Merge pull request #1774 from moiri/stream_head_pose_tracker

Stream Head Pose to ZMQ

pupil_src/shared_modules/head_pose_tracker/controller/online_controller.py

@@ -47,6 +47,7 @@ def _on_recent_events(self, events):
             self._calculate_current_markers(events["frame"])
             self._calculate_current_pose(events["frame"])
             self._save_key_markers()
+            events["head_pose"] = self._create_head_pose_events()
 
     def _calculate_current_markers(self, frame):
         self._detection_storage.current_markers = worker.online_detection(frame)
@@ -60,6 +61,14 @@ def _calculate_current_pose(self, frame):
             self._camera_intrinsics,
         )
 
+    def _create_head_pose_events(self):
+        """
+        Creates head pose events to be added to the current list of events.
+        """
+        position = {"topic": "head_pose"}
+        position.update(self._localization_storage.current_pose)
+        return [position]
+
     def _save_key_markers(self):
         if self._general_settings.optimize_markers_3d_model:
             self._optimization_storage.all_key_markers += pick_key_markers.run(