aboutsummaryrefslogtreecommitdiff
path: root/docs/use_cases/pilot_gaze_monitoring/pipeline.md
blob: 8664d1e19ef7b523daa390a8adbb6280dc386a34 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
Live processing pipeline
========================

The pipeline processes camera image and gaze data to enable gaze mapping and gaze analysis.

## live_processing_pipeline.json

For this use case we need to detect ArUco markers to enable gaze mapping: **ArGaze** provides the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) class to setup an [ArUco markers pipeline](../../user_guide/aruco_marker_pipeline/introduction.md).

```json
{
    "argaze.ArUcoMarker.ArUcoCamera.ArUcoCamera": {
        "name": "Camera",
        "size": [1920, 1080],
        "aruco_detector": {
            "dictionary": "DICT_APRILTAG_16h5",
            "optic_parameters": "optic_parameters.json",
            "parameters": "detector_parameters.json"
        },
        "gaze_movement_identifier": {
            "argaze.GazeAnalysis.DispersionThresholdIdentification.GazeMovementIdentifier": {
                "deviation_max_threshold": 25,
                "duration_min_threshold": 150
            }
        },
        "filter_in_progress_identification": false,
        "scenes": {
            "Cockpit": {
                "aruco_markers_group": "aruco_scene.obj",
                "layers": {
                    "Main" : {
                        "aoi_scene": "Cockpit.obj"
                    }
                },
                "frames": {
                    "PIC_PFD": {
                        "size": [960, 1080],
                        "background": "PIC_PFD.png",
                        "layers": {
                            "Main": {
                                "aoi_scene": "PIC_PFD.svg"
                            }
                        },
                        "image_parameters": {
                            "background_weight": 1,
                            "draw_gaze_positions": {
                                "color": [0, 255, 255],
                                "size": 15
                            }
                        }
                    }
                },
                "angle_tolerance": 15.0,
                "distance_tolerance": 10.0
            }
        },
        "layers": {
            "Main": {
                "aoi_matcher": {
                    "argaze.GazeAnalysis.DeviationCircleCoverage.AOIMatcher": {
                        "coverage_threshold": 0.25
                    }
                }        
            }
        },
        "image_parameters": {
            "background_weight": 1,
            "draw_gaze_positions": {
                "color": [0, 255, 255],
                "size": 4
            },
            "draw_detected_markers": {
                "color": [0, 255, 0],
                "draw_axes": {
                    "thickness": 4
                }
            },
            "draw_fixations": {
                "deviation_circle_color": [255, 127, 255],
                "duration_border_color": [127, 0, 127],
                "duration_factor": 1e-2
            },
            "draw_layers": {
                "Main": {
                    "draw_aoi_scene": {
                        "draw_aoi": {
                            "color": [0, 255, 255],
                            "border_size": 1
                        }
                    },
                    "draw_aoi_matching": {
                        "update_looked_aoi": true,
                        "draw_matched_fixation": {
                            "deviation_circle_color": [255, 255, 255],
                            "draw_positions": {
                                "position_color": [0, 255, 0],
                                "line_color": [0, 0, 0]
                            }
                        },
                        "draw_matched_region": {
                            "color": [0, 255, 0],
                            "border_size": 4
                        },
                        "draw_looked_aoi": {
                            "color": [0, 255, 0],
                            "border_size": 2
                        },
                        "looked_aoi_name_color": [255, 255, 255],
                        "looked_aoi_name_offset": [0, -10]
                    }
                }
            }
        },
        "observers": {
            "observers.ArUcoCameraLogger": {},
            "argaze.utils.UtilsFeatures.LookPerformanceRecorder": {
                "path": "_export/look_performance.csv"
            },
            "argaze.utils.UtilsFeatures.WatchPerformanceRecorder": {
                "path": "_export/watch_performance.csv"
            }
        }
    }
}
```

All the files mentioned aboved are described below.

The *ArUcoCameraLogger* observer object is defined into the [observers.py](observers.md) file that is described in the next chapter.

## optic_parameters.json

This file defines the Tobii Pro glasses 2 scene camera optic parameters which has been calculated as explained into [the camera calibration chapter](../../user_guide/aruco_marker_pipeline/advanced_topics/optic_parameters_calibration.md).

```json
{
    "rms": 0.6688921504088245,
    "dimensions": [
        1920,
        1080
    ],
    "K": [
        [
            1135.6524381415752,
            0.0,
            956.0685325355497
        ],
        [
            0.0,
            1135.9272506869524,
            560.059099810324
        ],
        [
            0.0,
            0.0,
            1.0
        ]
    ],
    "D": [
        0.01655492265003404,
        0.1985524264972037,
        0.002129965902489484,
        -0.0019528582922179365,
        -0.5792910353639452
    ]
}
```

## detector_parameters.json

This file defines the ArUco detector parameters as explained into [the detection improvement chapter](../../user_guide/aruco_marker_pipeline/advanced_topics/aruco_detector_configuration.md).

```json
{
    "adaptiveThreshConstant": 7,
    "useAruco3Detection": 1
}
```

## aruco_scene.obj

This file defines the place where are the ArUco markers into the cockpit geometry. Markers' positions have been edited in Blender software from a 3D scan of the cockpit then exported at OBJ format.

```obj
# Blender v3.0.1 OBJ File: 'scene.blend'
# www.blender.org
o DICT_APRILTAG_16h5#2_Marker
v -2.300000 18.573788 -49.271420
v 2.700000 18.573788 -49.271420
v -2.300000 23.028820 -51.541370
v 2.700000 23.028820 -51.541370
s off
f 1 2 4 3
o DICT_APRILTAG_16h5#3_Marker
v 37.993317 9.909389 -42.172752
v 42.993317 9.909389 -42.172752
v 37.993317 14.364422 -44.442703
v 42.993317 14.364422 -44.442703
s off
f 5 6 8 7
o DICT_APRILTAG_16h5#11_Marker
v -27.600000 29.075905 -51.042164
v -24.400000 29.075905 -51.042164
v -27.600000 31.927124 -52.494930
v -24.400000 31.927124 -52.494930
s off
f 9 10 12 11
o DICT_APRILTAG_16h5#14_Marker
v -27.280746 14.890414 -43.814297
v -24.080746 14.890414 -43.814297
v -27.280746 17.741634 -45.267063
v -24.080746 17.741634 -45.267063
s off
f 13 14 16 15
o DICT_APRILTAG_16h5#21_Marker
v 8.939880 28.459042 -50.445347
v 12.139881 28.459042 -50.445347
v 8.939880 31.310265 -51.898113
v 12.139881 31.310265 -51.898113
s off
f 17 18 20 19
o DICT_APRILTAG_16h5#22_Marker
v 8.939880 21.949581 -47.128613
v 12.139881 21.949581 -47.128613
v 8.939880 24.800800 -48.581379
v 12.139881 24.800800 -48.581379
s off
f 21 22 24 23
o DICT_APRILTAG_16h5#13_Marker
v -12.126360 14.872046 -43.804939
v -8.926359 14.872046 -43.804939
v -12.126360 17.723267 -45.257706
v -8.926359 17.723267 -45.257706
s off
f 25 26 28 27
o DICT_APRILTAG_16h5#12_Marker
v -43.079227 14.890414 -43.814297
v -39.879230 14.890414 -43.814297
v -43.079227 17.741634 -45.267063
v -39.879230 17.741634 -45.267063
s off
f 29 30 32 31
```

## Cockpit.obj

This file defines the place of the AOI into the cockpit geometry. AOI positions have been edited in [Blender software](https://www.blender.org/) from a 3D scan of the cockpit then exported at OBJ format.

```obj
# Blender v3.0.1 OBJ File: 'scene.blend'
# www.blender.org
o PIC_PFD
v -43.208000 32.020378 -52.542446
v -26.000000 32.020378 -52.542446
v -43.208000 14.779404 -43.757732
v -26.000000 14.779404 -43.757732
s off
f 3 4 2 1
o ECAM_Engine_Fuel_Flaps
v 8.657453 16.194618 -44.196308
v 27.672760 16.055838 -44.125595
v 8.657453 31.527327 -52.008713
v 27.672760 31.441055 -51.964756
s off
f 5 6 8 7
o AP_ATHR_Plan.033
v 16.653587 46.982643 -32.403645
v 21.580402 46.974689 -32.399593
v 16.653587 52.562916 -35.246937
v 21.580402 52.554958 -35.242882
s off
f 9 10 12 11
o Exterior_Left
v -69.756531 46.523575 -40.193161
v 18.876167 46.523575 -55.821495
v -69.756531 87.247131 -40.193161
v 18.876167 87.247131 -55.821495
s off
f 13 14 16 15
```

## PIC_PFD.png

This file is a screenshot of the PFD screen used to monitor where the gaze is projected after gaze mapping processing.

![PFD frame background](../../img/haiku_PIC_PFD_background.png)

## PIC_PFD.svg

This file defines the place of the AOI into the PFD frame. AOI positions have been edited with [Inkscape software](https://inkscape.org/fr/) from a screenshot of the PFD screen then exported at SVG format.

```svg
<svg>
    <rect id="PIC_PFD_Air_Speed" x="93.228" y="193.217" width="135.445" height="571.812"/>
    <rect id="PIC_PFD_Altitude" x="686.079" y="193.217" width="133.834" height="571.812"/>
    <rect id="PIC_PFD_FMA_Mode" x="93.228" y="85.231" width="772.943" height="107.986"/>
    <rect id="PIC_PFD_Heading" x="228.673" y="765.029" width="480.462" height="139.255"/>
    <rect id="PIC_PFD_Attitude" x="228.673" y="193.217" width="457.406" height="571.812"/>
    <rect id="PIC_PFD_Vertical_Speed" x="819.913" y="193.217" width="85.185" height="609.09"/>
</svg>
```

## look_performance.csv

This file contains the logs of *ArUcoCamera.look* method execution info. It is saved into an *_export* folder from where the [*load* command](../../user_guide/utils/main_commands.md) is launched.

On a Jetson Xavier computer, the *look* method execution time is ~0.5ms and it is called ~100 times per second.

## watch_performance.csv

This file contains the logs of *ArUcoCamera.watch* method execution info. It file is saved into an *_export* folder from where the [*load* command](../../user_guide/utils/main_commands.md) is launched.

On a Jetson Xavier computer, the *watch* method execution time is ~50ms and it is called ~10 times per second.