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#!/usr/bin/env python
import argparse
import os
import json
import time
from argaze import *
from argaze.TobiiGlassesPro2 import TobiiEntities, TobiiVideo, TobiiSpecifications
from argaze.ArUcoMarkers import *
from argaze.AreaOfInterest import *
from argaze.utils import MiscFeatures
import numpy
import cv2 as cv
def main():
"""
Open video file with ArUco marker scene inside
"""
# Manage arguments
parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
parser.add_argument('-s', '--segment_path', metavar='SEGMENT_PATH', type=str, default=None, help='segment path')
parser.add_argument('-t', '--time_range', metavar=('START_TIME', 'END_TIME'), nargs=2, type=float, default=(0., None), help='start and end time (in second)')
parser.add_argument('-p', '--project_path', metavar='ARGAZE_PROJECT', type=str, default=None, help='json argaze project filepath')
parser.add_argument('-o', '--output', metavar='OUT', type=str, default=None, help='destination folder path (segment folder by default)')
parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction)
args = parser.parse_args()
if args.segment_path != None:
# Manage destination path
destination_path = '.'
if args.output != None:
if not os.path.exists(os.path.dirname(args.output)):
os.makedirs(os.path.dirname(args.output))
print(f'{os.path.dirname(args.output)} folder created')
destination_path = args.output
else:
destination_path = args.segment_path
# Export into a dedicated time range folder
if args.time_range[1] != None:
timerange_path = f'[{int(args.time_range[0])}s - {int(args.time_range[1])}s]'
else:
timerange_path = f'[all]'
destination_path = f'{destination_path}/{timerange_path}'
if not os.path.exists(destination_path):
os.makedirs(destination_path)
print(f'{destination_path} folder created')
#vs_data_filepath = f'{destination_path}/visual_scan.csv'
# Load a tobii segment
tobii_segment = TobiiEntities.TobiiSegment(args.segment_path, int(args.time_range[0] * 1e6), int(args.time_range[1] * 1e6) if args.time_range[1] != None else None)
# Load a tobii segment video
tobii_segment_video = tobii_segment.load_video()
print(f'Video properties:\n\tduration: {tobii_segment_video.duration/1e6} s\n\twidth: {tobii_segment_video.width} px\n\theight: {tobii_segment_video.height} px')
# Load ar scene
ar_scene = ArScene.ArScene.from_json(args.project_path)
print(ar_scene)
# Display first frame
video_ts, video_frame = tobii_segment_video.get_frame(0)
cv.imshow(f'Segment {tobii_segment.id} ArUco marker editor', video_frame.matrix)
# Init mouse interaction variables
pointer = (0, 0)
left_click = (0, 0)
right_click = (0, 0)
right_button = False
edit_trans = False # translate
edit_coord = 0 # x
# On mouse left left_click : update pointer position
def on_mouse_event(event, x, y, flags, param):
nonlocal pointer
nonlocal left_click
nonlocal right_click
nonlocal right_button
# Update pointer
pointer = (x, y)
# Update left_click
if event == cv.EVENT_LBUTTONUP:
left_click = pointer
# Udpate right_button
elif event == cv.EVENT_RBUTTONDOWN:
right_button = True
elif event == cv.EVENT_RBUTTONUP:
right_button = False
# Udpate right_click
if right_button:
right_click = pointer
cv.setMouseCallback(f'Segment {tobii_segment.id} ArUco marker editor', on_mouse_event)
# Frame selector loop
frame_index = 0
last_frame_index = -1
last_frame = video_frame.copy()
force_update = False
selected_marker_id = -1
try:
while True:
# Select a frame on change
if frame_index != last_frame_index or force_update:
video_ts, video_frame = tobii_segment_video.get_frame(frame_index)
video_ts_ms = video_ts / 1e3
last_frame_index = frame_index
last_frame = video_frame.copy()
# Hide frame left and right borders before tracking to ignore markers outside focus area
cv.rectangle(video_frame.matrix, (0, 0), (int(video_frame.width/6), int(video_frame.height)), (0, 0, 0), -1)
cv.rectangle(video_frame.matrix, (int(video_frame.width*(1 - 1/6)), 0), (int(video_frame.width), int(video_frame.height)), (0, 0, 0), -1)
# Track markers with pose estimation
ar_scene.aruco_tracker.track(video_frame.matrix)
else:
video_frame = last_frame.copy()
# Edit fake gaze position from pointer
gaze_position = GazeFeatures.GazePosition(pointer, accuracy=2)
# Copy video frame to edit visualisation on it with out disrupting aruco tracking
visu_frame = video_frame.copy()
# Project scene into frame
scene_projection = ar_scene.project(video_frame.matrix, consistent_markers_number=1, visual_hfov=TobiiSpecifications.VISUAL_HFOV, pre_tracked_markers=True)
# Draw tracked markers
ar_scene.aruco_tracker.draw_tracked_markers(visu_frame.matrix)
# Draw scene projection
scene_projection.draw(visu_frame.matrix, (0, 0), color=(0, 255, 255))
# Project 3D scene on each video frame and the visualisation frame
if len(ar_scene.aruco_tracker.tracked_markers) > 0:
# Write detected marker ids
cv.putText(visu_frame.matrix, f'Detected markers: {list(ar_scene.aruco_tracker.tracked_markers.keys())}', (20, visu_frame.height - 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA)
# Update selected marker id by left_clicking on marker
for (marker_id, marker) in ar_scene.aruco_tracker.tracked_markers.items():
marker_aoi = marker.corners.reshape(4, 2).view(AOIFeatures.AreaOfInterest)
if marker_aoi.contains_point(left_click):
selected_marker_id = marker_id
# If a marker is selected
try:
# Retreive marker index
selected_marker = ar_scene.aruco_tracker.tracked_markers[selected_marker_id]
marker_x, marker_y = selected_marker.center
'''
if right_button:
pointer_delta_x, pointer_delta_y = (right_click[0] - marker_x) / (visu_frame.width/3), (marker_y - right_click[1]) / (visu_frame.width/3)
if edit_trans:
# Edit scene rotation
if edit_coord == 0:
aoi3D_scene_edit['rotation'] = numpy.array([pointer_delta_y, aoi3D_scene_edit['rotation'][1], aoi3D_scene_edit['rotation'][2]])
elif edit_coord == 1:
aoi3D_scene_edit['rotation'] = numpy.array([aoi3D_scene_edit['rotation'][0], pointer_delta_x, aoi3D_scene_edit['rotation'][2]])
elif edit_coord == 2:
aoi3D_scene_edit['rotation'] = numpy.array([aoi3D_scene_edit['rotation'][0], aoi3D_scene_edit['rotation'][1], -1*pointer_delta_y])
else:
# Edit scene translation
if edit_coord == 0:
aoi3D_scene_edit['translation'] = numpy.array([pointer_delta_x, aoi3D_scene_edit['translation'][1], aoi3D_scene_edit['translation'][2]])
elif edit_coord == 1:
aoi3D_scene_edit['translation'] = numpy.array([aoi3D_scene_edit['translation'][0], pointer_delta_y, aoi3D_scene_edit['translation'][2]])
elif edit_coord == 2:
aoi3D_scene_edit['translation'] = numpy.array([aoi3D_scene_edit['translation'][0], aoi3D_scene_edit['translation'][1], 2*pointer_delta_y])
'''
# Apply transformation
aoi_scene_edited = ar_scene.aoi_scene#.transform(aoi3D_scene_edit['translation'], aoi3D_scene_edit['rotation'])
cv.rectangle(visu_frame.matrix, (0, 130), (460, 450), (127, 127, 127), -1)
'''
# Write rotation matrix
R, _ = cv.Rodrigues(aoi3D_scene_edit['rotation'])
cv.putText(visu_frame.matrix, f'Rotation matrix:', (20, 160), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'{R[0][0]:.3f} {R[0][1]:.3f} {R[0][2]:.3f}', (40, 200), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'{R[1][0]:.3f} {R[1][1]:.3f} {R[1][2]:.3f}', (40, 240), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'{R[2][0]:.3f} {R[2][1]:.3f} {R[2][2]:.3f}', (40, 280), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv.LINE_AA)
# Write translation vector
T = aoi3D_scene_edit['translation']
cv.putText(visu_frame.matrix, f'Translation vector:', (20, 320), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'{T[0]:.3f}', (40, 360), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'{T[1]:.3f}', (40, 400), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'{T[2]:.3f}', (40, 440), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv.LINE_AA)
'''
# DON'T APPLY CAMERA DISTORSION : it projects points which are far from the frame into it
# This hack isn't realistic but as the gaze will mainly focus on centered AOI, where the distorsion is low, it is acceptable.
scene_projection_edited = aoi_scene_edited.project(selected_marker.translation, selected_marker.rotation, ar_scene.aruco_camera.K)
# Draw aoi scene
scene_projection_edited.draw_raycast(visu_frame.matrix, gaze_position)
# Write warning related to marker pose processing
except UserWarning as e:
cv.putText(visu_frame.matrix, f'Marker {selected_marker_id}: {e}', (20, 120), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv.LINE_AA)
except KeyError:
# Write error
if selected_marker_id >= 0:
cv.putText(visu_frame.matrix, f'Marker {selected_marker_id} not found', (20, 120), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv.LINE_AA)
# Draw focus area
cv.rectangle(visu_frame.matrix, (int(visu_frame.width/6), 0), (int(visu_frame.width*(1-1/6)), int(visu_frame.height)), (255, 150, 150), 1)
# Draw center
cv.line(visu_frame.matrix, (int(visu_frame.width/2) - 50, int(visu_frame.height/2)), (int(visu_frame.width/2) + 50, int(visu_frame.height/2)), (255, 150, 150), 1)
cv.line(visu_frame.matrix, (int(visu_frame.width/2), int(visu_frame.height/2) - 50), (int(visu_frame.width/2), int(visu_frame.height/2) + 50), (255, 150, 150), 1)
# Draw pointer
gaze_position.draw(visu_frame.matrix)
# Write segment timing
cv.rectangle(visu_frame.matrix, (0, 0), (550, 50), (63, 63, 63), -1)
cv.putText(visu_frame.matrix, f'Segment time: {int(video_ts_ms)} ms', (20, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA)
# Write selected marker id
if selected_marker_id >= 0:
cv.rectangle(visu_frame.matrix, (0, 50), (550, 90), (127, 127, 127), -1)
# Select color
if edit_coord == 0:
color_axis = (0, 0, 255)
elif edit_coord == 1:
color_axis = (0, 255, 0)
elif edit_coord == 2:
color_axis = (255, 0, 0)
if edit_trans:
cv.putText(visu_frame.matrix, f'Rotate marker {selected_marker_id} around axis {edit_coord + 1}', (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, color_axis, 1, cv.LINE_AA)
else:
cv.putText(visu_frame.matrix, f'Translate marker {selected_marker_id} along axis {edit_coord + 1}', (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, color_axis, 1, cv.LINE_AA)
# Write documentation
else:
cv.rectangle(visu_frame.matrix, (0, 50), (650, 250), (127, 127, 127), -1)
cv.putText(visu_frame.matrix, f'> Left click on marker: select scene', (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'> T: translate, R: rotate', (20, 120), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'> Shift + 0/1/2: select axis', (20, 160), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'> Right click and drag: edit axis', (20, 200), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'> Ctrl + S: save scene', (20, 240), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
# Reset left_click
left_click = (0, 0)
if args.window:
key_pressed = cv.waitKey(1)
#if key_pressed != -1:
# print(key_pressed)
# Select previous frame with left arrow
if key_pressed == 2:
frame_index -= 1
# Select next frame with right arrow
if key_pressed == 3:
frame_index += 1
# Clip frame index
if frame_index < 0:
frame_index = 0
# Edit rotation with r key
if key_pressed == 114:
edit_trans = True
# Edit translation with t key
if key_pressed == 116:
edit_trans = False
# Select coordinate to edit with Shift + 0, 1 or 2
if key_pressed == 49 or key_pressed == 50 or key_pressed == 51:
edit_coord = key_pressed - 49
# Save selected marker edition using 'Ctrl + s'
if key_pressed == 19:
if selected_marker_id >= 0 and aoi3D_scene_edit != None:
aoi_scene_filepath = args.marker_id_scene[f'{selected_marker_id}']
aoi_scene_edited.save(aoi_scene_filepath)
print(f'Saving scene related to marker #{selected_marker_id} into {aoi_scene_filepath}')
# Close window using 'Esc' key
if key_pressed == 27:
break
# Reload tracker configuration on 'c' key
if key_pressed == 99:
load_configuration_file()
force_update = True
# Display video
cv.imshow(f'Segment {tobii_segment.id} ArUco marker editor', visu_frame.matrix)
# Wait 1 second
time.sleep(1)
# Exit on 'ctrl+C' interruption
except KeyboardInterrupt:
pass
# Stop frame display
cv.destroyAllWindows()
if __name__ == '__main__':
main()
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