marker.rotation)
- cv2.putText(info_frame, f'Rotation (camera axis)', (520, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[0]:.3f}', (540, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[1]:.3f}', (540, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[2]:.3f}', (540, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Rotation (camera axis)', (520, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[0]:.3f}', (540, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[1]:.3f}', (540, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[2]:.3f}', (540, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Write hovered marker translation vector
T = hovered_marker.translation
- cv2.putText(info_frame, f'Translation (camera axis):', (520, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[0]:.3f}', (540, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[1]:.3f}', (540, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[2]:.3f}', (540, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Translation (camera axis):', (520, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[0]:.3f}', (540, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[1]:.3f}', (540, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[2]:.3f}', (540, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Retreive hovered marker place
hovered_place = ar_scene.aruco_scene.places[hovered_marker_id]
# Write hovered place rotation matrix
R = ArUcoScene.make_euler_rotation_vector(hovered_place.rotation)
- cv2.putText(info_frame, f'Rotation (scene axis):', (520, 500), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[0]:.3f}', (540, 540), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[1]:.3f}', (540, 580), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[2]:.3f}', (540, 620), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Rotation (scene axis):', (520, 500), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[0]:.3f}', (540, 540), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[1]:.3f}', (540, 580), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[2]:.3f}', (540, 620), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Write hovered place translation vector
T = hovered_place.translation
- cv2.putText(info_frame, f'Translation (scene axis):', (520, 700), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[0]:.3f}', (540, 740), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[1]:.3f}', (540, 780), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[2]:.3f}', (540, 820), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Translation (scene axis):', (520, 700), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[0]:.3f}', (540, 740), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[1]:.3f}', (540, 780), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[2]:.3f}', (540, 820), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Rotation between markers and places
markers_rotation_matrix = hovered_marker.rotation.dot(selected_marker.rotation.T)
@@ -339,37 +339,37 @@ def main():
places_translation = hovered_place.translation - selected_place.translation
# Write selected/hovered markers id
- cv2.rectangle(info_frame, (1000, 0), (1500, 50), (63, 63, 63), -1)
- cv2.putText(info_frame, f'#{selected_marker.identifier} -> #{hovered_marker.identifier}', (1020, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
- cv2.rectangle(info_frame, (1000, 50), (1500, frame_height), (190, 190, 190), -1)
+ cv2.rectangle(info_image, (1000, 0), (1500, 50), (63, 63, 63), -1)
+ cv2.putText(info_image, f'#{selected_marker.identifier} -> #{hovered_marker.identifier}', (1020, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.rectangle(info_image, (1000, 50), (1500, image_height), (190, 190, 190), -1)
# Write selected/hovered markers rotation matrix
R = markers_rotation_vector
- cv2.putText(info_frame, f'Rotation (camera axis)', (1020, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[0]:.3f}', (1040, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[1]:.3f}', (1040, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[2]:.3f}', (1040, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Rotation (camera axis)', (1020, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[0]:.3f}', (1040, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[1]:.3f}', (1040, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[2]:.3f}', (1040, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Write selected/hovered markers translation vector
T = markers_translation
- cv2.putText(info_frame, f'Translation (camera axis):', (1020, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[0]:.3f}', (1040, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[1]:.3f}', (1040, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[2]:.3f}', (1040, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Translation (camera axis):', (1020, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[0]:.3f}', (1040, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[1]:.3f}', (1040, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[2]:.3f}', (1040, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Write selected/hovered places rotation matrix
R = places_rotation_vector
- cv2.putText(info_frame, f'Rotation (scene axis):', (1020, 500), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[0]:.3f}', (1040, 540), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[1]:.3f}', (1040, 580), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[2]:.3f}', (1040, 620), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Rotation (scene axis):', (1020, 500), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[0]:.3f}', (1040, 540), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[1]:.3f}', (1040, 580), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[2]:.3f}', (1040, 620), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Write selected/hovered places translation vector
T = places_translation
- cv2.putText(info_frame, f'Translation (scene axis):', (1020, 700), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[0]:.3f}', (1040, 740), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[1]:.3f}', (1040, 780), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[2]:.3f}', (1040, 820), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Translation (scene axis):', (1020, 700), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[0]:.3f}', (1040, 740), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[1]:.3f}', (1040, 780), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[2]:.3f}', (1040, 820), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
if snap:
@@ -404,17 +404,17 @@ def main():
# Write edited place rotation matrix
R = ArUcoScene.make_euler_rotation_vector(edited_place.rotation)
- cv2.putText(info_frame, f'Rotation (scene axis):', (20, 500), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[0]:.3f}', (40, 540), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[1]:.3f}', (40, 580), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{R[2]:.3f}', (40, 620), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Rotation (scene axis):', (20, 500), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[0]:.3f}', (40, 540), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[1]:.3f}', (40, 580), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{R[2]:.3f}', (40, 620), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Write edited place translation vector
T = edited_place.translation
- cv2.putText(info_frame, f'Translation (scene axis):', (20, 700), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[0]:.3f}', (40, 740), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[1]:.3f}', (40, 780), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
- cv2.putText(info_frame, f'{T[2]:.3f}', (40, 820), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Translation (scene axis):', (20, 700), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[0]:.3f}', (40, 740), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[1]:.3f}', (40, 780), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'{T[2]:.3f}', (40, 820), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Replace selected place by edited place
ar_scene.aruco_scene.places[selected_marker_id] = edited_place
@@ -423,37 +423,37 @@ def main():
ar_scene.aruco_scene.init_places_consistency()
# Estimate scene pose from each marker
- cv2.putText(video_frame, f'Single marker scene pose estimation', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Single marker scene pose estimation', (20, image_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
for i, m in scene_markers.items():
tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_single_marker(m)
- # Project AOI scene into frame according estimated pose
+ # Project AOI scene into image according estimated pose
aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
if i == selected_marker_id:
# Draw AOI scene projection with gaze
- aoi_scene_projection.draw_circlecast(video_frame, gaze_position, 1, base_color=m.color, matching_color=(255, 255, 255))
+ aoi_scene_projection.draw_circlecast(video_image, gaze_position, 1, base_color=m.color, matching_color=(255, 255, 255))
else:
# Draw AOI scene
- aoi_scene_projection.draw(video_frame, color=m.color)
+ aoi_scene_projection.draw(video_image, color=m.color)
# Draw expected marker places
- ar_scene.draw_places(video_frame)
+ ar_scene.draw_places(video_image)
# Catch missing selected marker
except KeyError:
- cv2.putText(video_frame, f'Marker {selected_marker_id} not found', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Marker {selected_marker_id} not found', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
# No marker selected
else:
- cv2.putText(info_frame, f'Left click on marker to select it', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Left click on marker to select it', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
if len(scene_markers) > 1:
@@ -475,10 +475,10 @@ def main():
current_rotation = value['current']
expected_rotation = value['expected']
- cv2.putText(info_frame, f'Unconsistent rotation {label}: [{current_rotation[0]:.3f} {current_rotation[1]:.3f} {current_rotation[2]:.3f}]', (20, 120+line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Unconsistent rotation {label}: [{current_rotation[0]:.3f} {current_rotation[1]:.3f} {current_rotation[2]:.3f}]', (20, 120+line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
line += 1
- cv2.putText(info_frame, f'Expected rotation {label}: [{expected_rotation[0]:.3f} {expected_rotation[1]:.3f} {expected_rotation[2]:.3f}]', (20, 120+line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Expected rotation {label}: [{expected_rotation[0]:.3f} {expected_rotation[1]:.3f} {expected_rotation[2]:.3f}]', (20, 120+line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
line += 1
for i, (label, value) in enumerate(unconsistencies['translation'].items()):
@@ -486,10 +486,10 @@ def main():
current_translation = value['current']
expected_translation = value['expected']
- cv2.putText(info_frame, f'Unconsistent translation {label}: {current_translation:.3f}', (20, 120+ line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Unconsistent translation {label}: {current_translation:.3f}', (20, 120+ line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
line += 1
- cv2.putText(info_frame, f'Expected translation {label}: {expected_translation:.3f}', (20, 120+ line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(info_image, f'Expected translation {label}: {expected_translation:.3f}', (20, 120+ line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
line += 1
# Force pose mode to single marker scene pose estimation
@@ -500,36 +500,36 @@ def main():
# Single marker scene pose estimation
if pose_mode == 0:
- cv2.putText(video_frame, f'Single marker scene pose estimation', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Single marker scene pose estimation', (20, image_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
for i, m in scene_markers.items():
tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_single_marker(m)
- # Project AOI scene into frame according estimated pose
+ # Project AOI scene into image according estimated pose
aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
# Draw AOI scene
- aoi_scene_projection.draw(video_frame, color=m.color)
+ aoi_scene_projection.draw(video_image, color=m.color)
# Consistent markers scene pose estimation
if pose_mode == 1:
- cv2.putText(video_frame, f'Consistent markers scene pose estimation', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Consistent markers scene pose estimation', (20, image_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_markers(consistent_markers)
- # Project AOI scene into frame according estimated pose
+ # Project AOI scene into image according estimated pose
aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
# Draw AOI scene
- aoi_scene_projection.draw(video_frame, color=(255, 255, 255))
+ aoi_scene_projection.draw(video_image, color=(255, 255, 255))
# ArUco marker axis scene pose estimation
elif pose_mode == 2:
# Write pose estimation strategy
- cv2.putText(video_frame, f'ArUco marker axis scene pose estimation', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'ArUco marker axis scene pose estimation', (20, image_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
for axis_name, axis_markers in ar_scene.aruco_axis.items():
@@ -541,11 +541,11 @@ def main():
tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_axis_markers(origin_marker, horizontal_axis_marker, vertical_axis_marker)
- # Project AOI scene into frame according estimated pose
+ # Project AOI scene into image according estimated pose
aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
# Draw AOI scene
- aoi_scene_projection.draw(video_frame, color=(255, 255, 255))
+ aoi_scene_projection.draw(video_image, color=(255, 255, 255))
break
@@ -556,7 +556,7 @@ def main():
elif pose_mode == 3:
# Write pose estimation strategy
- cv2.putText(video_frame, f'ArUco AOI scene building', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'ArUco AOI scene building', (20, image_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
try :
@@ -564,46 +564,46 @@ def main():
aoi_scene_projection = ar_scene.build_aruco_aoi_scene(scene_markers)
# Draw AOI scene
- aoi_scene_projection.draw(video_frame, color=(255, 255, 255))
+ aoi_scene_projection.draw(video_image, color=(255, 255, 255))
except:
pass
# Draw expected marker places
- #ar_scene.draw_places(video_frame)
+ #ar_scene.draw_places(video_image)
# Catch exceptions raised by estimate_pose and project methods
except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e:
- cv2.rectangle(video_frame, (0, 90), (700, 130), (127, 127, 127), -1)
- cv2.putText(video_frame, f'Error: {e}', (20, 100), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.rectangle(video_image, (0, 90), (700, 130), (127, 127, 127), -1)
+ cv2.putText(video_image, f'Error: {e}', (20, 100), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- # Draw frame
- cv2.imshow(ar_environment.name, video_frame)
+ # Draw image
+ cv2.imshow(ar_environment.name, video_image)
# Draw detected markers
- ar_environment.aruco_detector.draw_detected_markers(video_frame)
+ ar_environment.aruco_detector.draw_detected_markers(video_image)
# Draw pointer
- gaze_position.draw(video_frame)
+ gaze_position.draw(video_image)
# Write documentation
- cv2.putText(video_frame, f'Press \'h\' for help', (950, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Press \'h\' for help', (950, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
if draw_help:
- cv2.rectangle(video_frame, (0, 50), (700, 300), (127, 127, 127), -1)
- cv2.putText(video_frame, f'> Left click on marker: select marker', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(video_frame, f'> Left click on frame: unselect marker', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(video_frame, f'> T: translate, R: rotate, Z: select axis', (20, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(video_frame, f'> Right click and drag: edit axis', (20, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(video_frame, f'> Ctrl + S: save environment', (20, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(video_frame, f'> Backspace: reload environment', (20, 280), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.rectangle(video_image, (0, 50), (700, 300), (127, 127, 127), -1)
+ cv2.putText(video_image, f'> Left click on marker: select marker', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'> Left click on image: unselect marker', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'> T: translate, R: rotate, Z: select axis', (20, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'> Right click and drag: edit axis', (20, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'> Ctrl + S: save environment', (20, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'> Backspace: reload environment', (20, 280), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Write selected marker id
elif selected_marker_id >= 0:
- cv2.rectangle(video_frame, (0, 50), (700, 90), (127, 127, 127), -1)
+ cv2.rectangle(video_image, (0, 50), (700, 90), (127, 127, 127), -1)
# Select color
if edit_z:
@@ -614,26 +614,26 @@ def main():
color_axis = (0, 255, 255)
if edit_trans:
- cv2.putText(video_frame, f'Rotate marker {selected_marker_id} around axis {str_axis}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, color_axis, 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Rotate marker {selected_marker_id} around axis {str_axis}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, color_axis, 1, cv2.LINE_AA)
else:
- cv2.putText(video_frame, f'Translate marker {selected_marker_id} along axis {str_axis}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, color_axis, 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Translate marker {selected_marker_id} along axis {str_axis}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, color_axis, 1, cv2.LINE_AA)
key_pressed = cv2.waitKey(10)
#if key_pressed != -1:
# print(key_pressed)
- # Select previous frame with left arrow
+ # Select previous image with left arrow
if key_pressed == 2:
- next_frame_index -= 1
+ next_image_index -= 1
- # Select next frame with right arrow
+ # Select next image with right arrow
if key_pressed == 3:
- next_frame_index += 1
+ next_image_index += 1
- # Clip frame index
- if next_frame_index < 0:
- next_frame_index = 0
+ # Clip image index
+ if next_image_index < 0:
+ next_image_index = 0
# Edit rotation with r key
if key_pressed == 114:
@@ -696,15 +696,15 @@ def main():
refresh = True
# Display video
- cv2.imshow(ar_environment.name, video_frame)
+ cv2.imshow(ar_environment.name, video_image)
# Display info
- cv2.imshow('Info', info_frame)
+ cv2.imshow('Info', info_image)
# Close movie capture
video_capture.release()
- # Stop frame display
+ # Stop image display
cv2.destroyAllWindows()
if __name__ == '__main__':
generated by cgit v1.1 at 2024-11-10 08:27:02 +0000