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smi_beta.py
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smi_beta.py
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import os
import viz
import math
import ctypes
# Module is only supported with Vizard 5.1
#cv = viz.compareVersion('5.1')
#if cv < 0:
# raise EnvironmentError('SMI module is incompatible with Vizard {}. Please contact support@worldviz.com for latest version.'.format(viz.version()))
#elif cv > 0:
# raise EnvironmentError('SMI module requires Vizard 5.1')
# Ensure we are not 64-bit
if viz.getOption('platform.bit','32') != '32':
raise EnvironmentError('SMI module does not support 64-bit versions of Vizard')
# Callback result structure
class _CallbackDataStruct(ctypes.Structure):
_fields_ = [ ("type", ctypes.c_uint)
,("result", ctypes.c_void_p)
]
_CallbackDataStructPointer = ctypes.POINTER(_CallbackDataStruct)
# Callback type
_smiCallback = ctypes.WINFUNCTYPE(None, _CallbackDataStructPointer)
# EyeDataHMDStruct
class _EyeDataHMDStruct(ctypes.Structure):
_fields_ = [ ("gazePoint_x", ctypes.c_double)
,("gazePoint_y", ctypes.c_double)
,("gazePoint_z", ctypes.c_double)
,("gazeDir_x", ctypes.c_double)
,("gazeDir_y", ctypes.c_double)
,("gazeDir_z", ctypes.c_double)
,("por_x", ctypes.c_double)
,("por_y", ctypes.c_double)
,("pupilRadius", ctypes.c_double)
,("pupilPos_x", ctypes.c_double)
,("pupilPos_y", ctypes.c_double)
,("pupilPos_z", ctypes.c_double)
,("eyeLensDistance", ctypes.c_double)
,("eyeScreenDistance", ctypes.c_double)
]
# Gaze sample structure
class _SampleHMDStruct(ctypes.Structure):
_fields_ = [ ("size", ctypes.c_size_t)
,("timestamp", ctypes.c_ulonglong)
,("iod", ctypes.c_double)
,("ipd", ctypes.c_double)
,("por_x", ctypes.c_double)
,("por_y", ctypes.c_double)
,("gazeDir_x", ctypes.c_double)
,("gazeDir_y", ctypes.c_double)
,("gazeDir_z", ctypes.c_double)
,("gazePoint_x", ctypes.c_double)
,("gazePoint_y", ctypes.c_double)
,("gazePoint_z", ctypes.c_double)
,("leftEye", _EyeDataHMDStruct)
,("rightEye", _EyeDataHMDStruct)
]
_SampleHMDStructPointer = ctypes.POINTER(_SampleHMDStruct)
# Tracking parameter structure
class _TrackingParameterStruct(ctypes.Structure):
_fields_ = [ ("mappingDistance", ctypes.c_double)
]
# Calibration types
SMI_NONE = 0
SMI_ONE_POINT_CALIBRATION = 1
SMI_THREE_POINT_CALIBRATION = 2
# Stream type
_SIMPLE_GAZE_SAMPLE = 0
# Distance from eye to physical screen (meters)
SCREEN_DISTANCE = 1.5
# Complete Horizontal and Vertical field of view (degrees)
FIELD_OF_VIEW = 87.0
# Screen resolution
SCREEN_HRES = 1920.0
SCREEN_VRES = 1080.0
def _loadLibrary():
"""Load iViewHMDAPI DLL"""
try:
return ctypes.windll.iViewHMDAPI
except:
# Try searching for it in program files
install_path = os.path.join(os.environ['PROGRAMFILES'], r'SMI\iViewNG-HMD\HMD C++ Example\bin')
if os.path.isdir(install_path):
os.environ['PATH'] = ';'.join([os.environ['PATH'], install_path])
try:
return ctypes.windll.iViewHMDAPI
except:
pass
raise RuntimeError('Could not load iView HMD library')
class iViewHMD(viz.EventClass):
def __init__(self, simulate=False):
viz.EventClass.__init__(self)
# List of samples
self.current_sample = None
self.last_sample = None
# Load DLL
self.iview = _loadLibrary()
# Get path of DLL
GetModuleFileName = ctypes.WinDLL("kernel32.dll").GetModuleFileNameW
path = ctypes.create_unicode_buffer(260)
if GetModuleFileName(self.iview._handle, path, 260):
folder = os.path.dirname(path.value)
else:
folder = ''
# Temporarily change working directory to iView DLL location
prev_cwd = os.getcwd()
if folder:
os.chdir(folder)
try:
def _smi_callback(result):
self._handle_result(result)
# Need to hold reference to callback function wrapper
self._callback_wrapper = _smiCallback(_smi_callback)
# Register callback function
getattr(self.iview, '_smi_setCallback@4')(self._callback_wrapper)
# Start streaming
params = _TrackingParameterStruct()
params.mappingDistance = 1500.0
result = getattr(self.iview, '_smi_startStreaming@8')(ctypes.c_bool(simulate), ctypes.pointer(params))
if result != 1:
raise RuntimeError('Failed to connect to SMI eye tracker')
finally:
# Restore previous working directory
os.chdir(prev_cwd)
# Register update callback for processing samples
self.callback(viz.UPDATE_EVENT, self._update, priority=viz.PRIORITY_INPUT)
self.callback(viz.EXIT_EVENT, self._onExit)
def _handle_result(self, result):
data = result.contents
if data.type == _SIMPLE_GAZE_SAMPLE:
s = ctypes.cast(data.result, _SampleHMDStructPointer).contents
if not math.isnan(s.gazeDir_x):
new_sample = _SampleHMDStruct()
ctypes.pointer(new_sample)[0] = s
self.current_sample = new_sample
def _update(self, e):
self.last_sample = self.current_sample
def _eventClassRemoved(self):
if self.iview:
getattr(self.iview, '_smi_quit@0')()
self._callback_wrapper = None
self.iview = None
def _onExit(self):
self.unregister()
def remove(self):
"""Disconnect from eye tracker"""
self.unregister()
def getLastSample(self):
"""Return the last received sample"""
return self.last_sample
def getLastGazeMatrix(self, eye=viz.BOTH_EYE):
"""Returns the last received gaze matrix in HMD coordinate system"""
m = viz.Matrix()
s = self.getLastSample()
if s:
if eye == viz.LEFT_EYE:
s = s.leftEye
elif eye == viz.RIGHT_EYE:
s = s.rightEye
xoff = SCREEN_DISTANCE * math.tan(math.radians(FIELD_OF_VIEW / 2.0))
yoff = SCREEN_DISTANCE * math.tan(math.radians(FIELD_OF_VIEW / 2.0))
zoff = SCREEN_DISTANCE
gx = ((s.por_x * 2.0 * xoff) / SCREEN_HRES - xoff)
gy = -((s.por_y * 2.0 * yoff) / SCREEN_VRES - yoff)
gz = zoff
m.makeVecRotVec([0,0,1], viz.Vector(gx, gy, gz, normalize=True))
#print 'Time: ' + str(s.timestamp)
#print 'Time: ' + str(viz.getFrameElapsed())
return m
def calibrate(self):
if self.iview:
getattr(self.iview, '_smi_calibrate@0')()
def resetCalibration(self):
if self.iview:
getattr(self.iview, '_smi_resetCalibration@0')()
def cancelCalibration(self):
if self.iview:
getattr(self.iview, '_smi_abortCalibration@0')()
def validate(self):
if self.iview:
getattr(self.iview, '_smi_validate@0')()
# def gd_drawGaze(self):
#
# self.getGazePoint()
if __name__ == '__main__':
viz.go()
g = iViewHMD(simulate=True)
viz.addChild('gallery.osgb')