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#!/usr/bin/env python
"""
tobii_argaze.py
Author:
- Théo de la Hogue, theo.de-la-hogue@enac.fr
"""
import os
from argaze.ArUcoMarkers import ArUcoTracker, ArUcoCamera
from argaze.RegionOfInterest import *
from argaze.TobiiGlassesPro2 import *
import cv2 as cv
import pandas
import matplotlib.pyplot as mpyplot
import matplotlib.patches as mpatches
# tobii glasses ip address
ip_address = '192.168.1.10'
# manage export folder
current_folder = os.path.dirname(__file__)
export_folder = os.path.join(current_folder, '_export')
if not os.path.exists(export_folder):
os.makedirs(export_folder)
print(f'\'_export\' folder created')
# create tobii controller
tobii_controller = TobiiController.TobiiController(ip_address, 'ArGaze', 1)
# create tobii data thread
tobii_data_thread = TobiiData.TobiiDataThread(tobii_controller)
tobii_data_thread.start()
# create tobii video thread
tobii_video_thread = TobiiVideo.TobiiVideoThread(tobii_controller)
tobii_video_thread.start()
# create aruco camera
aruco_camera = ArUcoCamera.ArUcoCamera()
aruco_camera.load_calibration_file('tobii_camera.json')
# create aruco tracker
aruco_tracker = ArUcoTracker.ArUcoTracker('DICT_4X4_50', 6, aruco_camera) # aruco dictionaries, marker length (cm), camera
# create ROIs 3D scene
roi3D_scene = ROI3DScene.ROI3DScene()
roi3D_scene.load('roi3D_scene.obj')
# start tobii glasses streaming
tobii_controller.start_streaming()
# process video frames
last_frame_time = 0
roi2D_buffer = []
marker_buffer = []
while True:
frame, frame_width, frame_height, frame_time, pts = tobii_video_thread.read()
# draw tobii gaze
# TODO : sync gaze data according frame pts
gp_data = tobii_data_thread.read_gaze_data(pts)
if 'TIMESTAMP' in gp_data:
pointer = (int(gp_data['X'] * frame_width), int(gp_data['Y'] * frame_height))
cv.circle(frame, pointer, 4, (0, 255, 255), -1)
else:
pointer = (0, 0)
# track markers with pose estimation and draw them
aruco_tracker.track(frame)
aruco_tracker.draw(frame)
# project 3D scenes related to each aruco markers
if aruco_tracker.get_markers_number():
for (i, marker_id) in enumerate(aruco_tracker.get_markers_ids()):
# TODO : select different 3D scenes depending on aruco id
marker_rotation = aruco_tracker.get_marker_rotation(i)
marker_translation = aruco_tracker.get_marker_translation(i)
roi3D_scene.set_rotation(marker_rotation)
roi3D_scene.set_translation(marker_translation)
# 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 ROI, where the distorsion is low, it is acceptable.
roi2D_scene = roi3D_scene.project(frame, aruco_camera, False)
# check if gaze is inside 2D rois
roi2D_scene.inside(pointer)
# draw 2D rois
roi2D_scene.draw(frame)
# store roi2D into buffer
for roi2D in roi2D_scene:
roi2D['TIME'] = frame_time
del roi2D['VERTICES']
roi2D_buffer.append(roi2D)
# store marker into buffer
marker = {
'TIME': frame_time,
'ID': i,
'X': marker_translation[0][0],
'Y': marker_translation[0][1],
'Z': marker_translation[0][2]
}
marker_buffer.append(marker)
cv.imshow(f'Live Scene', frame)
# quit on 'Esc' command
key = cv.waitKey(1)
if key == 27:
cv.destroyAllWindows()
last_frame_time = frame_time
break
# stop tobii objects
tobii_video_thread.stop()
tobii_data_thread.stop()
tobii_controller.stop_streaming()
tobii_controller.close()
# create a pandas DataFrame for each buffer
ac_dataframe = pandas.DataFrame(tobii_data_thread.read_accelerometer_buffer(), columns=['TIMESTAMP', 'TIME', 'X', 'Y', 'Z'])
gy_dataframe = pandas.DataFrame(tobii_data_thread.read_gyroscope_buffer(), columns=['TIMESTAMP', 'TIME', 'X', 'Y', 'Z'])
gp_dataframe = pandas.DataFrame(tobii_data_thread.read_gaze_buffer(), columns=['TIMESTAMP', 'TIME', 'X', 'Y'])
data_pts_dataframe = pandas.DataFrame(tobii_data_thread.read_pts_buffer(), columns=['TIMESTAMP', 'TIME', 'PTS'])
video_pts_dataframe = pandas.DataFrame(tobii_video_thread.read_pts_buffer(), columns=['TIME', 'PTS'])
roi2D_dataframe = pandas.DataFrame(roi2D_buffer, columns=['TIME', 'NAME', 'POINTER_INSIDE'])
marker_dataframe = pandas.DataFrame(marker_buffer, columns=['TIME', 'ID', 'X', 'Y', 'Z'])
# export all data frames
ac_dataframe.to_csv(f'{export_folder}/accelerometer.csv', index=False)
gy_dataframe.to_csv(f'{export_folder}/gyroscope.csv', index=False)
gp_dataframe.to_csv(f'{export_folder}/gaze.csv', index=False)
data_pts_dataframe.to_csv(f'{export_folder}/data_pts.csv', index=False)
video_pts_dataframe.to_csv(f'{export_folder}/video_pts.csv', index=False)
roi2D_dataframe.to_csv(f'{export_folder}/rois.csv', index=False)
marker_dataframe.to_csv(f'{export_folder}/markers.csv', index=False)
# edit figure
figure = mpyplot.figure(figsize=(int(last_frame_time), 5))
# plot gaze data
subplot = figure.add_subplot(211)
subplot.set_title('Gaze')
subplot = gp_dataframe.plot(x='TIME', y='X', xlim=(0, last_frame_time), ax=subplot, color='#276FB6', xlabel='Time (s)', ylabel='X (normalized)', legend=False)
subplot = gp_dataframe.plot(x='TIME', y='Y', xlim=(0, last_frame_time), ax=subplot.twinx(), color='#9427B6', xlabel='Time (s)', ylabel='Y (normalized)', legend=False)
x_patch = mpatches.Patch(color='#276FB6', label='X')
y_speed_patch = mpatches.Patch(color='#9427B6', label='Y')
subplot.legend(handles=[x_patch, y_speed_patch], loc='upper left')
# plot maker position data
subplot = figure.add_subplot(212)
subplot.set_title('Marker')
subplot = marker_dataframe.plot(x='TIME', y='X', xlim=(0, last_frame_time), ax=subplot, color='#276FB6', xlabel='Time (s)', ylabel='X (cm)', legend=False)
subplot = marker_dataframe.plot(x='TIME', y='Y', xlim=(0, last_frame_time), ax=subplot.twinx(), color='#9427B6', xlabel='Time (s)', ylabel='Y (cm)', legend=False)
x_patch = mpatches.Patch(color='#276FB6', label='X')
y_speed_patch = mpatches.Patch(color='#9427B6', label='Y')
subplot.legend(handles=[x_patch, y_speed_patch], loc='upper left')
# export figure
mpyplot.tight_layout()
mpyplot.savefig(f'{export_folder}/visualisation.svg')
mpyplot.close('all')
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