diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/utils/tobii_segment_aruco_aoi_export.py | 68 |
1 files changed, 44 insertions, 24 deletions
diff --git a/src/argaze/utils/tobii_segment_aruco_aoi_export.py b/src/argaze/utils/tobii_segment_aruco_aoi_export.py index 7d4931e..bb7d769 100644 --- a/src/argaze/utils/tobii_segment_aruco_aoi_export.py +++ b/src/argaze/utils/tobii_segment_aruco_aoi_export.py @@ -6,7 +6,7 @@ import json from argaze import DataStructures from argaze import GazeFeatures -from argaze.TobiiGlassesPro2 import TobiiEntities, TobiiVideo, TobiiSpecifications +from argaze.TobiiGlassesPro2 import TobiiEntities, TobiiData, TobiiVideo, TobiiSpecifications from argaze.ArUcoMarkers import * from argaze.AreaOfInterest import * from argaze.utils import MiscFeatures @@ -38,9 +38,9 @@ def main(): # Manage markers id to track if args.marker_id_scene == None: - print(f'Track any Aruco markers from the {args.marker_dictionary} dictionary') + 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} dictionary') + print(f'Track Aruco markers {list(args.marker_id_scene.keys())} from the {args.marker_dictionary.name} dictionary') # Manage destination path destination_path = '.' @@ -87,11 +87,14 @@ def main(): 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.get_stream()) + output_video = TobiiVideo.TobiiVideoOutput(vs_video_filepath, tobii_segment_video.stream) # Create aruco camera aruco_camera = ArUcoCamera.ArUcoCamera() @@ -113,12 +116,13 @@ def main(): aruco_tracker.load_configuration_file(args.aruco_tracker_configuration) - print(f'ArUcoTracker configuration for {aruco_tracker.get_markers_dictionay().get_markers_format()} markers detection:') + 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 = [] for marker_id, aoi_scene_filepath in args.marker_id_scene.items(): @@ -132,17 +136,21 @@ def main(): 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 scene in time - ts_aois_scenes = AOIFeatures.TimeStampedAOIScenes() + # 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.get_duration()/1e3, prefix = 'Progress:', suffix = 'Complete', length = 100) + MiscFeatures.printProgressBar(0, tobii_segment_video.duration/1e3, prefix = 'Progress:', suffix = 'Complete', length = 100) head_moving = False head_movement_last = 0. @@ -158,6 +166,9 @@ def main(): # Process video and data frame try: + # Get nearest video timestamp + _, nearest_vts = tobii_ts_vts.get_last_before(video_ts) + # Get nearest head rotation before video timestamp and remove all head rotations before _, nearest_head_rotation = tobii_ts_head_rotations.pop_first_until(video_ts) @@ -180,7 +191,7 @@ def main(): # 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)] = AOIFeatures.EmptyAOIScene() + ts_offset_aois[round(video_ts_ms)] = AOIFeatures.EmptyAOIScene() raise UserWarning('Head is moving') @@ -190,12 +201,12 @@ def main(): # Track markers with pose estimation and draw them aruco_tracker.track(video_frame.matrix) - aruco_tracker.draw(visu_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.markers_number() == 0: + if len(aruco_tracker.tracked_markers) == 0: - ts_aois_scenes[round(video_ts_ms)] = AOIFeatures.EmptyAOIScene() + ts_offset_aois[round(video_ts_ms)] = AOIFeatures.EmptyAOIScene() raise UserWarning('No marker detected') @@ -203,7 +214,7 @@ def main(): aoi2D_dict = {} # Project 3D scene on each video frame and the visualisation frame - for (i, marker_id) in enumerate(aruco_tracker.get_markers_ids()): + for (marker_id, marker) in aruco_tracker.tracked_markers.items(): # Copy 3D scene related to detected marker aoi3D_scene = aoi3D_scene_selector(marker_id) @@ -212,7 +223,7 @@ def main(): continue # Transform scene into camera referential - aoi3D_camera = aoi3D_scene.transform(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i)) + aoi3D_camera = aoi3D_scene.transform(marker.translation, marker.rotation) # Get aoi inside vision cone field cone_vision_height_cm = 200 # cm @@ -225,7 +236,7 @@ def main(): # 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(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i), aruco_camera.get_K()) + 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(): @@ -242,8 +253,20 @@ def main(): aoi2D_merged_scene.draw(visu_frame.matrix, (0, 0)) - # Store 2D merged scene at this time in millisecond - ts_aois_scenes[round(video_ts_ms)] = aoi2D_merged_scene + # Edit dictionary with all 2D aoi with primary timestamp offset + all_aoi2D = { + 'offset': nearest_vts.offset + } + + for aoi_name in all_aois_names: + + try: + all_aoi2D[aoi_name] = aoi2D_merged_scene[aoi_name] + except: + all_aoi2D[aoi_name] = None + + # Store all 2D aoi + ts_offset_aois[video_ts] = all_aoi2D # Warn user when the merged scene is empty if len(aoi2D_merged_scene.keys()) == 0: @@ -278,14 +301,14 @@ def main(): break # Display visualisation - cv.imshow(f'Segment {tobii_segment.get_id()} ArUco AOI', visu_frame.matrix) + 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.get_duration()/1e3, prefix = 'Progress:', suffix = 'Complete', length = 100) + MiscFeatures.printProgressBar(progress, tobii_segment_video.duration/1e3, prefix = 'Progress:', suffix = 'Complete', length = 100) # Exit on 'ctrl+C' interruption except KeyboardInterrupt: @@ -299,16 +322,13 @@ def main(): # Print aruco tracking metrics print('\nAruco marker tracking metrics') - try_count, tracked_counts, rejected_counts = aruco_tracker.get_track_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)} %)') - for marker_id, rejected_count in rejected_counts.items(): - print(f'Markers {marker_id} has been rejected in {rejected_count} / {try_count} frames ({round(100 * rejected_count / try_count, 2)} %)') - # Export aruco aoi data - ts_aois_scenes.export_as_csv(vs_data_filepath, exclude=['dimension']) + ts_offset_aois.export_as_csv(vs_data_filepath) print(f'Aruco AOI data saved into {vs_data_filepath}') # Notify when the aruco aoi video has been exported |