def __init__(self, g_pool, world_camera_intrinsics , cal_ref_points_3d, cal_observed_points_3d, eye_camera_to_world_matrix0 , cal_gaze_points0_3d, eye_camera_to_world_matrix1 = np.eye(4) , cal_gaze_points1_3d = [], run_independently = False , name = "Calibration Visualizer" ): super().__init__( g_pool,name, run_independently) self.image_width = 640 # right values are assigned in update self.focal_length = 620 self.image_height = 480 self.eye_camera_to_world_matrix0 = eye_camera_to_world_matrix0 self.eye_camera_to_world_matrix1 = eye_camera_to_world_matrix1 self.cal_ref_points_3d = cal_ref_points_3d self.cal_observed_points_3d = cal_observed_points_3d self.cal_gaze_points0_3d = cal_gaze_points0_3d self.cal_gaze_points1_3d = cal_gaze_points1_3d if world_camera_intrinsics: self.world_camera_width = world_camera_intrinsics['resolution'][0] self.world_camera_height = world_camera_intrinsics['resolution'][1] self.world_camera_focal = (world_camera_intrinsics['camera_matrix'][0][0] + world_camera_intrinsics['camera_matrix'][1][1] ) / 2.0 else: self.world_camera_width = 0 self.world_camera_height = 0 self.world_camera_focal = 0 camera_fov = math.degrees(2.0 * math.atan( self.window_size[0] / (2.0 * self.focal_length))) self.trackball = Trackball(camera_fov) self.trackball.distance = [0,0,-80.] self.trackball.pitch = 210 self.trackball.roll = 0
def __init__(self, g_pool, world_camera_intrinsics , cal_ref_points_3d, eye_to_world_matrix0 , cal_gaze_points0_3d, eye_to_world_matrix1 = np.eye(4) , cal_gaze_points1_3d = [], name = "Debug Calibration Visualizer", run_independently = False):
# super(Visualizer, self).__init__()
self.g_pool = g_pool
self.image_width = 640 # right values are assigned in update
self.focal_length = 620
self.image_height = 480
self.eye_to_world_matrix0 = eye_to_world_matrix0
self.eye_to_world_matrix1 = eye_to_world_matrix1
self.cal_ref_points_3d = cal_ref_points_3d
self.cal_gaze_points0_3d = cal_gaze_points0_3d
self.cal_gaze_points1_3d = cal_gaze_points1_3d
self.world_camera_width = world_camera_intrinsics['resolution'][0]
self.world_camera_height = world_camera_intrinsics['resolution'][1]
self.world_camera_focal = (world_camera_intrinsics['camera_matrix'][0][0] + world_camera_intrinsics['camera_matrix'][1][1] ) / 2.0
# transformation matrices
self.anthromorphic_matrix = self.get_anthropomorphic_matrix()
self.adjusted_pixel_space_matrix = self.get_adjusted_pixel_space_matrix(1)
self.name = name
self.window_size = (640,480)
self.window = None
self.input = None
self.run_independently = run_independently
camera_fov = math.degrees(2.0 * math.atan( self.window_size[0] / (2.0 * self.focal_length)))
self.trackball = Trackball(camera_fov)
self.trackball.distance = [0,0,-0.1]
self.trackball.pitch = 0
self.trackball.roll = 180
def __init__(self,g_pool , focal_length ): super(Eye_Visualizer, self).__init__(g_pool , "Debug Visualizer", False) self.focal_length = focal_length self.image_width = 640 # right values are assigned in update self.image_height = 480 camera_fov = math.degrees(2.0 * math.atan( self.image_height / (2.0 * self.focal_length))) self.trackball = Trackball(camera_fov)
def open_window(self):
if not self._window:
if self.fullscreen:
monitor = glfwGetMonitors()[self.monitor_idx]
mode = glfwGetVideoMode(monitor)
height, width = mode[0], mode[1]
else:
monitor = None
height, width = (
640,
int(640.0 / (self.real_world_size["x"] /
self.real_world_size["y"])),
) # open with same aspect ratio as surface
self._window = glfwCreateWindow(
height,
width,
"Reference Surface: " + self.name,
monitor=monitor,
share=glfwGetCurrentContext(),
)
if not self.fullscreen:
glfwSetWindowPos(
self._window,
self.window_position_default[0],
self.window_position_default[1],
)
self.trackball = Trackball()
self.input = {"down": False, "mouse": (0, 0)}
# Register callbacks
glfwSetFramebufferSizeCallback(self._window, self.on_resize)
glfwSetKeyCallback(self._window, self.on_window_key)
glfwSetWindowCloseCallback(self._window, self.on_close)
glfwSetMouseButtonCallback(self._window,
self.on_window_mouse_button)
glfwSetCursorPosCallback(self._window, self.on_pos)
glfwSetScrollCallback(self._window, self.on_scroll)
self.on_resize(self._window, *glfwGetFramebufferSize(self._window))
# gl_state settings
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
basic_gl_setup()
make_coord_system_norm_based()
# refresh speed settings
glfwSwapInterval(0)
glfwMakeContextCurrent(active_window)
def __init__(self,focal_length, name = "Debug Visualizer", run_independently = False):
# super(Visualizer, self).__init__()
self.focal_length = focal_length
self.image_width = 640 # right values are assigned in update
self.image_height = 480
# transformation matrices
self.anthromorphic_matrix = self.get_anthropomorphic_matrix()
self.name = name
self.window_size = (640,480)
self._window = None
self.input = None
self.run_independently = run_independently
camera_fov = math.degrees(2.0 * math.atan( self.image_height / (2.0 * self.focal_length)))
self.trackball = Trackball(camera_fov)
def __init__(self, g_pool, focal_length):
super().__init__(g_pool, "Debug Visualizer", False)
self.focal_length = focal_length
self.image_width = 192 # right values are assigned in update
self.image_height = 192
camera_fov = math.degrees(2.0 * math.atan(self.image_height /
(2.0 * self.focal_length)))
self.trackball = Trackball(camera_fov)
# self.residuals_single_means = deque(np.zeros(50), 50)
# self.residuals_single_stds = deque(np.zeros(50), 50)
# self.residuals_means = deque(np.zeros(50), 50)
# self.residuals_stds = deque(np.zeros(50), 50)
self.eye = LeGrandEye()
self.cost_history = deque([], maxlen=200)
self.optimization_number = 0
