updates

error_screen.py

@@ -32,14 +32,14 @@ for i in range(3):
         centers.append((int(x),int(y)))
 
 
-x = 320
-y = 240
-img = cv2.resize(blank_image, (640,480))
-cv2.circle(img, (int(x), int(y)), 2, (0,0,255), 20)
-cv2.circle(img, (int(x+50), int(y)), 2, (0,0,255), 20)
-cv2.circle(img, (int(x), int(y+50)), 2, (0,0,255), 20)
-
-cv2.imshow("screen", img)
+# x = 320
+# y = 240
+# img = cv2.resize(blank_image, (640,480))
+# cv2.circle(img, (int(x), int(y)), 2, (0,0,255), 20)
+# cv2.circle(img, (int(x+50), int(y)), 2, (0,0,255), 20)
+# cv2.circle(img, (int(x), int(y+50)), 2, (0,0,255), 20)
+
+cv2.imshow("screen", blank_image)
 # print(centers)
 
 if cv2.waitKey(0) & 0xFF == ord('q'):

errordatacollection.py

@@ -49,6 +49,26 @@ def get_center(img, detector, tag_id):
         print("could not find tag with id:", tag_id)
         sys.exit(1)
 
+def get_centers(img, detector):
+
+    detections = detector.detect(img)
+    centers = []
+
+    for detection in detections:
+        centers.append(detection.center)
+    
+    return centers
+
+def get_closest(gaze_mapped, err_centers):
+    min_err = 10000000
+    min_center = None
+    for center in err_centers:
+        if np.sqrt(np.sum((gaze_mapped[:2] - center)**2)) < min_err:
+            min_err = np.sqrt(np.sum((gaze_mapped[:2] - center)**2))
+            min_center = center
+    
+    return min_center
+
 ip = '192.168.71.50'
 tobiiglasses = TobiiGlassesController(ip, video_scene=True)
 project_id = tobiiglasses.create_project("Test live_scene_and_gaze.py")
@@ -105,7 +125,7 @@ if len(back_detections) < num_apriltags:
     tobiiglasses.stop_streaming()
     sys.exit(1)
 
-screen1 = cv2.imread('screen1_circles.jpg')
+screen1 = cv2.imread('error_screen.jpg')
 screen1 = cv2.resize(screen1, (640,480))
 screen2 = cv2.imread('screen2.jpg')
 screen2 = cv2.resize(screen2, (640,480))
@@ -120,9 +140,9 @@ fix_s1 = get_dict_from_image(s1_grey, detector)
 fix_s2 = get_dict_from_image(s2_grey, detector)
 fix_s3 = get_dict_from_image(s3_grey, detector)
 
-# err_tag_id = 8
-# detector_2 = Detector(families="tag36h11", nthreads=1, quad_decimate=1.0)
-# err_center = get_center(s1_grey, detector_2, err_tag_id)
+err_tag_id = [i for i in range(9)]
+detector_2 = Detector(families="tag36h11", nthreads=1, quad_decimate=1.0)
+err_centers = get_centers(s1_grey, detector_2)
 
 fix = {}
 for detection in back_detections:
@@ -202,8 +222,12 @@ while True:
                         gaze_mapped_s1 = np.dot(H1, gaze_mapped)
                         gaze_mapped_s1 = gaze_mapped_s1/gaze_mapped_s1[2]
                         cv2.circle(s1_copy, (int(gaze_mapped_s1[0]), int(gaze_mapped_s1[1])), 2, (255,0,0), 10)
-                        # vec = (gaze_mapped_s1[:2] - err_center)
-                        # err.append(vec)
+
+                        # err_center = get_closest(gaze_mapped_s1, err_centers)
+                        # if err_center is not None:
+                        #     # vec = (gaze_mapped_s1[:2] - err_center)
+                        vec = gaze_mapped_s1[:2]
+                        err.append(vec)
                         
 
                 elif gaze_mapped_back[0] > s2_min and gaze_mapped_back[0] < s2_max and gaze_mapped_back[1] < 240:
@@ -238,11 +262,12 @@ while True:
     elif pd_left == -1 or pd_right == -1:
         num_blinks += 1
 
-# dir_name = "error_data/Screen1/multiple/pos" + str(err_tag_id)
-# if not os.path.exists(dir_name):
-#     os.makedirs(dir_name)
+dir_name = "error_data/Screen1/multiple/gazedata"
 
+if not os.path.exists(dir_name):
+    os.makedirs(dir_name)
 
+np.save(dir_name + "/data1", err)
 # np.save(dir_name + "/direct_gaze_1", err)
 # np.save(dir_name + "/looking_left_corner_1", err)
 # np.save(dir_name + "/looking_right_corner_1", err)

fixation_estimation.py

@@ -52,9 +52,23 @@ def get_center(img, detector, tag_id):
 def IVT_filter(mapped_gaze_2d, last_mapped_gaze, ts, last_ts):
     velocity_threshold = 100
 
+    # print("vel before: ", np.sqrt(np.sum((mapped_gaze_2d-last_mapped_gaze)**2)/(ts - last_ts) * 1e6))
+
+    mapped_gaze = mapped_gaze_2d.copy()
+    last_mapped = last_mapped_gaze.copy()
+    mapped_gaze[0] = (mapped_gaze_2d[0] / 640.0) * 450
+    last_mapped[0] = (last_mapped_gaze[0] / 640.0) * 450
+
+    mapped_gaze[1] = (mapped_gaze_2d[1] / 480.0) * 300
+    last_mapped[1] = (last_mapped_gaze[1] / 480.0) * 300
+
+    # print("vel after: ", np.sqrt(np.sum((mapped_gaze_2d-last_mapped_gaze)**2)/(ts - last_ts) * 1e6))
+
     if ts - last_ts < 1e2:
         return False
-    vel = np.sqrt(np.sum((mapped_gaze_2d-last_mapped_gaze)**2)/(ts - last_ts) * 1e6)
+    
+    vel = np.sqrt(np.sum((mapped_gaze-last_mapped)**2)/(ts - last_ts) * 1e6)
+    
     # print(vel)
     if vel <= velocity_threshold:
         return True
@@ -80,6 +94,7 @@ project_id = tobiiglasses.create_project("Test live_scene_and_gaze.py")
 participant_id = tobiiglasses.create_participant(project_id, "participant_test")
 calibration_id = tobiiglasses.create_calibration(project_id, participant_id)
 
+print(tobiiglasses.get_battery_status())
 input("Put the calibration marker in front of the user, then press enter to calibrate")
 tobiiglasses.start_calibration(calibration_id)
 
@@ -130,7 +145,7 @@ if len(back_detections) < num_apriltags:
     tobiiglasses.stop_streaming()
     sys.exit(1)
 
-screen1 = cv2.imread('screen1.jpg')
+screen1 = cv2.imread('error_screen.jpg')
 screen1 = cv2.resize(screen1, (640,480))
 screen2 = cv2.imread('screen2.jpg')
 screen2 = cv2.resize(screen2, (640,480))
@@ -245,7 +260,7 @@ while True:
                         gaze_mapped_s1 = np.dot(H1, gaze_mapped)
                         gaze_mapped_s1 = gaze_mapped_s1/gaze_mapped_s1[2]
                         if last_mapped_gaze is not None:
-                            fixation_bool = IVT_filter(gaze_mapped_s1[:2], last_mapped_gaze, curr_ts, last_ts)
+                            fixation_bool = IVT_filter(gaze_mapped_s1[:2], last_mapped_gaze[:2], curr_ts, last_ts)
                         last_mapped_gaze = gaze_mapped_s1
                         last_ts = curr_ts
                         if fixation_bool:

plotting_error.py

@@ -2,16 +2,8 @@ import numpy as np
 import matplotlib.pyplot as plt
 
 
-max_length = 300
 
-# data = np.load("time_data.npy")
-# plt.figure()
-# plt.plot(data[1:])
-# plt.show()
 
-# data = data[1:]
-
-# print(data.sum()/len(data))
 
 def avg(data, i, j, n):
     # print(data)
@@ -36,85 +28,136 @@ def remove_outliers(data):
     return ret_data
 
 
-file_names = ["direct_gaze_1", "looking_left_corner_1", "looking_right_corner_1", "moving_head_1"]
-legend_list = ['pos' + str(i) for i in range(9)]
-
-for name in file_names:
-    average_x = 0
-    average_y = 0
-    for i in range(9):
-        base_dir = "error_data/Screen1/multiple/pos"
-        tag_id = i
-        base_dir += str(tag_id) + '/'
-        data = np.load(base_dir + name + ".npy")
-
-        data_ = remove_outliers(data)
-        x_data = data_[0]
-        y_data = data_[1]
-        x_length = min(len(x_data), max_length)
-        y_length = min(len(y_data), max_length)
-
-        x_time = np.zeros((x_length, 1))
-        y_time = np.zeros((y_length, 1))
-        plot_data_x = np.zeros((x_length, 1))
-        plot_data_y = np.zeros((y_length, 1))
-
-        for j in range(x_length):
-            x_time[j] = j / 30.0
-            plot_data_x[j] = x_data[j] * 100 / 640
+data = np.load("error_data/Screen1/multiple/allpos/direct_gaze_1.npy")
+
+data = remove_outliers(data)
+
+max_length = 900
+
+x_time = np.zeros((max_length,))
+y_time = np.zeros((max_length,))
+
+for j in range(max_length):
+    x_time[j] = j / 30.0
+        
+for j in range(max_length):
+    y_time[j] = j / 30.0
+
+
+x_data = np.array(data[0][:max_length]) * 100 / 640.0
+y_data = np.array(data[1][:max_length]) * 100 / 480.0
+
+x_mean = x_data.mean()
+y_mean = y_data.mean()
+
+plt.figure(0)
+plt.plot(x_time, x_data)
+plt.plot(x_time, [x_mean] * max_length, linewidth=3, color='black')
+plt.title("Error in mapping x coordinate")
+plt.ylabel("Error in gaze x coordinate (percentage)")
+plt.xlabel("Time (s)")
+
+plt.figure(1)
+plt.plot(y_time, y_data)
+plt.plot(y_time, [y_mean] * max_length, linewidth=3, color='black')
+plt.title("Error in mapping y coordinate")
+plt.ylabel("Error in gaze y coordinate (percentage)")
+plt.xlabel("Time (s)")
+
+
+plt.show()
+
+# max_length = 300
+
+# # data = np.load("time_data.npy")
+# # plt.figure()
+# # plt.plot(data[1:])
+# # plt.show()
+
+# # data = data[1:]
+
+# # print(data.sum()/len(data))
+
+
+# file_names = ["direct_gaze_1", "looking_left_corner_1", "looking_right_corner_1", "moving_head_1"]
+# legend_list = ['pos' + str(i) for i in range(9)]
+
+# for name in file_names:
+#     average_x = 0
+#     average_y = 0
+#     for i in range(9):
+#         base_dir = "error_data/Screen1/multiple/pos"
+#         tag_id = i
+#         base_dir += str(tag_id) + '/'
+#         data = np.load(base_dir + name + ".npy")
+
+#         data_ = remove_outliers(data)
+#         x_data = data_[0]
+#         y_data = data_[1]
+#         x_length = min(len(x_data), max_length)
+#         y_length = min(len(y_data), max_length)
+
+#         x_time = np.zeros((x_length, 1))
+#         y_time = np.zeros((y_length, 1))
+#         plot_data_x = np.zeros((x_length, 1))
+#         plot_data_y = np.zeros((y_length, 1))
+
+#         for j in range(x_length):
+#             x_time[j] = j / 30.0
+#             plot_data_x[j] = x_data[j] * 100 / 640
         
-        for j in range(y_length):
-            y_time[j] = j / 30.0
-            plot_data_y[j] = y_data[j] * 100 / 640
+#         for j in range(y_length):
+#             y_time[j] = j / 30.0
+#             plot_data_y[j] = y_data[j] * 100 / 640
         
-        average_x += plot_data_x.sum() / x_length
-        average_y += plot_data_y.sum() / y_length
+#         average_x += plot_data_x.sum() / x_length
+#         average_y += plot_data_y.sum() / y_length
 
-        plt.figure(0)
-        plt.plot(x_time, plot_data_x)
+#         plt.figure(0)
+#         plt.plot(x_time, plot_data_x)
         
 
-        plt.figure(1)
-        plt.plot(y_time, plot_data_y)
+#         plt.figure(1)
+#         plt.plot(y_time, plot_data_y)
 
-        # plt.figure(2)
-        # plt.plot(data[:max_length,0])
+#         # plt.figure(2)
+#         # plt.plot(data[:max_length,0])
 
-        # plt.figure(3)
-        # plt.plot(data[:max_length,1])
+#         # plt.figure(3)
+#         # plt.plot(data[:max_length,1])
     
-    average_x /= 9
-    average_y /= 9
-
-    plt.figure(0)
-    plt.plot(x_time, [average_x] * x_length, linewidth=3, color='black')
-    plt.ylabel("Gaze error x")
-    plt.xlabel("time (s)")
-    plt.title(name)
-    plt.legend(legend_list)
-
-    plt.figure(1)
-    plt.plot(y_time, [average_y] * y_length, linewidth=3, color='black')
-    plt.ylabel("Gaze error y")
-    plt.xlabel("time (s)")
-    plt.title(name)
-    plt.legend(legend_list)
-
-    # plt.figure(2)
-    # # plt.plot(x_time, [average_x] * x_length, linewidth=3, color='black')
-    # plt.ylabel("Gaze error x")
-    # plt.xlabel("time (s)")
-    # plt.title(name)
-    # # plt.legend(legend_list)
-
-    # plt.figure(3)
-    # # plt.plot(x_time, [average_x] * x_length, linewidth=3, color='black')
-    # plt.ylabel("Gaze error y")
-    # plt.xlabel("time (s)")
-    # plt.title(name)
-    # # plt.legend(legend_list)
-
-    plt.show()
+#     average_x /= 9
+#     average_y /= 9
+
+#     plt.figure(0)
+#     plt.plot(x_time, [average_x] * x_length, linewidth=3, color='black')
+#     plt.ylabel("Gaze error x")
+#     plt.xlabel("time (s)")
+#     plt.title(name)
+#     plt.legend(legend_list)
+
+#     plt.figure(1)
+#     plt.plot(y_time, [average_y] * y_length, linewidth=3, color='black')
+#     plt.ylabel("Gaze error y")
+#     plt.xlabel("time (s)")
+#     plt.title(name)
+#     plt.legend(legend_list)
+
+#     # plt.figure(2)
+#     # # plt.plot(x_time, [average_x] * x_length, linewidth=3, color='black')
+#     # plt.ylabel("Gaze error x")
+#     # plt.xlabel("time (s)")
+#     # plt.title(name)
+#     # # plt.legend(legend_list)
+
+#     # plt.figure(3)
+#     # # plt.plot(x_time, [average_x] * x_length, linewidth=3, color='black')
+#     # plt.ylabel("Gaze error y")
+#     # plt.xlabel("time (s)")
+#     # plt.title(name)
+#     # # plt.legend(legend_list)
+
+#     plt.show()
 
 # for i in range(9):
 #     base_dir = "error_data/Screen1/multiple/pos"

tobiiglassesdata.py

@@ -12,17 +12,17 @@ def main():
 	print("Please wait ...")
 	time.sleep(3.0)
 
-	# for i in range(1000):
-	# 	print("Head unit: %s" % tobiiglasses.get_data()['mems'])
-	# 	print("Left Eye: %s " % tobiiglasses.get_data()['left_eye'])
-	# 	print("Right Eye: %s " % tobiiglasses.get_data()['right_eye'])
-	# 	print("Gaze Position: %s " % tobiiglasses.get_data()['gp'])
-	# 	print("Gaze Position 3D: %s " % tobiiglasses.get_data()['gp3'])
+	# for i in range(10):
+		# print("Head unit: %s" % tobiiglasses.get_data()['mems'])
+		# print("Left Eye: %s " % tobiiglasses.get_data()['left_eye'])
+		# print("Right Eye: %s " % tobiiglasses.get_data()['right_eye'])
+		# print("Gaze Position: %s " % tobiiglasses.get_data()['gp'])
+		# print("Gaze Position 3D: %s " % tobiiglasses.get_data()['gp3'])
 
 	start = time.time()
 	elapsed = 0
-	while elapsed < 10:
-		data = tobiiglasses.get_data()['left_eye']['pd']		
+	while elapsed < 5:
+		data = tobiiglasses.get_data()['gp3']		
 		print(data)
 		# time.sleep(0.02)
 		elapsed = time.time() - start