add launcher file

README.md

-# tobii
+# Tobii
 
+## Driver installation
 
+All dependencies and installation scripts and deb files are tested for Ubuntu 20.04
 
-## Getting started
+> This section is based on the Ubuntu 16.04 installer from https://github.com/Eitol/tobii_eye_tracker_linux_installer adapted to Ubuntu 20.04. For ubuntu 16.04 and 18.04, please contact the original author
 
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
+### Tobii 4C Driver
 
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
+Tobii USD Host
 
-## Add your files
+    sudo apt install tobiiusbservice_l64U14_2.1.5-28fd4a.deb
 
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
+Tobii Engine Daemon
 
-```
-cd existing_repo
-git remote add origin https://gricad-gitlab.univ-grenoble-alpes.fr/eyesofcobot/tobii.git
-git branch -M main
-git push -uf origin main
-```
+	sudo apt install tobii_engine_linux-0.1.6.193_rc-Linux.deb
 
-## Integrate with your tools
+Tobii Config
 
-- [ ] [Set up project integrations](https://gricad-gitlab.univ-grenoble-alpes.fr/eyesofcobot/tobii/-/settings/integrations)
+	sudo dpkg -i tobii_config_0.1.6.111_amd64.deb
 
-## Collaborate with your team
+### Tobii Pro Eye Tracker Manager
 
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
+The manager is obtained at https://developer.tobiipro.com/eyetrackermanager.html
 
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
-
-## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
-
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
-
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
-
-## Installation
-See 
+    sudo apt install /path/to/manager/TobiiProEyeTrackerManager-2.4.11
 
 ## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
-
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
-
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
-
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
-
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
-
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
-
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
-
-## License
-For open source projects, say how it is licensed.
-
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.

launcher/calibration.py

+import time
+import tobii_research as tr
+import sys
+import math
+from tobiiresearch.interop import interop
+from tobiiresearch.implementation.Calibration import _calibration_status
+from tobiiresearch.implementation.Calibration import CALIBRATION_STATUS_SUCCESS, CALIBRATION_STATUS_FAILURE
+from tobiiresearch.implementation.Calibration import CALIBRATION_STATUS_SUCCESS_LEFT_EYE
+from tobiiresearch.implementation.Calibration import CALIBRATION_STATUS_SUCCESS_RIGHT_EYE
+
+labels = {
+(0.5, 0.5):"BLUE CENTER (1)",\
+(0.1, 0.9):"BLUE BOTTOM LEFT (2)",\
+(0.1,0.5):"BLUE LEFT (3)",\
+(0.1, 0.1):"BLUE TOP LEFT (4)",\
+(0.5, 0.1):"BLUE TOP (5)",\
+(0.9, 0.1):"BLUE TOP RIGHT (6)",\
+(0.9,0.5):"BLUE RIGHT (7)",\
+(0.9,0.9):"BLUE BOTTOM RIGHT (8)",\
+(0.5, 0.9):"BLUE BOTTOM (9)"
+}
+
+class Calibrator:
+    def __init__(self, eyetracker):
+        print("Initialize calibrator")
+        self.points_to_calibrate = [(0.5, 0.5), \
+                                    (0.1, 0.9), (0.1,0.5), (0.1, 0.1),\
+                                    (0.5, 0.1), (0.9, 0.1),\
+                                    (0.9,0.5),  (0.9,0.9), (0.5, 0.9)]
+        if eyetracker is None:
+            sys.exit(1)
+        self.eyetracker = eyetracker
+
+
+
+    def calibrate_point(self, point):
+        while True:
+            input("Press ENTER to collect data for calibration point {0}.".format(labels[point]))
+
+            # Wait a little for user to focus.
+            time.sleep(0.7)
+
+            x, y = (float(_) for _ in (point[0], point[1]))
+            status = _calibration_status[interop.screen_based_calibration_collect_data(\
+                                        self.eyetracker._EyeTracker__core_eyetracker, x, y)]
+            if (status != CALIBRATION_STATUS_SUCCESS):
+                print("Fail to collect data")
+                continue
+            else:
+                break
+
+    def calibrate(self):
+        # Enter calibration mode.
+        interop.calibration_enter_calibration_mode(self.eyetracker._EyeTracker__core_eyetracker)
+        print("Entered calibration mode for eye tracker with serial number {0}.".format(self.eyetracker.serial_number))
+        for point in self.points_to_calibrate:
+            self.calibrate_point(point)
+        print("Computing and applying calibration.")
+        interop_result = interop.screen_based_calibration_compute_and_apply(self.eyetracker._EyeTracker__core_eyetracker)
+        position = None
+        calibration_points = []
+        calibration_samples = []
+        for interop_point in interop_result[1]:
+            cur_position = interop_point.position
+
+            if position is not None and cur_position != position:
+                calibration_points.append(tr.CalibrationPoint(position, tuple(calibration_samples)))
+                calibration_samples = []
+
+            calibration_samples.append(tr.CalibrationSample(
+                tr.CalibrationEyeData(interop_point.left_sample_position, interop_point.left_validity),
+                tr.CalibrationEyeData(interop_point.right_sample_position, interop_point.right_validity)))
+
+            position = cur_position
+
+        calibration_points.append(tr.CalibrationPoint(position, tuple(calibration_samples)))
+
+        self.calibration_result = tr.CalibrationResult(CALIBRATION_STATUS_SUCCESS, tuple(calibration_points))
+        print("Compute and apply returned {0} and collected at {1} points.".
+            format(self.calibration_result.status, len(self.calibration_result.calibration_points)))
+        # The calibration is done. Leave calibration mode.
+        interop.calibration_leave_calibration_mode(self.eyetracker._EyeTracker__core_eyetracker)
+        print("Left calibration mode")

launcher/calibration.py.bp

+import time
+import tobii_research as tr
+import sys
+import math
+
+class Calibrator:
+    def __init__(self, eyetracker, nb_points):
+        print("Initialize calibrator")
+        if(nb_points == 5):
+            self.points_to_calibrate = [(0.5, 0.5), (0.1, 0.1), (0.1, 0.9), (0.9, 0.1), (0.9, 0.9)]
+        elif(nb_points == 9):
+            self.points_to_calibrate = [(0.5, 0.5), \
+                                    (0.1, 0.1), (0.1,0.5), (0.5, 0.1),\
+                                    (0.1, 0.9), (0.9, 0.1),\
+                                    (0.5,0.9),  (0.9,0.5), (0.9, 0.9)]
+        elif(nb_points == 13):
+            self.points_to_calibrate = [(0.5, 0.5), \
+                                    (0.1, 0.1), (0.1,0.5), (0.25,0.25) ,(0.5, 0.1),\
+                                    (0.1, 0.9), (0.25, 0.75), (0.75,0.25), (0.9, 0.1),\
+                                    (0.5,0.9), (0.75,0.75), (0.9,0.5), (0.9, 0.9)]
+        else:
+            print("Bad points number (5,9,13)")
+            sys.exit(1)
+        # self.test_point = [(0.5, 0.1), (0.1, 0.5), (0.9, 0.5), (0.5, 0.9)]
+        if eyetracker is None:
+            sys.exit(1)
+        self.eyetracker = eyetracker
+        # <BeginExample>
+
+        self.calibration = tr.ScreenBasedCalibration(eyetracker)
+        # Enter calibration mode.
+        self.calibration.enter_calibration_mode()
+        print("Entered calibration mode for eye tracker with serial number {0}.".format(eyetracker.serial_number))
+
+    def calibrate_point(self, point):
+            input("Press ENTER to collect data at {0}.".format(point))
+
+            # Wait a little for user to focus.
+            time.sleep(0.7)
+
+            if self.calibration.collect_data(point[0], point[1]) != tr.CALIBRATION_STATUS_SUCCESS:
+                print("Fail to collect data")
+                self.calibrate_point(point)
+
+    def calibrate(self):
+        for point in self.points_to_calibrate:
+            self.calibrate_point(point)
+        print("Computing and applying calibration.")
+        self.calibration_result = self.calibration.compute_and_apply()
+        print("Compute and apply returned {0} and collected at {1} points.".
+            format(self.calibration_result.status, len(self.calibration_result.calibration_points)))
+        # The calibration is done. Leave calibration mode.
+        self.calibration.leave_calibration_mode()
+        print("Left calibration mode")

launcher/gazerecording.py

+#!/usr/bin/env python3.8
+
+import tobii_research as tr
+from utils import timestamp
+from utils import sleep
+import math
+import csv
+
+global all_data
+
+all_data = []
+
+class Recorder:
+    def __init__(self, tracker, filename="tmp.csv"):
+        self.tracker = tracker
+        self.tracker.subscribe_to(tr.EYETRACKER_GAZE_DATA,\
+                                        self.gaze_data_callback,\
+                                        as_dictionary=True)
+        self.filename = filename
+        self.continueToGet = True
+    def gaze_data_callback(self, gaze_data):
+        gaze_data['timestamp'] = timestamp()
+        """Fonction qui est appelée à l'acquisition de chaque frame"""
+        if (gaze_data['left_gaze_point_validity'] == 1 and gaze_data['right_gaze_point_validity']):
+            gaze_data['x'] = round(
+                (gaze_data['left_gaze_point_on_display_area'][0] + gaze_data['right_gaze_point_on_display_area'][0]) / 2, 2)
+            gaze_data['y'] = round(
+                (gaze_data['left_gaze_point_on_display_area'][1] + gaze_data['right_gaze_point_on_display_area'][1]) / 2, 2)
+
+        elif (gaze_data['left_gaze_point_validity'] == 1 and gaze_data['right_gaze_point_validity'] == 0):
+            gaze_data['x'] = gaze_data['left_gaze_point_on_display_area'][0]
+            gaze_data['y'] = gaze_data['left_gaze_point_on_display_area'][1]
+
+        elif (gaze_data['left_gaze_point_validity'] == 0 and gaze_data['right_gaze_point_validity'] == 1):
+            gaze_data['x'] = gaze_data['right_gaze_point_on_display_area'][0]
+            gaze_data['y'] = gaze_data['right_gaze_point_on_display_area'][1]
+
+
+        else:
+            gaze_data['x'] = float("nan")
+            gaze_data['y'] = float("nan")
+            all_data.append([gaze_data["timestamp"], gaze_data["x"], gaze_data["y"]])
+            return
+
+        all_data.append([gaze_data["timestamp"], gaze_data["x"], gaze_data["y"]])
+        print([gaze_data["timestamp"], gaze_data["x"], gaze_data["y"]])
+        return
+
+    def finish(self):
+        print("Write data to file %s ...\n" % self.filename)
+        self.tracker.unsubscribe_from(tr.EYETRACKER_GAZE_DATA,\
+                                        self.gaze_data_callback)
+        with open(self.filename, 'w') as f:
+            writer = csv.writer(f)
+            writer.writerow(["Timestamp", "x", "y"])
+            for row in all_data:
+                if len(row) > 0:
+                    writer.writerow(row)
+        print("Done.\n")
+
+def record(tracker, filename="tmp.csv"):
+    recorder = Recorder(tracker, filename=filename)
+    while(recorder.continueToGet):
+        try:
+            sleep()
+            continue
+        except KeyboardInterrupt:
+            recorder.continueToGet = False
+    recorder.finish()

launcher/launch.py

+#!/usr/bin/env python3.10
+
+import tobii_research as tr
+import sys
+from calibration import Calibrator
+from validation import validate
+from gazerecording import record
+import os
+
+class Tracker:
+    def __init__(self, log = 0):
+        self.data = None
+        print("Get tracker")
+        found_eyetrackers = tr.find_all_eyetrackers()
+
+        if(len(found_eyetrackers) == 0):
+            if(log > 0):
+                print("No eyetracker")
+            sys.exit(1)
+        else:
+            self.tracker = found_eyetrackers[0]
+            if(log > 0):
+                print("Address: " + self.tracker.address)
+                print("Model: " + self.tracker.model)
+                print("Name (It's OK if this is empty): " + self.tracker.device_name)
+                print("Serial number: " + self.tracker.serial_number)
+
+    def get_track_box(self):
+        track_box = self.tracker.get_track_box()
+        print("Back Lower Left: {0}".format(track_box.back_lower_left))
+        print("Back Lower Right: {0}".format(track_box.back_lower_right))
+        print("Back Upper Left: {0}".format(track_box.back_upper_left))
+        print("Back Upper Right: {0}".format(track_box.back_upper_right))
+        print("Front Lower Left: {0}".format(track_box.front_lower_left))
+        print("Front Lower Right: {0}".format(track_box.front_lower_right))
+        print("Front Upper Left: {0}".format(track_box.front_upper_left))
+        print("Front Upper Right: {0}".format(track_box.front_upper_right))
+
+def continue_test(question, yes=True):
+    while (True):
+        str = input(question)
+        if(str == "y" or str == "Y" or str == "yes" or str == ""):
+            return yes
+        elif (str == "n" or str == "N" or str == "no"):
+            return not yes
+            break
+        else:
+            print("Bad argument %s" % str)
+            continue
+
+def run(dir="."):
+    tracker = Tracker()
+    calibrator = Calibrator(tracker.tracker)
+    do_calibration = True
+    first = True
+    continue_experiment = True
+    while(continue_experiment):
+        while(do_calibration):
+            calibrator.calibrate()
+            validate(tracker.tracker)
+            do_calibration = continue_test("\nKeep this calibration? (Y/n)", yes=False)
+        csvfile = input("What is the name of the structure?")
+        record(tracker.tracker, "%s/TOBII-%s.csv" % (dir, csvfile) )
+        continue_experiment = continue_test("Continue experiment? (Y/n)", yes=True)
+        if(continue_experiment):
+            validate(tracker.tracker)
+            do_calibration = continue_test("\nKeep this calibration? (Y/n)", yes=False)
+
+if __name__ == '__main__':
+    print("Welcome to the eye-tracking experiment\n")
+    in_experiment = True
+    while(in_experiment):
+        id = input("What is the participant's ID?")
+        savedir = input("In which directory should the data be saved for the user %s?" % id)
+        dir = "%s\%s" % (savedir, id)
+        if os.path.isdir(dir):
+            print("The experiment can now begin\n")
+            run(dir=dir)
+            in_experiment = False
+        else:
+            print("The %s directory does not exist\n" % dir)
+    print("\nThe experiment is over.\nThank you for your participation.\n")
+    sys.exit(0)

launcher/utils.py

+import time
+from math import sqrt
+
+def timestamp():
+    return int(round(time.time() * 1000))
+
+def sleep():
+    time.sleep(2)
+
+def sqr(x):
+    return x * x
+
+def distance(p1,p2):
+    return sqrt(sqr(p2[1]-p1[1])+sqr(p2[0]-p1[0]))

launcher/validation.py

+import time
+import tobii_research as tr
+import sys
+import math
+from utils import distance
+from utils import sleep
+from utils import timestamp
+from tobiiresearch.interop import interop
+from tobiiresearch.implementation.Calibration import _calibration_status
+from tobiiresearch.implementation.Calibration import CALIBRATION_STATUS_SUCCESS, CALIBRATION_STATUS_FAILURE
+from tobiiresearch.implementation.Calibration import CALIBRATION_STATUS_SUCCESS_LEFT_EYE
+from tobiiresearch.implementation.Calibration import CALIBRATION_STATUS_SUCCESS_RIGHT_EYE
+
+labels = {
+(0.25,0.75):"GREEN BOTTOM LEFT (A)",\
+(0.25,0.25):"GREEN TOP LEFT (B)",\
+(0.75,0.25):"GREEN TOP RIGHT (C)",\
+(0.75,0.75):"GREEN BOTTOM RIGHT (D)"
+}
+
+global data
+data = None
+class Validator:
+    def __init__(self, tracker):
+        self.tracker = tracker
+        # self.data = None
+
+    def init_callback(self):
+        self.tracker.subscribe_to(tr.EYETRACKER_GAZE_DATA,\
+                                        self.gaze_data_callback,\
+                                        as_dictionary=True)
+    def remove_callback(self):
+        self.tracker.unsubscribe_from(tr.EYETRACKER_GAZE_DATA,\
+                                        self.gaze_data_callback)
+
+    def gaze_data_callback(self, gaze_data):
+        global data
+        gaze_data['timestamp'] = timestamp()
+        if (gaze_data['left_gaze_point_validity'] == 1 and gaze_data['right_gaze_point_validity']):
+            gaze_data['x'] = round(
+                (gaze_data['left_gaze_point_on_display_area'][0] + gaze_data['right_gaze_point_on_display_area'][0]) / 2, 2)
+            gaze_data['y'] = round(
+                (gaze_data['left_gaze_point_on_display_area'][1] + gaze_data['right_gaze_point_on_display_area'][1]) / 2, 2)
+
+        elif (gaze_data['left_gaze_point_validity'] == 1 and gaze_data['right_gaze_point_validity'] == 0):
+            gaze_data['x'] = gaze_data['left_gaze_point_on_display_area'][0]
+            gaze_data['y'] = gaze_data['left_gaze_point_on_display_area'][1]
+
+        elif (gaze_data['left_gaze_point_validity'] == 0 and gaze_data['right_gaze_point_validity'] == 1):
+            gaze_data['x'] = gaze_data['right_gaze_point_on_display_area'][0]
+            gaze_data['y'] = gaze_data['right_gaze_point_on_display_area'][1]
+
+        else:
+            gaze_data['x'] = float("nan")
+            gaze_data['y'] = float("nan")
+        data = gaze_data
+        return
+
+def validate(tracker):
+    validator = Validator(tracker)
+    validator.init_callback()
+    for point in labels.keys():
+        str = input("\nPress ENTER to get data for validation point {0}:".format(labels[point]))
+        sleep()
+        print(data)
+        print("Gaze position : ({0},{1})\n".format(data["x"], data["y"]))
+        if(not (math.isnan(data["x"]) or math.isnan(data["y"]))):
+            print("\tDistance: {0}\n".format(distance(point, [data["x"], data["y"]])))
+    validator.remove_callback()