diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze.test/ArUcoMarkers/ArUcoDetector.py | 8 | ||||
| -rw-r--r-- | src/argaze/ArFeatures.py | 18 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoDetector.py | 28 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoMarker.py | 10 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py | 8 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoScene.py | 24 | ||||
| -rw-r--r-- | src/argaze/AreaOfInterest/AOI2DScene.py | 22 | ||||
| -rw-r--r-- | src/argaze/AreaOfInterest/AOI3DScene.py | 4 | ||||
| -rw-r--r-- | src/argaze/AreaOfInterest/AOIFeatures.py | 16 | ||||
| -rw-r--r-- | src/argaze/GazeAnalysis/DispersionThresholdIdentification.py | 14 | ||||
| -rw-r--r-- | src/argaze/GazeAnalysis/VelocityThresholdIdentification.py | 14 | ||||
| -rw-r--r-- | src/argaze/GazeFeatures.py | 28 | ||||
| -rw-r--r-- | src/argaze/utils/aruco_markers_scene_export.py | 72 | ||||
| -rw-r--r-- | src/argaze/utils/camera_calibrate.py | 26 | ||||
| -rw-r--r-- | src/argaze/utils/demo_ar_features_run.py | 38 | ||||
| -rw-r--r-- | src/argaze/utils/demo_gaze_features_run.py | 80 | ||||
| -rw-r--r-- | src/argaze/utils/demo_heatmap_run.py | 14 | ||||
| -rw-r--r-- | src/argaze/utils/environment_edit.py | 270 |
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__': |