updates

2026-10-02 12:23:58 -04:00
parent f0af1dbbcb
commit ad1e7e6d01
219 changed files with 488314 additions and 0 deletions
@@ -0,0 +1,117 @@
+"""Trial IMX708 full-body detection driving the two eyes over one Pi UART.
+
+By default this only logs. Pass --drive-eyes for a timed hardware trial.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import time
+from datetime import datetime
+from pathlib import Path
+
+from gaze_link import GazeLink, center_to_gaze, open_pi_uart
+from tracking_state import TrackingState
+
+
+PROJECT_ROOT = Path(__file__).resolve().parents[2]
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--duration", type=float, default=30.0)
+    parser.add_argument("--rotation", type=int, choices=(0, 180), default=0)
+    parser.add_argument("--drive-eyes", action="store_true")
+    parser.add_argument("--device", default="/dev/serial0")
+    parser.add_argument("--log", type=Path)
+    args = parser.parse_args()
+    if args.duration <= 0:
+        parser.error("duration must be positive")
+
+    import cv2
+    from libcamera import Transform
+    from picamera2 import Picamera2
+
+    cv2.setNumThreads(2)
+    hog = cv2.HOGDescriptor()
+    hog.setSVMDetector(cv2.HOGDescriptor_getDefaultPeopleDetector())
+    camera = Picamera2()
+    transform = Transform(hflip=1, vflip=1) if args.rotation == 180 else Transform()
+    camera.configure(camera.create_video_configuration(
+        main={"size": (320, 240), "format": "RGB888"},
+        transform=transform,
+        buffer_count=3,
+    ))
+    # The first moving-person log had a 3.34 s detector gap despite a visible person.
+    state = TrackingState(confirm_hits=2, hold_seconds=3.5)
+    link = open_pi_uart(args.device) if args.drive_eyes else GazeLink(open(os.devnull, "wb"))
+    stamp = datetime.now().strftime("%Y%m%d-%H%M%S")
+    log_path = args.log or PROJECT_ROOT / "diagnostics" / f"pi_eye_trial_{stamp}.jsonl"
+    log_path.parent.mkdir(parents=True, exist_ok=True)
+    started = False
+    frames = 0
+    tracked = 0
+    try:
+        camera.start()
+        started = True
+        time.sleep(1.0)
+        deadline = time.monotonic() + args.duration
+        with log_path.open("w", encoding="utf-8") as log:
+            while time.monotonic() < deadline:
+                frame = camera.capture_array("main")
+                detect_start = time.monotonic()
+                boxes, weights = hog.detectMultiScale(
+                    frame, hitThreshold=0.0, winStride=(8, 8),
+                    padding=(8, 8), scale=1.05, groupThreshold=1,
+                )
+                detect_ms = round((time.monotonic() - detect_start) * 1000, 1)
+                target = None
+                candidate = None
+                if len(boxes):
+                    index = max(range(len(boxes)), key=lambda i: float(weights[i]))
+                    box_x, box_y, width, height = (int(v) for v in boxes[index])
+                    left = max(0, box_x)
+                    top = max(0, box_y)
+                    right = min(box_x + width - 1, frame.shape[1] - 1)
+                    bottom = min(box_y + height - 1, frame.shape[0] - 1)
+                    if left <= right and top <= bottom:
+                        candidate = center_to_gaze(
+                            (left, top, right, bottom), frame.shape[1], frame.shape[0]
+                        )
+                        target = {"x": box_x, "y": box_y, "width": width,
+                                  "height": height, "score": float(weights[index])}
+                x, y, valid = state.update(candidate, time.monotonic())
+                seq = link.send(x, y, valid)
+                frames += 1
+                tracked += valid
+                log.write(json.dumps({
+                    "time": datetime.now().astimezone().isoformat(),
+                    "frame": frames,
+                    "detect_ms": detect_ms,
+                    "target": target,
+                    "gaze": {"x": x, "y": y, "valid": valid, "sequence": seq},
+                }) + "\n")
+                if frames % 10 == 0:
+                    print(f"frames={frames} tracked={tracked} "
+                          f"last_gaze={x},{y},{int(valid)}", flush=True)
+    finally:
+        # The eyes should return to blue whether the trial ends normally or fails.
+        try:
+            if args.drive_eyes:
+                for _ in range(3):
+                    link.send(500, 500, False)
+                    time.sleep(0.1)
+        finally:
+            link.stream.close()
+            if started:
+                camera.stop()
+            camera.close()
+
+    print(json.dumps({"frames": frames, "tracked_frames": tracked,
+                      "log": str(log_path), "eyes_driven": args.drive_eyes}, indent=2))
+
+
+if __name__ == "__main__":
+    main()