From 128c90e714924ac96f82ae5eace75bad09ba5471 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 14 Mar 2022 23:45:45 +0100
Subject: Pre-alpha version of ArGaze package

---
 src/examples/tobii_camera_calibration.py | 113 +++++++++++++++++++++++++++++++
 1 file changed, 113 insertions(+)
 create mode 100644 src/examples/tobii_camera_calibration.py

(limited to 'src/examples/tobii_camera_calibration.py')

diff --git a/src/examples/tobii_camera_calibration.py b/src/examples/tobii_camera_calibration.py
new file mode 100644
index 0000000..0e621b5
--- /dev/null
+++ b/src/examples/tobii_camera_calibration.py
@@ -0,0 +1,113 @@
+#!/usr/bin/env python
+
+"""
+tobii_camera_calibration.py
+
+Author: 
+    - Théo de la Hogue, theo.de-la-hogue@enac.fr
+
+This program:
+    - Captures board pictures with a full displayed board inside
+    - Outputs camera calibration data into a camera.json file
+
+Reference:
+    - https://automaticaddison.com/how-to-perform-pose-estimation-using-an-aruco-marker/
+"""
+import os
+import time
+
+from TobiiGlassesPro2 import TobiiController, TobiiVideo
+from ArUcoMarkers import ArUcoBoard, ArUcoTracker, ArUcoCamera
+
+import cv2 as cv
+
+# tobii glasses ip address
+ip_address = '192.168.1.10'
+
+# manage export folder
+current_folder = os.path.dirname(__file__)
+export_folder = os.path.join(current_folder, '_export')
+if not os.path.exists(export_folder):
+    os.makedirs(export_folder)
+    print(f'\'_export\' folder created')
+
+# create tobii controller
+tobii_controller = TobiiController.TobiiController(ip_address, 'ArGaze', 1)
+
+# create tobii video thread
+tobii_video_thread = TobiiVideo.TobiiVideoThread(tobii_controller)
+tobii_video_thread.start()
+
+# create aruco camera
+aruco_camera = ArUcoCamera.ArUcoCamera()
+
+# create aruco board
+aruco_board = ArUcoBoard.ArUcoBoard('DICT_4X4_50', 7, 5, 5, 3) # 7 columns, 5 rows, square size (cm), marker size (cm)
+
+# create aruco tracker
+aruco_tracker = ArUcoTracker.ArUcoTracker('DICT_4X4_50', 6, aruco_camera) # aruco dictionaries, marker length (cm), camera
+
+# start tobii glasses streaming
+tobii_controller.start_streaming()
+
+print("Camera calibration starts")
+print("Waiting for calibration board...")
+
+frame_width = 0
+frame_height = 0
+
+expected_markers_number = len(aruco_board.get_ids())
+expected_corners_number = (aruco_board.get_size()[0] - 1 ) * (aruco_board.get_size()[1] - 1)
+
+# capture frame with a full displayed board
+while True:
+
+    frame, frame_width, frame_height, frame_time, frame_pts = tobii_video_thread.read()
+
+    # track all markers in the board
+    aruco_tracker.track_board(frame, aruco_board, expected_markers_number)
+
+    # draw only markers
+    aruco_tracker.draw(frame)
+
+    # draw current calibration data count
+    cv.putText(frame, f'Capture: {aruco_camera.get_calibration_data_count()}', (50, 50), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv.LINE_AA)
+    cv.imshow('Tobii Camera Calibration', frame)
+
+    # if all board corners are detected
+    if aruco_tracker.get_board_corners_number() == expected_corners_number:
+
+        # draw board corners to notify a capture is done
+        aruco_tracker.draw_board(frame)
+
+        # append data
+        aruco_camera.store_calibration_data(aruco_tracker.get_board_corners(), aruco_tracker.get_board_corners_ids())
+
+        cv.imshow(f'Tobii Camera Calibration', frame)
+
+        time.sleep(2)
+
+    # quit on 'Esc' command
+    key = cv.waitKey(1)
+    if key == 27:
+        cv.destroyAllWindows()
+        break
+
+# stop tobii objects
+tobii_video_thread.stop()
+
+tobii_controller.stop_streaming()
+tobii_controller.close()
+
+print('\nCalibrating camera...')
+aruco_camera.calibrate(aruco_board, frame_width, frame_height)
+
+print('\nCalibration succeeded!')
+print(f'\nRMS:\n{aruco_camera.get_rms()}')
+print(f'\nCamera matrix:\n{aruco_camera.get_K()}')
+print(f'\nDistortion coefficients:\n{aruco_camera.get_D()}')
+
+aruco_camera.save_calibration_file(os.join(export_folder,'tobii_camera.json'))
+
+print(f'\nCalibration data exported into tobii_camera.json file')
+
-- 
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