def _detect_markers(self, frame):
gray = frame.gray
if self.robust_detection:
markers = marker_det.detect_markers_robust(
gray,
grid_size=5,
aperture=11,
prev_markers=self.previous_markers,
true_detect_every_frame=3,
min_marker_perimeter=self.marker_min_perimeter,
invert_image=self.inverted_markers,
)
else:
markers = marker_det.detect_markers(
gray,
grid_size=5,
aperture=11,
min_marker_perimeter=self.marker_min_perimeter,
)
# Robust marker detection requires previous markers to be in a different
# format than the surface tracker.
self.previous_markers = markers
markers = [
Square_Marker_Detection(
m["id"], m["id_confidence"], m["verts"], m["perimeter"]
)
for m in markers
]
markers = self._remove_duplicate_markers(markers)
self.markers_unfiltered = markers
self.markers = self._filter_markers(markers)
def update(self,frame,events):
self.img_shape = frame.height,frame.width,3
if self.running:
gray = frame.gray
if self.robust_detection:
self.markers = detect_markers_robust(gray,
grid_size = 5,
prev_markers=self.markers,
min_marker_perimeter=self.min_marker_perimeter,
aperture=self.aperture,
visualize=0,
true_detect_every_frame=3,
invert_image=self.invert_image)
else:
self.markers = detect_markers(gray,
grid_size = 5,
min_marker_perimeter=self.min_marker_perimeter,
aperture=self.aperture,
visualize=0,
invert_image=self.invert_image)
if self.mode == "Show marker IDs":
draw_markers(frame.gray,self.markers)
events['surface'] = []
# locate surfaces
for s in self.surfaces:
s.locate(self.markers,self.camera_calibration,self.min_marker_perimeter, self.locate_3d)
if s.detected:
events['surface'].append({'name':s.name,'uid':s.uid,'m_to_screen':s.m_to_screen.tolist(),'m_from_screen':s.m_from_screen.tolist(), 'timestamp':frame.timestamp,'camera_pose_3d':s.camera_pose_3d.tolist()})
if self.running:
self.button.status_text = '%s/%s'%(len([s for s in self.surfaces if s.detected]),len(self.surfaces))
else:
self.button.status_text = 'tracking paused'
if self.mode == 'Show Markers and Surfaces':
# edit surfaces by user
if self.edit_surf_verts:
window = glfwGetCurrentContext()
pos = glfwGetCursorPos(window)
pos = normalize(pos,glfwGetWindowSize(window),flip_y=True)
for s,v_idx in self.edit_surf_verts:
if s.detected:
new_pos = s.img_to_ref_surface(np.array(pos))
s.move_vertex(v_idx,new_pos)
#map recent gaze onto detected surfaces used for pupil server
for s in self.surfaces:
if s.detected:
s.gaze_on_srf = []
for p in events.get('gaze_positions',[]):
gp_on_s = tuple(s.img_to_ref_surface(np.array(p['norm_pos'])))
p['realtime gaze on ' + s.name] = gp_on_s
s.gaze_on_srf.append(gp_on_s)
def update(self, frame, events):
self.img_shape = frame.height, frame.width, 3
if self.running:
gray = frame.gray
if self.robust_detection:
self.markers = detect_markers_robust(
gray,
grid_size=5,
prev_markers=self.markers,
min_marker_perimeter=self.min_marker_perimeter,
aperture=self.aperture,
visualize=0,
true_detect_every_frame=3,
)
else:
self.markers = detect_markers(
gray,
grid_size=5,
min_marker_perimeter=self.min_marker_perimeter,
aperture=self.aperture,
visualize=0,
)
if self.mode == "Show marker IDs":
draw_markers(frame.img, self.markers)
# locate surfaces
for s in self.surfaces:
s.locate(self.markers, self.locate_3d, self.camera_intrinsics)
# if s.detected:
# events.append({'type':'marker_ref_surface','name':s.name,'uid':s.uid,'m_to_screen':s.m_to_screen,'m_from_screen':s.m_from_screen, 'timestamp':frame.timestamp})
if self.running:
self.button.status_text = "%s/%s" % (len([s for s in self.surfaces if s.detected]), len(self.surfaces))
else:
self.button.status_text = "tracking paused"
# edit surfaces by user
if self.mode == "Surface edit mode":
window = glfwGetCurrentContext()
pos = glfwGetCursorPos(window)
pos = normalize(pos, glfwGetWindowSize(window), flip_y=True)
for s, v_idx in self.edit_surfaces:
if s.detected:
new_pos = s.img_to_ref_surface(np.array(pos))
s.move_vertex(v_idx, new_pos)
# map recent gaze onto detected surfaces used for pupil server
for s in self.surfaces:
if s.detected:
s.gaze_on_srf = []
for p in events.get("gaze_positions", []):
gp_on_s = tuple(s.img_to_ref_surface(np.array(p["norm_pos"])))
p["realtime gaze on " + s.name] = gp_on_s
s.gaze_on_srf.append(gp_on_s)
def recent_events(self, events):
frame = events.get('frame')
if not frame:
return
self.img_shape = frame.height,frame.width,3
if self.running:
gray = frame.gray
if self.invert_image:
gray = 255-gray
if self.robust_detection:
self.markers = detect_markers_robust(
gray, grid_size = 5,aperture=self.aperture,
prev_markers=self.markers,
true_detect_every_frame=3,
min_marker_perimeter=self.min_marker_perimeter)
else:
self.markers = detect_markers(
gray, grid_size = 5,aperture=self.aperture,
min_marker_perimeter=self.min_marker_perimeter)
if self.mode == "Show marker IDs":
draw_markers(frame.gray,self.markers)
# locate surfaces, map gaze
for s in self.surfaces:
s.locate(self.markers,self.min_marker_perimeter,self.min_id_confidence, self.locate_3d)
if s.detected:
s.gaze_on_srf = s.map_data_to_surface(events.get('gaze_positions',[]),s.m_from_screen)
s.update_gaze_history()
else:
s.gaze_on_srf =[]
events['surfaces'] = []
for s in self.surfaces:
if s.detected:
events['surfaces'].append({'name':s.name,'uid':s.uid,'m_to_screen':s.m_to_screen.tolist(),'m_from_screen':s.m_from_screen.tolist(),'gaze_on_srf': s.gaze_on_srf, 'timestamp':frame.timestamp,'camera_pose_3d':s.camera_pose_3d.tolist() if s.camera_pose_3d is not None else None})
if self.running:
self.button.status_text = '{}/{}'.format(len([s for s in self.surfaces if s.detected]), len(self.surfaces))
else:
self.button.status_text = 'tracking paused'
if self.mode == 'Show Markers and Surfaces':
# edit surfaces by user
if self.edit_surf_verts:
window = glfwGetCurrentContext()
pos = glfwGetCursorPos(window)
pos = normalize(pos,glfwGetWindowSize(window),flip_y=True)
for s,v_idx in self.edit_surf_verts:
if s.detected:
new_pos = s.img_to_ref_surface(np.array(pos))
s.move_vertex(v_idx,new_pos)
def recent_events(self, events):
frame = events.get('frame')
if not frame:
return
self.img_shape = frame.height,frame.width,3
if self.running:
gray = frame.gray
if self.invert_image:
gray = 255-gray
if self.robust_detection:
self.markers = detect_markers_robust(
gray, grid_size = 5,aperture=self.aperture,
prev_markers=self.markers,
true_detect_every_frame=3,
min_marker_perimeter=self.min_marker_perimeter)
else:
self.markers = detect_markers(
gray, grid_size = 5,aperture=self.aperture,
min_marker_perimeter=self.min_marker_perimeter)
if self.mode == "Show marker IDs":
draw_markers(frame.gray,self.markers)
# locate surfaces, map gaze
for s in self.surfaces:
s.locate(self.markers,self.camera_calibration,self.min_marker_perimeter,self.min_id_confidence, self.locate_3d)
if s.detected:
s.gaze_on_srf = s.map_data_to_surface(events.get('gaze_positions',[]),s.m_from_screen)
else:
s.gaze_on_srf =[]
events['surfaces'] = []
for s in self.surfaces:
if s.detected:
events['surfaces'].append({'name':s.name,'uid':s.uid,'m_to_screen':s.m_to_screen.tolist(),'m_from_screen':s.m_from_screen.tolist(),'gaze_on_srf': s.gaze_on_srf, 'timestamp':frame.timestamp,'camera_pose_3d':s.camera_pose_3d.tolist() if s.camera_pose_3d is not None else None})
if self.running:
self.button.status_text = '{}/{}'.format(len([s for s in self.surfaces if s.detected]), len(self.surfaces))
else:
self.button.status_text = 'tracking paused'
if self.mode == 'Show Markers and Surfaces':
# edit surfaces by user
if self.edit_surf_verts:
window = glfwGetCurrentContext()
pos = glfwGetCursorPos(window)
pos = normalize(pos,glfwGetWindowSize(window),flip_y=True)
for s,v_idx in self.edit_surf_verts:
if s.detected:
new_pos = s.img_to_ref_surface(np.array(pos))
s.move_vertex(v_idx,new_pos)
def detect_markers_iter(
self, gray_img,
frame_index: int) -> typing.Iterable[Surface_Marker]:
if Surface_Marker_Detector_Mode.SQUARE_MARKER not in self.marker_detector_modes:
return []
# If current frame does not follow the previous frame, forget previously detected markers
if frame_index != self.__previous_frame_index + 1:
self.__previous_raw_markers = []
grid_size = 5
aperture = 9
true_detect_every_frame = 3
min_perimeter = self.marker_min_perimeter
if self.__robust_detection:
markers = square_marker_detect.detect_markers_robust(
gray_img=gray_img,
grid_size=grid_size,
min_marker_perimeter=min_perimeter,
aperture=aperture,
prev_markers=self.__previous_raw_markers,
true_detect_every_frame=true_detect_every_frame,
invert_image=self.__inverted_markers,
)
else:
markers = square_marker_detect.detect_markers(
gray_img=gray_img,
grid_size=grid_size,
min_marker_perimeter=min_perimeter,
aperture=aperture,
)
# Robust marker detection requires previous markers to be in a different
# format than the surface tracker.
self.__previous_raw_markers = markers
self.__previous_frame_index = frame_index
markers = map(Surface_Marker.from_square_tag_detection, markers)
markers = filter(self._surface_marker_filter, markers)
return markers
def recent_events(self, events):
frame = events.get("frame")
if not frame:
return
self.img_shape = frame.height, frame.width, 3
if self.running:
gray = frame.gray
if self.invert_image:
gray = 255 - gray
if self.robust_detection:
self.markers = detect_markers_robust(
gray,
grid_size=5,
aperture=self.aperture,
prev_markers=self.markers,
true_detect_every_frame=3,
min_marker_perimeter=self.min_marker_perimeter,
)
else:
self.markers = detect_markers(
gray,
grid_size=5,
aperture=self.aperture,
min_marker_perimeter=self.min_marker_perimeter,
)
if self.mode == "Show marker IDs":
draw_markers(frame.gray, self.markers)
# locate surfaces, map gaze
for s in self.surfaces:
s.locate(
self.markers,
self.min_marker_perimeter,
self.min_id_confidence,
self.locate_3d,
)
if s.detected:
s.gaze_on_srf = s.map_data_to_surface(events.get("gaze", []),
s.m_from_screen)
s.fixations_on_srf = s.map_data_to_surface(
events.get("fixations", []), s.m_from_screen)
s.update_gaze_history()
else:
s.gaze_on_srf = []
s.fixations_on_srf = []
events["surfaces"] = []
for s in self.surfaces:
if s.detected:
datum = {
"topic":
"surfaces.{}".format(s.name),
"name":
s.name,
"uid":
s.uid,
"m_to_screen":
s.m_to_screen.tolist(),
"m_from_screen":
s.m_from_screen.tolist(),
"gaze_on_srf":
s.gaze_on_srf,
"fixations_on_srf":
s.fixations_on_srf,
"timestamp":
frame.timestamp,
"camera_pose_3d":
s.camera_pose_3d.tolist()
if s.camera_pose_3d is not None else None,
}
events["surfaces"].append(datum)
if self.running:
self.button.status_text = "{}/{}".format(
len([s for s in self.surfaces if s.detected]),
len(self.surfaces))
else:
self.button.status_text = "tracking paused"
if self.mode == "Show Markers and Surfaces":
# edit surfaces by user
if self.edit_surf_verts:
pos = self._last_mouse_pos
for s, v_idx in self.edit_surf_verts:
if s.detected:
new_pos = s.img_to_ref_surface(np.array(pos))
s.move_vertex(v_idx, new_pos)
def update(self,frame,events):
self.img_shape = frame.height,frame.width,3
if self.running:
self.current_gaze_pos = self.get_gaze_pos(events)
#drawing only in undistord image
if self.show_undistord:
self.frame_img = undistord_with_roi(img=frame.img, cm=self.camera_intrinsics[0], dist_coef=self.camera_intrinsics[1], roi=self.roi, new_cm=self.camera_intrinsics[4])
gray = cv2.cvtColor(self.frame_img, cv2.COLOR_BGR2GRAY)
cv2.imshow("test", self.frame_img)
else:
self.frame_img = frame.img
gray = frame.gray
if self.robust_detection:
visible_markers = detect_markers_robust(gray,
grid_size = 5,
prev_markers=self.markers,
min_marker_perimeter=self.min_marker_perimeter,
aperture = 11,
visualize=0,
true_detect_every_frame=3)
else:
visible_markers = detect_markers(gray,
grid_size = 5,
min_marker_perimeter=self.min_marker_perimeter,
aperture = 11,
visualize=0)
for m in self.markers:
m['visible'] = False
self.find_main_marker(visible_markers )
for vm in visible_markers:
#find the index of the visible marker in self.markers
index = -1
for indexList,m in enumerate(self.markers):
if m['id'] == vm['id']:
index = indexList
break
if index == -1: #marker is not registered already
index = len(self.markers)
new_marker = {'id':vm['id'],'verts':vm['verts'],'verts_norm':vm['verts_norm'],'centroid':vm['centroid'],'frames_since_true_detection':0,'height':76,'frames_looked_up_count':0,'obj_name':"None",'obj':None,'mult':1}
self.markers.append(new_marker)
marker = self.markers[index]
marker['verts'] = vm['verts']
marker['verts_norm'] = vm['verts_norm']
marker['centroid'] = vm['centroid']
marker['frames_since_true_detection'] = vm['frames_since_true_detection']
marker['visible'] = True
objp = gen_square_pattern_grid(marker['height'])
# Find the rotation and translation vectors.
_, rvecs, tvecs = cv2.solvePnP(objp, marker['verts'], self.camera_intrinsics[0], None) #Already undistord, no need to give dist coeffs
#if the marker is fixed by the gaze
if self.is_looked_up(marker):
#get the obj to draw
if self.mode == "Draw obj":
if marker['obj'] == None and marker['obj_name'] != "None":
marker['obj'] = OBJ("../ressources/"+marker['obj_name'], marker['mult'], swapyz=True)
marker['rot'] = rvecs
marker['trans'] = tvecs
marker['to_draw'] = True
else : #not fixed
if self.mode == "Draw obj":
marker['to_draw'] = False
if not self.running:
self.button.status_text = 'tracking paused'
def marker_positions(camera_spec,
videofile,
outfile,
new_camera=None,
start_time=0.0,
end_time=float("inf"),
visualize=False,
output_camera=None,
write=False):
camera = pickle.load(open(camera_spec, 'rb'), encoding='bytes')
image_resolution = camera[b'resolution']
if b'rect_map' not in camera:
camera_matrix = camera[b'camera_matrix']
camera_distortion = camera[b'dist_coefs']
rect_camera_matrix, roi = cv2.getOptimalNewCameraMatrix(
camera_matrix, camera_distortion, image_resolution, 0.0)
rmap = cv2.initUndistortRectifyMap(camera_matrix, camera_distortion,
None, rect_camera_matrix,
image_resolution, cv2.CV_32FC1)
else:
rmap = camera[b'rect_map']
rect_camera_matrix = camera[b'rect_camera_matrix']
K, D, resolution, cm = camera[b'camera_matrix'], camera[
b'dist_coefs'], camera[b'resolution'], rect_camera_matrix
camera = {}
camera['camera_matrix'] = rect_camera_matrix
camera['dist_coefs'] = None
camera['resolution'] = image_resolution
if new_camera is not None:
save_object(camera, new_camera)
#rectify_gaze_data(path, K, D, rect_camera_matrix)
#if new_camera is not None:
# pickle.dump(camera, open(new_camera, 'w'))
video = cv2.VideoCapture(videofile)
video.set(cv2.CAP_PROP_POS_MSEC, start_time * 1000)
frames = []
#marker_tracker = markerdetect.MarkerTracker()
prev_minute = 0.0
marker_cache = []
#fourcc = cv2.VideoWriter_fourcc(*'XVID')
#if write == True:
# out = cv2.VideoWriter(path + "world.mp4",fourcc, 30.0, (1280,720))
while True:
ret, oframe = video.read()
if not ret:
break
frame = cv2.remap(oframe, rmap[0], rmap[1], cv2.INTER_LINEAR)
#if write == True:
# out.write(frame)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
msecs = video.get(cv2.CAP_PROP_POS_MSEC)
time = msecs / 1000.0
if time > end_time:
break
markers = markerdetect.detect_markers(frame,
5,
min_marker_perimeter=15)
marker_cache.append(markers)
frame_d = {
'ts': time,
'markers': markers,
}
frames.append(frame_d)
if not visualize: continue
markerdetect.draw_markers(frame, frame_d['markers'])
cv2.imshow('frameBG', frame)
cv2.waitKey(1)
np.save(outfile, frames)
if write == True:
out.release()
return marker_cache
def update(self, frame, events):
self.img_shape = frame.height, frame.width, 3
if self.running:
gray = frame.gray
if self.invert_image:
gray = 255 - gray
if self.robust_detection:
self.markers = detect_markers_robust(
gray,
grid_size=5,
aperture=self.aperture,
prev_markers=self.markers,
true_detect_every_frame=3,
min_marker_perimeter=self.min_marker_perimeter,
)
else:
self.markers = detect_markers(
gray, grid_size=5, aperture=self.aperture, min_marker_perimeter=self.min_marker_perimeter
)
if self.mode == "Show marker IDs":
draw_markers(frame.gray, self.markers)
# locate surfaces, map gaze
for s in self.surfaces:
s.locate(
self.markers, self.camera_calibration, self.min_marker_perimeter, self.min_id_confidence, self.locate_3d
)
if s.detected:
s.gaze_on_srf = s.map_data_to_surface(events.get("gaze_positions", []), s.m_from_screen)
else:
s.gaze_on_srf = []
events["surface"] = []
for s in self.surfaces:
if s.detected:
events["surface"].append(
{
"name": s.name,
"uid": s.uid,
"m_to_screen": s.m_to_screen.tolist(),
"m_from_screen": s.m_from_screen.tolist(),
"gaze_on_srf": s.gaze_on_srf,
"timestamp": frame.timestamp,
"camera_pose_3d": s.camera_pose_3d.tolist() if s.camera_pose_3d is not None else None,
}
)
if self.running:
self.button.status_text = "%s/%s" % (len([s for s in self.surfaces if s.detected]), len(self.surfaces))
else:
self.button.status_text = "tracking paused"
if self.mode == "Show Markers and Surfaces":
# edit surfaces by user
if self.edit_surf_verts:
window = glfwGetCurrentContext()
pos = glfwGetCursorPos(window)
pos = normalize(pos, glfwGetWindowSize(window), flip_y=True)
for s, v_idx in self.edit_surf_verts:
if s.detected:
new_pos = s.img_to_ref_surface(np.array(pos))
s.move_vertex(v_idx, new_pos)
