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#!/usr/bin/env python
"""Load ArUcoCamera from a configuration file then, stream and process gaze positions and image from any worn eye-tracker device.
This program is free software: you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation, either version 3 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
this program. If not, see <http://www.gnu.org/licenses/>.
"""
__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "GPLv3"
import argparse
import contextlib
from argaze import GazeFeatures, DataFeatures
from argaze.ArUcoMarkers import ArUcoCamera
import cv2
# Manage arguments
parser = argparse.ArgumentParser(description=__doc__.split('-')[0])
parser.add_argument('configuration', metavar='CONFIGURATION', type=str, help='configuration filepath')
parser.add_argument('-p', '--patch', metavar='PATCH', type=str, help='configuration patch filepath')
parser.add_argument('-v', '--verbose', action='store_true', default=False, help='enable verbose mode to print information in console')
args = parser.parse_args()
def main():
# Load ArUcoCamera configuration
with ArUcoCamera.ArUcoCamera.from_json(args.configuration, args.patch) as aruco_camera:
if args.verbose:
print(aruco_camera)
# DEBUG
print(dir(aruco_camera))
# Gaze position processing
def gaze_position_callback(timestamped_gaze_position: GazeFeatures.GazePosition):
# Project gaze position into environment
try:
aruco_camera.look(timestamped_gaze_position)
# Handle exceptions
except Exception as e:
print(e)
# Attach gaze position callback to provider
aruco_camera.provider.attach(gaze_position_callback)
# Image processing
def image_callback(timestamp: int|float, image):
# Detect ArUco code and project ArScenes
try:
# Watch ArUco markers into image and estimate camera pose
aruco_camera.watch(image, timestamp=timestamp)
# Handle exceptions
except Exception as e:
print(e)
# Attach image callback to provider
aruco_camera.provider.attach(image_callback)
# Waiting for 'ctrl+C' interruption
with contextlib.suppress(KeyboardInterrupt):
# Visualisation loop
while True:
# Display camera frame image
image = aruco_camera.image()
cv2.imshow(aruco_camera.name, image)
# Display each scene frames image
for scene_frame in aruco_camera.scene_frames():
cv2.imshow(scene_frame.name, scene_frame.image())
# Key interaction
key_pressed = cv2.waitKey(10)
# Esc: close window
if key_pressed == 27:
raise KeyboardInterrupt()
# Stop frame display
cv2.destroyAllWindows()
if __name__ == '__main__':
main()
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