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#!/usr/bin/env python
import argparse
import os, json
from argaze import DataStructures
from argaze import GazeFeatures
from argaze.TobiiGlassesPro2 import *
from argaze.ArUcoMarkers import *
from argaze.AreaOfInterest import *
from argaze.utils import MiscFeatures
import cv2 as cv
import numpy
def main():
"""
Track any ArUco marker into Tobii Glasses Pro 2 camera video stream.
For each loaded AOI scene .obj file, position the scene virtually relatively to each detected ArUco markers and project the scene into camera frame.
"""
# Manage arguments
parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
parser.add_argument('-t', '--tobii_ip', metavar='TOBII_IP', type=str, default=None, help='tobii glasses ip')
parser.add_argument('-c', '--camera_calibration', metavar='CAM_CALIB', type=str, default=None, help='json camera calibration filepath')
parser.add_argument('-p', '--aruco_tracker_configuration', metavar='TRACK_CONFIG', type=str, default=None, help='json aruco tracker configuration filepath')
parser.add_argument('-md', '--marker_dictionary', metavar='MARKER_DICT', type=ArUcoMarkersDictionary.ArUcoMarkersDictionary, 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('-ms', '--marker_size', metavar='MARKER_SIZE', type=float, default=6, help='aruco marker size (cm)')
parser.add_argument('-mi', '--marker_id_scene', metavar='MARKER_ID_SCENE', type=json.loads, help='{"marker": "aoi scene filepath"} dictionary')
parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction)
args = parser.parse_args()
# Manage markers id to track
if args.marker_id_scene == None:
print(f'Track any Aruco markers from the {args.marker_dictionary.name} dictionary')
else:
print(f'Track Aruco markers {list(args.marker_id_scene.keys())} from the {args.marker_dictionary.name} dictionary')
# Create tobii controller (with auto discovery network process if no ip argument is provided)
print("Looking for a Tobii Glasses Pro 2 device ...")
try:
tobii_controller = TobiiController.TobiiController(args.tobii_ip)
print(f'Tobii Glasses Pro 2 device found at {tobii_controller.address} address.')
except ConnectionError as e:
print(e)
exit()
# Setup camera at 25 fps to work on Full HD video stream
tobii_controller.set_scene_camera_freq_25()
# Print current confirugration
print(f'Tobii Glasses Pro 2 configuration:')
for key, value in tobii_controller.get_configuration().items():
print(f'\t{key}: {value}')
# Enable tobii data stream
tobii_data_stream = tobii_controller.enable_data_stream()
# Enable tobii video stream
tobii_video_stream = tobii_controller.enable_video_stream()
# Create aruco camera
aruco_camera = ArUcoCamera.ArUcoCamera()
# Load calibration file
if args.camera_calibration != None:
aruco_camera.load_calibration_file(args.camera_calibration)
else:
raise UserWarning('.json camera calibration filepath required. Use -c option.')
# Create aruco tracker
aruco_tracker = ArUcoTracker.ArUcoTracker(args.marker_dictionary, args.marker_size, aruco_camera)
# Load specific configuration file
if args.aruco_tracker_configuration != None:
aruco_tracker.load_configuration_file(args.aruco_tracker_configuration)
print(f'ArUcoTracker configuration for {args.marker_dictionary.name} markers detection:')
aruco_tracker.print_configuration()
# Load AOI 3D scene for each marker and create a AOI 2D scene and frame when a 'Visualisation_Plan' AOI exist
aoi3D_scenes = {}
aoi2D_visu_scenes = {}
for marker_id, aoi_scene_filepath in args.marker_id_scene.items():
marker_id = int(marker_id)
aoi3D_scenes[marker_id] = AOI3DScene.AOI3DScene()
aoi3D_scenes[marker_id].load(aoi_scene_filepath)
print(f'AOI in {os.path.basename(aoi_scene_filepath)} scene related to marker #{marker_id}:')
for aoi in aoi3D_scenes[marker_id].keys():
print(f'\t{aoi}')
def aoi3D_scene_selector(marker_id):
return aoi3D_scenes.get(marker_id, None)
# Create timestamped buffer to store AOIs scene in time
ts_aois_scenes = AOIFeatures.TimeStampedAOIScenes()
# Init head movement
head_movement_px = numpy.array((0, 0))
head_movement_norm = 0
# Init data timestamped in millisecond
data_ts_ms = 0
# Assess temporal performance
loop_chrono = MiscFeatures.TimeProbe()
gyroscope_chrono = MiscFeatures.TimeProbe()
loop_ps = 0
gyroscope_ps = 0
def data_stream_callback(data_ts, data_object, data_object_type):
nonlocal head_movement_px
nonlocal head_movement_norm
nonlocal data_ts_ms
nonlocal gyroscope_chrono
data_ts_ms = data_ts / 1e3
match data_object_type:
case 'Gyroscope':
# Assess gyroscope stream performance
gyroscope_chrono.lap()
# Calculate head movement considering only head yaw and pitch
head_movement = numpy.array(data_object.value)
head_movement_px = head_movement.astype(int)
head_movement_norm = numpy.linalg.norm(head_movement[0:2])
tobii_data_stream.reading_callback = data_stream_callback
# Start streaming
tobii_controller.start_streaming()
# Live video stream capture loop
try:
# Assess loop performance
loop_chrono = MiscFeatures.TimeProbe()
fps = 0
# Detect head movement
head_moving = False
head_movement_last = 0.
while tobii_video_stream.is_alive():
# Read video stream
video_ts, video_frame = tobii_video_stream.read()
video_ts_ms = video_ts / 1e3
# Copy video frame to edit visualisation on it without disrupting aruco tracking
visu_frame = video_frame.copy()
# Process video and data frame
try:
# Head movement detection hysteresis
# TODO : pass the threshold value as argument
if not head_moving and head_movement_norm > 50:
head_moving = True
if head_moving and head_movement_norm < 10:
head_moving = False
# When head is moving, ArUco tracking could return bad pose estimation and so bad AOI scene projection
if head_moving:
ts_aois_scenes[round(video_ts_ms)] = AOIFeatures.EmptyAOIScene()
raise UserWarning('Head is moving')
# 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 and draw them
aruco_tracker.track(video_frame.matrix)
aruco_tracker.draw_tracked_markers(visu_frame.matrix)
# When no marker is detected, no AOI scene projection can't be done
if aruco_tracker.tracked_markers_number == 0:
ts_aois_scenes[round(video_ts_ms)] = AOIFeatures.EmptyAOIScene()
raise UserWarning('No marker detected')
# Store aoi 2D video for further scene merging
aoi2D_dict = {}
# Project 3D scene on each video frame and the visualisation frame
for marker_id, marker in aruco_tracker.tracked_markers.items():
# Copy 3D scene related to detected marker
aoi3D_scene = aoi3D_scene_selector(marker_id)
if aoi3D_scene == None:
continue
# Transform scene into camera referential
aoi3D_camera = aoi3D_scene.transform(marker.translation, marker.rotation)
# Get aoi inside vision cone field
cone_vision_height_cm = 200 # cm
cone_vision_radius_cm = numpy.tan(numpy.deg2rad(TobiiSpecifications.VISUAL_HFOV / 2)) * cone_vision_height_cm
aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(cone_vision_radius_cm, cone_vision_height_cm)
# Keep only aoi inside vision cone field
aoi3D_scene = aoi3D_scene.copy(exclude=aoi3D_outside.keys())
# 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.
aoi2D_video_scene = aoi3D_scene.project(marker.translation, marker.rotation, aruco_camera.K)
# Store each 2D aoi for further scene merging
for name, aoi in aoi2D_video_scene.items():
if name not in aoi2D_dict.keys():
aoi2D_dict[name] = []
aoi2D_dict[name].append(aoi.clockwise())
# Merge all 2D aoi into a single 2D scene
aoi2D_merged_scene = AOI2DScene.AOI2DScene()
for name, aoi_array in aoi2D_dict.items():
aoi2D_merged_scene[name] = numpy.sum(aoi_array, axis=0) / len(aoi_array)
aoi2D_merged_scene.draw(visu_frame.matrix)
# Store 2D merged scene at this time in millisecond
ts_aois_scenes[round(video_ts_ms)] = aoi2D_merged_scene
# Warn user when the merged scene is empty
if len(aoi2D_merged_scene.keys()) == 0:
raise UserWarning('Scene is empty')
# Write warning
except UserWarning as w:
cv.rectangle(visu_frame.matrix, (0, 100), (500, 150), (127, 127, 127), -1)
cv.putText(visu_frame.matrix, str(w), (20, 140), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
# Assess loop performance
lap_time, lap_counter, elapsed_time = loop_chrono.lap()
# Update fps each 10 loops
if lap_counter >= 10:
loop_ps = 1e3 * lap_counter / elapsed_time
loop_chrono.restart()
# Assess gyroscope streaming performance
elapsed_time, lap_counter = gyroscope_chrono.end()
gyroscope_ps = 1e3 * lap_counter / elapsed_time
gyroscope_chrono.restart()
# Draw head movement vector
cv.line(visu_frame.matrix, (int(visu_frame.width/2), int(visu_frame.height/2)), (int(visu_frame.width/2) + head_movement_px[1], int(visu_frame.height/2) - head_movement_px[0]), (150, 150, 150), 3)
# 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)
# Write stream timing
cv.rectangle(visu_frame.matrix, (0, 0), (1100, 50), (63, 63, 63), -1)
cv.putText(visu_frame.matrix, f'Data stream time: {int(data_ts_ms)} ms', (20, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'Video delay: {int(data_ts_ms - video_ts_ms)} ms', (550, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA)
cv.putText(visu_frame.matrix, f'Fps: {int(loop_ps)}', (950, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv.LINE_AA)
cv.rectangle(visu_frame.matrix, (0, 50), (500, 100), (127, 127, 127), -1)
cv.putText(visu_frame.matrix, f'Gyroscope fps: {int(gyroscope_ps)}', (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
cv.imshow(f'Stream ArUco AOI', visu_frame.matrix)
# Close window using 'Esc' key
if cv.waitKey(1) == 27:
break
# Exit on 'ctrl+C' interruption
except KeyboardInterrupt:
pass
# Stop frame display
cv.destroyAllWindows()
# Stop streaming
tobii_controller.stop_streaming()
if __name__ == '__main__':
main()
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