diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/utils/tobii_imu_calibrate.py | 80 |
1 files changed, 71 insertions, 9 deletions
diff --git a/src/argaze/utils/tobii_imu_calibrate.py b/src/argaze/utils/tobii_imu_calibrate.py index 369134e..85472d9 100644 --- a/src/argaze/utils/tobii_imu_calibrate.py +++ b/src/argaze/utils/tobii_imu_calibrate.py @@ -9,6 +9,8 @@ from argaze.TobiiGlassesPro2 import TobiiController, TobiiInertialMeasureUnit from argaze.utils import MiscFeatures import numpy +import matplotlib.pyplot as mpyplot +import matplotlib.patches as mpatches def main(): """ @@ -22,7 +24,7 @@ def main(): parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0]) parser.add_argument('-t', '--tobii_ip', metavar='TOBII_IP', type=str, default=None, help='tobii glasses ip') parser.add_argument('-i', '--imu_calibration', metavar='IMU_CALIB', type=str, default=None, help='json imu calibration filepath') - parser.add_argument('-b', '--buffer_size', metavar='BUFFER_SIZE', type=int, default=500, help='number of samples to store into calibration buffer') + parser.add_argument('-n', '--sample_number', metavar='BUFFER_SIZE', type=int, default=500, help='number of samples to store into calibration buffer') parser.add_argument('-o', '--output', metavar='OUT', type=str, default='imu.json', help='destination filepath') args = parser.parse_args() @@ -56,7 +58,7 @@ def main(): while True: print('-' * 52) - menu_input = input('Tobii Inertial Measure Unit sensor calibration menu:\n\t\'a\' for accelerometer calibration.\n\t\'g\' for gyroscope calibration.\n\t\'p\' print current calibration.\n\t\'s\' save calibration.\n\t\'q\' quit calibration without saving.\n>') + menu_input = input('Tobii Inertial Measure Unit sensor calibration menu:\n\t\'a\' for accelerometer calibration.\n\t\'A\' for accelerometer visualisation.\n\t\'g\' for gyroscope calibration.\n\t\'G\' for gyroscope visualisation.\n\t\'p\' print current calibration.\n\t\'s\' save calibration.\n\t\'q\' quit calibration without saving.\n>') match menu_input: @@ -76,13 +78,14 @@ def main(): input(f'\nKeep Tobii Glasses accelerometer {axis} axis {direction} then press \'Enter\' to start data acquisition.\n') # Initialise progress bar - MiscFeatures.printProgressBar(0, args.buffer_size, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) + MiscFeatures.printProgressBar(0, args.sample_number, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) # Capture accelerometer data stream - for progress, data_ts_buffer in tobii_data_stream.capture('Accelerometer', args.buffer_size): + data_ts_buffer = DataStructures.TimeStampedBuffer() + for progress in tobii_data_stream.capture(data_ts_buffer, 'Accelerometer', args.sample_number): # Update progress Bar - MiscFeatures.printProgressBar(progress, args.buffer_size, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) + MiscFeatures.printProgressBar(progress, args.sample_number, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) axis_buffers[direction] = data_ts_buffer @@ -95,27 +98,86 @@ def main(): print('\tY coefficients: ', accelerometer_coefficients[1]) print('\tZ coefficients: ', accelerometer_coefficients[2]) + case 'A': + + print('\nCAPTURE AND PLOT ACCELEROMETER STREAM') + + # Initialise progress bar + MiscFeatures.printProgressBar(0, args.sample_number, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) + + # Capture accelerometer data stream + data_ts_buffer = DataStructures.TimeStampedBuffer() + for progress in tobii_data_stream.capture(data_ts_buffer, 'Accelerometer', args.sample_number): + + # Update progress Bar + MiscFeatures.printProgressBar(progress, args.sample_number, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) + + # Edit figure + figure_width = min(args.sample_number/10, 56) # maximal width to display: 56 inches at 144 dpi < 2^16 pixels + data_sample = 8064 # 56 inches * 144 dpi = 8064 data can be displayed at max + figure = mpyplot.figure(figsize=(figure_width, 5), dpi=144) + + # Plot data + subplot = figure.add_subplot(111) + subplot.set_title('Accelerometer', loc='left') + patches = data_ts_buffer.plot(names=['x','y','z'], colors=['#276FB6','#9427B6','#888888'], split={'value':['x','y','z']}, samples=data_sample) + subplot.legend(handles=patches, loc='upper left') + + # Display figure + mpyplot.show() + figure.clear() + case 'g': print('\nGYROSCOPE CALIBRATION') input('Keep Tobii Glasses steady then press \'Enter\' to start data acquisition.\n') # Initialise progress bar - MiscFeatures.printProgressBar(0, args.buffer_size, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) + MiscFeatures.printProgressBar(0, args.sample_number, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) # Capture gyroscope data stream - for progress, buffer in tobii_data_stream.capture('Gyroscope', args.buffer_size): + data_ts_buffer = DataStructures.TimeStampedBuffer() + for progress in tobii_data_stream.capture(data_ts_buffer, 'Gyroscope', args.sample_number): # Update progress Bar - MiscFeatures.printProgressBar(progress, args.buffer_size, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) + MiscFeatures.printProgressBar(progress, args.sample_number, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) - gyroscope_offset = tobii_imu.calibrate_gyroscope_offset(buffer) + gyroscope_offset = tobii_imu.calibrate_gyroscope_offset(data_ts_buffer) print(f'\n\nGyroscope average over {progress} values for each axis:') print('\tX offset: ', gyroscope_offset[0]) print('\tY offset: ', gyroscope_offset[1]) print('\tZ offset: ', gyroscope_offset[2]) + case 'G': + + print('\nCAPTURE AND PLOT GYROSCOPE STREAM') + + # Initialise progress bar + MiscFeatures.printProgressBar(0, args.sample_number, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) + + # Capture accelerometer data stream + data_ts_buffer = DataStructures.TimeStampedBuffer() + for progress in tobii_data_stream.capture(data_ts_buffer, 'Gyroscope', args.sample_number): + + # Update progress Bar + MiscFeatures.printProgressBar(progress, args.sample_number, prefix = 'Data acquisition:', suffix = 'Complete', length = 100) + + # Edit figure + figure_width = min(args.sample_number/10, 56) # maximal width to display: 56 inches at 144 dpi < 2^16 pixels + data_sample = 8064 # 56 inches * 144 dpi = 8064 data can be displayed at max + figure = mpyplot.figure(figsize=(figure_width, 5), dpi=144) + + # Plot data + subplot = figure.add_subplot(111) + subplot.set_title('Gyroscope', loc='left') + patches = data_ts_buffer.plot(names=['x','y','z'], colors=['#276FB6','#9427B6','#888888'], split={'value':['x','y','z']}, samples=data_sample) + subplot.legend(handles=patches, loc='upper left') + + # Display figure + mpyplot.show() + figure.clear() + case 'p': gyroscope_offset = tobii_imu.get_gyroscope_offset() |