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#!/usr/bin/env python
import argparse
import os
from argaze import DataStructures, GazeFeatures
from argaze.ArUcoMarkers import ArUcoMarkersDictionary
from argaze.AreaOfInterest import *
import cv2 as cv
import numpy
from ivy.std_api import *
def main():
"""
Define AOI scene from a ArUco marker and bind to Ivy default bus to receive live look at pointer data.
"""
# Manage arguments
parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
parser.add_argument('-y', '--ivy_bus', metavar='IVY_BUS', type=str, default='0.0.0.0:2010', help='Ivy bus ip and port')
parser.add_argument('-a', '--aoi_scene', metavar='AOI_SCENE', type=str, default='aoi3D_scene.obj', help='obj aoi scene filepath')
parser.add_argument('-d', '--dictionary', metavar='DICT', type=str, default='DICT_ARUCO_ORIGINAL', help='aruco marker dictionnary (DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11)')
parser.add_argument('-m', '--marker_size', metavar='MKR', type=float, default=6, help='aruco marker size (cm)')
parser.add_argument('-i', '--marker_id', metavar='MARKER_ID', type=int, default=0, help='marker id to display')
args = parser.parse_args()
# Enable Ivy bus
IvyInit(os.path.basename(__file__))
IvyStart(args.ivy_bus)
def on_looking_message(*args):
look_at = numpy.fromstring(args[2].replace('[','').replace(']',''), dtype=float, count=2, sep=', ')
visu_gaze_pixel = aoi2D_visu_scene[args[1]].looked_pixel(look_at)
cv.circle(visu_frame, visu_gaze_pixel, 4, (0, 0, 255), -1)
IvyBindMsg(on_looking_message, 'looking (.*) at (.*)')
# Create AOIs 3D scene
aoi3D_scene = AOI3DScene.AOI3DScene()
aoi3D_scene.load(args.aoi_scene)
print(f'AOIs names: {aoi3D_scene.keys()}')
# Create a visual scan visualisation frame
visu_width = 1920
visu_height = 1080
visu_ratio = visu_height
visu_frame = numpy.full((visu_height, visu_width, 3), 255, dtype=numpy.uint8)
cv.imshow('Scene', visu_frame)
# Project 3D scene on the reference frame
# TODO : center projection on a reference AOI
ref_aoi = 'Scene_Plan'
# TODO: pass the reference AOI in argument
aoi3D_scene.rotation = numpy.array([[-numpy.pi, 0.0, 0.0]])
aoi3D_scene.translation = numpy.array([[19.0, 8.0, 25.0]])
# Edit a projection matrix for the reference frame
K0 = numpy.array([[visu_ratio, 0.0, visu_width/2], [0.0, visu_ratio, visu_height/2], [0.0, 0.0, 1.0]])
aoi2D_visu_scene = aoi3D_scene.project(K0)
# Create aruco markers dictionary
aruco_markers_dict = ArUcoMarkersDictionary.ArUcoMarkersDictionary(args.dictionary)
# Create aruco marker
marker_box = aoi2D_visu_scene['Marker_Plan'].bounding_box().astype(int)
marker_size = marker_box[2] - marker_box[0]
marker = aruco_markers_dict.create_marker(args.marker_id, int(marker_size[0]))
print(f'Creating Aruco marker {args.marker_id} from the {args.dictionary} dictionary')
def draw_scene():
# Clear frame
visu_frame[:] = 255
# Display AOI 2D scene
for name, aoi in aoi2D_visu_scene.items():
aoi.draw(visu_frame, (0, 0, 0))
# Display aruco marker
visu_frame[marker_box[0][1]:marker_box[2][1], marker_box[0][0]:marker_box[2][0], :] = marker
# On mouse over : redraw scene and draw target
def on_mouse_event(event, x, y, flags, param):
draw_scene()
# Draw target
cv.circle(visu_frame, (x, y), 40, (0, 255, 255), -1)
cv.setMouseCallback('Scene', on_mouse_event)
# Screen display loop
try:
draw_scene()
while True:
# Close window using 'Esc' key
if cv.waitKey(1) == 27:
break
cv.imshow('Scene', visu_frame)
# Exit on 'ctrl+C' interruption
except KeyboardInterrupt:
pass
# Stop frame display
cv.destroyAllWindows()
if __name__ == '__main__':
main()
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