def gl_display(self):
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glOrtho(
-self.h_pad, (self.frame_count) + self.h_pad, -self.v_pad,
1 + self.v_pad, -1, 1
) # ranging from 0 to cache_len-1 (horizontal) and 0 to 1 (vertical)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
color1 = RGBA(.1, .9, .2, 1.)
color2 = RGBA(.1, .9, .2, 1.)
if self.in_mark != 0 or self.out_mark != self.frame_count:
draw_polyline([(self.in_mark, 0), (self.out_mark, 0)],
color=color1,
thickness=20.)
draw_points([
(self.in_mark, 0),
], color=color2, size=20)
draw_points([
(self.out_mark, 0),
], color=color2, size=20)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def draw_circle(
self,
circle_center,
circle_normal,
circle_radius,
color=RGBA(1.1, 0.2, 0.8),
num_segments=20,
):
vertices = []
vertices.append((0, 0, 0)) # circle center
# create circle vertices in the xy plane
for i in np.linspace(0.0, 2.0 * math.pi, num_segments):
x = math.sin(i)
y = math.cos(i)
z = 0
vertices.append((x, y, z))
glPushMatrix()
glMatrixMode(GL_MODELVIEW)
glLoadMatrixf(
self.get_pupil_transformation_matrix(
circle_normal, circle_center, circle_radius
)
)
glutils.draw_polyline(
(vertices), color=color, line_type=GL_TRIANGLE_FAN
) # circle
glutils.draw_polyline(
[(0, 0, 0), (0, 0, 4)], color=RGBA(0, 0, 0), line_type=GL_LINES
) # normal
glPopMatrix()
def draw_pupil_outline(pupil_detection_result_2d):
"""Requires `"ellipse" in pupil_detection_result_2d`"""
if pupil_detection_result_2d["confidence"] <= 0.0:
return
try:
pts = cv2.ellipse2Poly(
(
int(pupil_detection_result_2d["ellipse"]["center"][0]),
int(pupil_detection_result_2d["ellipse"]["center"][1]),
),
(
int(pupil_detection_result_2d["ellipse"]["axes"][0] / 2),
int(pupil_detection_result_2d["ellipse"]["axes"][1] / 2),
),
int(pupil_detection_result_2d["ellipse"]["angle"]),
0,
360,
15,
)
except ValueError:
# Happens when converting 'nan' to int
# TODO: Investigate why results are sometimes 'nan'
return
confidence = pupil_detection_result_2d["confidence"] * 0.7
draw_polyline(pts, 1, RGBA(1.0, 0, 0, confidence))
draw_points(
[pupil_detection_result_2d["ellipse"]["center"]],
size=20,
color=RGBA(1.0, 0.0, 0.0, confidence),
sharpness=1.0,
)
def _draw_surface_frames(self, surface):
if not surface.detected:
return
(
corners,
top_indicator,
title_anchor,
surface_edit_anchor,
marker_edit_anchor,
) = self._get_surface_anchor_points(surface)
alpha = min(1, surface.build_up_status)
surface_color = rgb_to_rgba(self.color_primary_rgb, alpha=alpha)
pyglui_utils.draw_polyline(
corners.reshape((5, 2)), color=pyglui_utils.RGBA(*surface_color)
)
pyglui_utils.draw_polyline(
top_indicator.reshape((4, 2)), color=pyglui_utils.RGBA(*surface_color)
)
self._draw_surf_menu(
surface, title_anchor, surface_edit_anchor, marker_edit_anchor
)
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
if self.active or self.visualize:
# Draw hand detection results
for (x1, y1, x2, y2), fingertips in zip(self.hand_viz, self.finger_viz):
pts = np.array([[x1, y1], [x1, y2], [x2, y2], [x2, y1], [x1, y1]], np.int32)
cygl_utils.draw_polyline(pts, thickness=3 * self.g_pool.gui_user_scale, color=cygl_utils.RGBA(0., 1., 0., 1.))
for tip in fingertips:
if tip is not None:
y, x = tip
cygl_utils.draw_progress((x, y), 0., 1.,
inner_radius=25 * self.g_pool.gui_user_scale,
outer_radius=35 * self.g_pool.gui_user_scale,
color=cygl_utils.RGBA(1., 1., 1., 1.),
sharpness=0.9)
cygl_utils.draw_points([(x, y)], size=10 * self.g_pool.gui_user_scale,
color=cygl_utils.RGBA(1., 1., 1., 1.),
sharpness=0.9)
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
# debug mode within world will show green ellipses around detected ellipses
if self.active:
for marker in self.markers:
e = marker["ellipses"][-1] # outermost ellipse
pts = cv2.ellipse2Poly(
(int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]),
0,
360,
15,
)
draw_polyline(pts, 1, RGBA(0.0, 1.0, 0.0, 1.0))
if len(self.markers) > 1:
draw_polyline(pts,
1,
RGBA(1.0, 0.0, 0.0, 0.5),
line_type=gl.GL_POLYGON)
def gl_display(self):
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
gluOrtho2D(-self.h_pad, (self.frame_count)+self.h_pad, -self.v_pad, 1+self.v_pad) # ranging from 0 to cache_len-1 (horizontal) and 0 to 1 (vertical)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
# if self.drag_mode:
# color1 = (0.,.8,.5,.5)
# color2 = (0.,.8,.5,1.)
# else:
color1 = (1,1,1,0.4)#(.25,.8,.8,.5)
color2 = (1,1,1,1.)#(.25,.8,.8,1.)
thickness = 10.
draw_polyline(verts=[(0,0),(self.current_frame_index,0)],
thickness=thickness,color=RGBA(*color1))
draw_polyline(verts=[(self.current_frame_index,0),(self.frame_count,0)],
thickness=thickness,color=RGBA(*color1))
if not self.drag_mode:
draw_points([(self.current_frame_index,0)],color=RGBA(*color1),size=30)
draw_points([(self.current_frame_index,0)],color=RGBA(*color2),size=20)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def gl_display(self):
"""
Display marker and surface info inside world screen
"""
if self.mode == "Show markers and frames":
for m in self.markers:
hat = np.array([[[0,0],[0,1],[.5,1.3],[1,1],[1,0],[0,0]]],dtype=np.float32)
hat = cv2.perspectiveTransform(hat,m_marker_to_screen(m))
draw_polyline(hat.reshape((6,2)),color=RGBA(0.1,1.,1.,.5))
for s in self.surfaces:
s.gl_draw_frame(self.img_shape)
for s in self.surfaces:
if self.locate_3d:
s.gl_display_in_window_3d(self.g_pool.image_tex,self.camera_intrinsics)
else:
s.gl_display_in_window(self.g_pool.image_tex)
if self.mode == "Surface edit mode":
for s in self.surfaces:
s.gl_draw_frame(self.img_shape)
s.gl_draw_corners()
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
if self.active:
draw_points_norm([self.smooth_pos],size=15,color=RGBA(1.,1.,0.,.5))
if self.active and self.detected:
for e in self.candidate_ellipses:
pts = cv2.ellipse2Poly( (int(e[0][0]),int(e[0][1])),
(int(e[1][0]/2),int(e[1][1]/2)),
int(e[-1]),0,360,15)
draw_polyline(pts,color=RGBA(0.,1.,0,1.))
# lets draw an indicator on the autostop count
e = self.candidate_ellipses[3]
pts = cv2.ellipse2Poly( (int(e[0][0]),int(e[0][1])),
(int(e[1][0]/2),int(e[1][1]/2)),
int(e[-1]),0,360,360/self.auto_stop_max)
indicator = [e[0]] + pts[self.auto_stop:].tolist() + [e[0]]
draw_polyline(indicator,color=RGBA(8.,0.1,0.1,.8),line_type=GL_POLYGON)
else:
pass
def gl_display_cache_bars(self):
""""""
padding = 20.0
frame_max = len(self.g_pool.timestamps
) # last marker is garanteed to be frame max.
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
width, height = self.g_pool.camera_render_size
h_pad = padding * (frame_max - 2) / float(width)
v_pad = padding * 1.0 / (height - 2)
gluOrtho(
-h_pad, (frame_max - 1) + h_pad, -v_pad, 1 + v_pad, -1, 1
) # ranging from 0 to cache_len-1 (horizontal) and 0 to 1 (vertical)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
glTranslatef(0, -0.02, 0)
color = (7.0, 0.1, 0.2, 8.0)
draw_polyline(
self.gl_display_ranges,
color=RGBA(*color),
line_type=GL_LINES,
thickness=2.0,
)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def draw_legend(self, label, width, height, scale):
self.glfont.push_state()
self.glfont.set_align_string(v_align="right", h_align="top")
self.glfont.set_size(15.0 * scale)
self.glfont.draw_text(width, 0, label)
legend_height = 13.0 * scale
pad = 10 * scale
self.glfont.draw_text(width / 2, legend_height, "left")
self.glfont.draw_text(width, legend_height, "right")
self.glfont.pop_state()
cygl_utils.draw_polyline(
[(pad, 1.5 * legend_height), (width / 4, 1.5 * legend_height)],
color=COLOR_LEGEND_EYE_LEFT,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
cygl_utils.draw_polyline(
[
(width / 2 + pad, 1.5 * legend_height),
(width * 3 / 4, 1.5 * legend_height),
],
color=COLOR_LEGEND_EYE_RIGHT,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
if self.active:
draw_points_norm([self.smooth_pos],
size=15,
color=RGBA(1., 1., 0., .5))
if self.active and self.detected:
for e in self.candidate_ellipses:
pts = cv2.ellipse2Poly((int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]), 0, 360, 15)
draw_polyline(pts, color=RGBA(0., 1., 0, 1.))
# lets draw an indicator on the autostop count
e = self.candidate_ellipses[3]
pts = cv2.ellipse2Poly((int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]), 0, 360,
360 / self.auto_stop_max)
indicator = [e[0]] + pts[self.auto_stop:].tolist() + [e[0]]
draw_polyline(indicator,
color=RGBA(8., 0.1, 0.1, .8),
line_type=GL_POLYGON)
else:
pass
def gl_display_cache_bars(self):
"""
"""
padding = 20.
frame_max = len(self.g_pool.timestamps) #last marker is garanteed to be frame max.
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
width,height = self.win_size
h_pad = padding * (frame_max-2)/float(width)
v_pad = padding* 1./(height-2)
gluOrtho(-h_pad, (frame_max-1)+h_pad, -v_pad, 1+v_pad,-1, 1) # ranging from 0 to cache_len-1 (horizontal) and 0 to 1 (vertical)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
glTranslatef(0,-.02,0)
color = (7.,.1,.2,8.)
draw_polyline(self.gl_display_ranges,color=RGBA(*color),line_type=GL_LINES,thickness=2.)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def draw_legend(self, label, width, height, scale):
self.glfont.push_state()
self.glfont.set_align_string(v_align="right", h_align="top")
self.glfont.set_size(15.0 * scale)
self.glfont.draw_text(width, 0, label)
legend_height = 13.0 * scale
pad = 10 * scale
self.glfont.draw_text(width / 2, legend_height, "left")
self.glfont.draw_text(width, legend_height, "right")
self.glfont.pop_state()
cygl_utils.draw_polyline(
[(pad, 1.5 * legend_height), (width / 4, 1.5 * legend_height)],
color=COLOR_LEGEND_EYE_LEFT,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
cygl_utils.draw_polyline(
[
(width / 2 + pad, 1.5 * legend_height),
(width * 3 / 4, 1.5 * legend_height),
],
color=COLOR_LEGEND_EYE_RIGHT,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
# debug mode within world will show green ellipses around detected ellipses
if self.active:
for marker in self.markers:
e = marker["ellipses"][-1] # outermost ellipse
pts = cv2.ellipse2Poly(
(int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]),
0,
360,
15,
)
draw_polyline(pts, 1, RGBA(0.0, 1.0, 0.0, 1.0))
if len(self.markers) > 1:
draw_polyline(
pts, 1, RGBA(1.0, 0.0, 0.0, 0.5), line_type=gl.GL_POLYGON
)
def gl_display(self):
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glOrtho(-self.h_pad, (self.frame_count)+self.h_pad, -self.v_pad, 1+self.v_pad,-1,1) # ranging from 0 to cache_len-1 (horizontal) and 0 to 1 (vertical)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
color1 = RGBA(.1,.9,.2,.5)
color2 = RGBA(.1,.9,.9,.5)
if self.in_mark != 0 or self.out_mark != self.frame_count:
draw_polyline( [(self.in_mark,0),(self.out_mark,0)],color=color1,thickness=2)
draw_points([(self.in_mark,0),],color=color1,size=10)
draw_points([(self.out_mark,0),],color=color1,size=10)
if self.sections:
for s in self.sections:
if self.sections.index(s) != self.focus:
draw_polyline( [(s[0],0),(s[1],0)],color=RGBA(.1,.9,.9,.2),thickness=2)
for mark in s:
draw_points([(mark,0),],color=color2,size=5)
if self.mid_sections:
for m in self.mid_sections:
draw_points([(m,0),],color=RGBA(.1,.9,.9,.1),size=10)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def draw_ellipse(
ellipse: Dict, rgba: Tuple, thickness: float, draw_center: bool = False
):
try:
pts = cv2.ellipse2Poly(
center=(int(ellipse["center"][0]), int(ellipse["center"][1])),
axes=(int(ellipse["axes"][0] / 2), int(ellipse["axes"][1] / 2)),
angle=int(ellipse["angle"]),
arcStart=0,
arcEnd=360,
delta=8,
)
except Exception as e:
# Known issues:
# - There are reports of negative eye_ball axes when drawing the 3D eyeball
# outline, which will raise cv2.error. TODO: Investigate cause in detectors.
# - There was a case where all values in the ellipse where 'NaN', which raises
# ValueError: cannot convert float NaN to integer. TODO: Investigate how we
# even got here, since calls to this function are confidence-gated!
logger.debug(
"Error drawing ellipse! Skipping...\n"
f"Ellipse: {ellipse}\n"
f"Color: {rgba}\n"
f"Error: {type(e)}: {e}"
)
return
draw_polyline(pts, thickness, RGBA(*rgba))
if draw_center:
_draw_circle_filled(
tuple(ellipse["center"]),
size=3,
color=RGBA(*rgba),
)
def draw_ellipse(ellipse: Dict,
rgba: Tuple,
thickness: float,
draw_center: bool = False):
try:
pts = cv2.ellipse2Poly(
center=(int(ellipse["center"][0]), int(ellipse["center"][1])),
axes=(int(ellipse["axes"][0] / 2), int(ellipse["axes"][1] / 2)),
angle=int(ellipse["angle"]),
arcStart=0,
arcEnd=360,
delta=8,
)
except Exception as e:
# Known issues:
# - There are reports of negative eye_ball axes when drawing the 3D eyeball
# outline, which will raise cv2.error. TODO: Investigate cause in detectors.
logger.debug("Error drawing ellipse! Skipping...\n"
f"ellipse: {ellipse}\n"
f"{type(e)}: {e}")
draw_polyline(pts, thickness, RGBA(*rgba))
if draw_center:
draw_points(
[ellipse["center"]],
size=20,
color=RGBA(*rgba),
sharpness=1.0,
)
def draw_markers(img_size,markers, roi=None):
glfont = fontstash.Context()
glfont.add_font('opensans',get_opensans_font_path())
if roi != None:
glfont.set_size((22 * roi[2]) / float(img_size[1]))
else:
glfont.set_size(22)
glfont.set_color_float((0.2,0.5,0.9,1.0))
for m in markers:
#old method using opencv to draw doesn't show the result on screen
"""
centroid = [m['verts'].sum(axis=0)/4.]
origin = m['verts'][0]
hat = np.array([[[0,0],[0,1],[.5,1.25],[1,1],[1,0]]],dtype=np.float32)
hat = cv2.perspectiveTransform(hat,m_marker_to_screen(m))
cv2.polylines(img,np.int0(hat),color = (0,0,255),isClosed=True)
cv2.polylines(img,np.int0(centroid),color = (255,255,0),isClosed=True,thickness=2)
cv2.putText(img,'id: '+str(m['id']),tuple(np.int0(origin)[0,:]),fontFace=cv2.FONT_HERSHEY_SIMPLEX, fontScale=0.5, color=(255,100,50))
"""
hat = np.array([[[0,0],[0,1],[.5,1.3],[1,1],[1,0],[0,0]]],dtype=np.float32)
hat = cv2.perspectiveTransform(hat,m_marker_to_screen(m))
draw_polyline(hat.reshape((6,2)),1,RGBA(1.0,0,0,1.0))
glfont.draw_text(m['verts'][0][0][0],m['verts'][0][0][1],'id: '+str(m['id']))
def gl_display(self):
"""
This is where we can draw to any gl surface
by default this is the main window, below we change that
"""
# active our window
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self.window)
# start drawing things:
gl_utils.clear_gl_screen()
# set coordinate system to be between 0 and 1 of the extents of the window
gl_utils.make_coord_system_norm_based()
# draw the image
draw_gl_texture(self.img)
# make coordinte system identical to the img pixel coordinate system
gl_utils.make_coord_system_pixel_based(self.img.shape)
# draw some points on top of the image
# notice how these show up in our window but not in the main window
draw_points([(200, 400), (600, 400)], color=RGBA(0., 4., .8, .8), size=self.my_var)
draw_polyline([(200, 400), (600, 400)], color=RGBA(0., 4., .8, .8), thickness=3)
# since this is our own window we need to swap buffers in the plugin
glfwSwapBuffers(self.window)
# and finally reactive the main window
glfwMakeContextCurrent(active_window)
def draw_circle(self,
circle_center,
circle_normal,
circle_radius,
color=RGBA(1.1, 0.2, .8),
num_segments=20):
vertices = []
vertices.append((0, 0, 0)) # circle center
#create circle vertices in the xy plane
for i in np.linspace(0.0, 2.0 * math.pi, num_segments):
x = math.sin(i)
y = math.cos(i)
z = 0
vertices.append((x, y, z))
glPushMatrix()
glMatrixMode(GL_MODELVIEW)
glLoadMatrixf(
self.get_pupil_transformation_matrix(circle_normal, circle_center,
circle_radius))
glutils.draw_polyline((vertices),
color=color,
line_type=GL_TRIANGLE_FAN) # circle
glutils.draw_polyline([(0, 0, 0), (0, 0, 4)],
color=RGBA(0, 0, 0),
line_type=GL_LINES) #normal
glPopMatrix()
def gl_display(self):
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
gluOrtho2D(
-self.h_pad, (self.frame_count) + self.h_pad, -self.v_pad, 1 + self.v_pad
) # ranging from 0 to cache_len-1 (horizontal) and 0 to 1 (vertical)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
if self.drag_mode:
color1 = (0.0, 0.8, 0.5, 0.5)
color2 = (0.0, 0.8, 0.5, 1.0)
else:
color1 = (0.25, 0.8, 0.8, 0.5)
color2 = (0.25, 0.8, 0.8, 1.0)
draw_polyline(verts=[(0, 0), (self.current_frame_index, 0)], color=RGBA(*color1))
draw_polyline(verts=[(self.current_frame_index, 0), (self.frame_count, 0)], color=RGBA(0.5, 0.5, 0.5, 0.5))
draw_points([(self.current_frame_index, 0)], color=RGBA(*color1), size=40)
draw_points([(self.current_frame_index, 0)], color=RGBA(*color2), size=10)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def gl_display(self):
"""
Display marker and surface info inside world screen
"""
if self.mode == "Show markers and frames":
for m in self.markers:
hat = np.array(
[[[0, 0], [0, 1], [.5, 1.3], [1, 1], [1, 0], [0, 0]]],
dtype=np.float32)
hat = cv2.perspectiveTransform(hat, m_marker_to_screen(m))
draw_polyline(hat.reshape((6, 2)), color=RGBA(0.1, 1., 1., .5))
for s in self.surfaces:
s.gl_draw_frame(self.img_shape)
for s in self.surfaces:
if self.locate_3d:
s.gl_display_in_window_3d(self.g_pool.image_tex,
self.camera_intrinsics)
else:
s.gl_display_in_window(self.g_pool.image_tex)
if self.mode == "Surface edit mode":
for s in self.surfaces:
s.gl_draw_frame(self.img_shape)
s.gl_draw_corners()
def gl_display(self):
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
gluOrtho2D(
-self.h_pad, (self.frame_count) + self.h_pad, -self.v_pad,
1 + self.v_pad
) # ranging from 0 to cache_len-1 (horizontal) and 0 to 1 (vertical)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
if self.drag_mode:
color1 = (0., .8, .5, .5)
color2 = (0., .8, .5, 1.)
else:
color1 = (.25, .8, .8, .5)
color2 = (.25, .8, .8, 1.)
draw_polyline(verts=[(0, 0), (self.current_frame_index, 0)],
color=RGBA(*color1))
draw_polyline(verts=[(self.current_frame_index, 0),
(self.frame_count, 0)],
color=RGBA(.5, .5, .5, .5))
draw_points([(self.current_frame_index, 0)],
color=RGBA(*color1),
size=40)
draw_points([(self.current_frame_index, 0)],
color=RGBA(*color2),
size=10)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def gl_display_in_window_3d(self, world_tex):
"""
here we map a selected surface onto a seperate window.
"""
K, img_size = (
self.g_pool.capture.intrinsics.K,
self.g_pool.capture.intrinsics.resolution,
)
if self._window and self.camera_pose_3d is not None:
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
glClearColor(0.8, 0.8, 0.8, 1.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
self.trackball.push()
glMatrixMode(GL_MODELVIEW)
draw_coordinate_system(l=self.real_world_size["x"])
glPushMatrix()
glScalef(self.real_world_size["x"], self.real_world_size["y"], 1)
draw_polyline(
[[0, 0], [0, 1], [1, 1], [1, 0]],
color=RGBA(0.5, 0.3, 0.1, 0.5),
thickness=3,
)
glPopMatrix()
# Draw the world window as projected onto the plane using the homography mapping
glPushMatrix()
glScalef(self.real_world_size["x"], self.real_world_size["y"], 1)
# cv uses 3x3 gl uses 4x4 tranformation matricies
m = cvmat_to_glmat(self.m_from_screen)
glMultMatrixf(m)
glTranslatef(0, 0, -0.01)
world_tex.draw()
draw_polyline(
[[0, 0], [0, 1], [1, 1], [1, 0]],
color=RGBA(0.5, 0.3, 0.6, 0.5),
thickness=3,
)
glPopMatrix()
# Draw the camera frustum and origin using the 3d tranformation obtained from solvepnp
glPushMatrix()
glMultMatrixf(self.camera_pose_3d.T.flatten())
draw_frustum(img_size, K, 150)
glLineWidth(1)
draw_frustum(img_size, K, 0.1)
draw_coordinate_system(l=5)
glPopMatrix()
self.trackball.pop()
glfwSwapBuffers(self._window)
glfwMakeContextCurrent(active_window)
def gl_display(self):
for grid_points in self.img_points:
calib_bounds = cv2.convexHull(grid_points)[:,0] #we dont need that extra encapsulation that opencv likes so much
draw_polyline(calib_bounds,1,RGBA(0.,0.,1.,.5),line_type=gl.GL_LINE_LOOP)
if self._window:
self.gl_display_in_window()
def gl_display(self):
for grid_points in self.img_points:
calib_bounds = cv2.convexHull(grid_points)[:,0] #we dont need that extra encapsulation that opencv likes so much
draw_polyline(calib_bounds,1,RGBA(0.,0.,1.,.5),line_type=gl.GL_LINE_LOOP)
if self._window:
self.gl_display_in_window()
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
# Draw rectangle preview with threshold color
if self.world_size:
offset = self.world_size[0] / 130.0
ratio = self.world_size[1] / self.world_size[0]
rect_size = None
if ratio == 0.75:
rect_size = [(self.world_size[0] / 20.0),
self.world_size[0] / 20.0 * 1.3]
else:
rect_size = [(self.world_size[0] / 20.0),
self.world_size[0] / 20.0 * 1.0]
rect_color = colorsys.hsv_to_rgb(self.color_h / 360,
self.color_s / 100,
self.color_v / 100)
draw_rounded_rect(
[offset, self.world_size[1] - rect_size[1] - offset],
size=rect_size,
corner_radius=offset / 2,
color=RGBA(rect_color[0], rect_color[1], rect_color[2], 1.))
if self.active:
# Draw contour of hand
if self.show_contour:
con = [(c[0][0], c[0][1]) for c in self.contour]
if len(con) > 2:
con.append(con[0])
draw_polyline(con,
color=RGBA(0., 1., 0., .7),
thickness=5.0)
# Draw all detected fingertips
if len(self.markers) == 1:
marker_norm = normalize(
self.markers[0], (self.world_size[0], self.world_size[1]),
flip_y=True)
draw_points_norm([marker_norm],
size=30,
color=RGBA(0., 1., 1., .5))
else:
for mark in self.markers:
marker_norm = normalize(
mark, (self.world_size[0], self.world_size[1]),
flip_y=True)
draw_points_norm([marker_norm],
size=30,
color=RGBA(0., 0., 1., .5))
def gl_display_in_window_3d(self,world_tex,camera_intrinsics):
"""
here we map a selected surface onto a seperate window.
"""
K,dist_coef,img_size = camera_intrinsics['camera_matrix'],camera_intrinsics['dist_coefs'],camera_intrinsics['resolution']
if self._window and self.camera_pose_3d is not None:
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
glClearColor(.8,.8,.8,1.)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
self.trackball.push()
glMatrixMode(GL_MODELVIEW)
draw_coordinate_system(l=self.real_world_size['x'])
glPushMatrix()
glScalef(self.real_world_size['x'],self.real_world_size['y'],1)
draw_polyline([[0,0],[0,1],[1,1],[1,0]],color = RGBA(.5,.3,.1,.5),thickness=3)
glPopMatrix()
# Draw the world window as projected onto the plane using the homography mapping
glPushMatrix()
glScalef(self.real_world_size['x'], self.real_world_size['y'], 1)
# cv uses 3x3 gl uses 4x4 tranformation matricies
m = cvmat_to_glmat(self.m_from_screen)
glMultMatrixf(m)
glTranslatef(0,0,-.01)
world_tex.draw()
draw_polyline([[0,0],[0,1],[1,1],[1,0]],color = RGBA(.5,.3,.6,.5),thickness=3)
glPopMatrix()
# Draw the camera frustum and origin using the 3d tranformation obtained from solvepnp
glPushMatrix()
glMultMatrixf(self.camera_pose_3d.T.flatten())
draw_frustum(img_size, K, 150)
glLineWidth(1)
draw_frustum(img_size, K, .1)
draw_coordinate_system(l=5)
glPopMatrix()
self.trackball.pop()
glfwSwapBuffers(self._window)
glfwMakeContextCurrent(active_window)
if self.window_should_close:
self.close_window()
def gl_display(self):
for grid_points in self.img_points:
calib_bounds = cv2.convexHull(grid_points)[:,0] #we dont need that extra encapsulation that opencv likes so much
draw_polyline(calib_bounds,1,RGBA(0.,0.,1.,.5),line_type=gl.GL_LINE_LOOP)
if self._window:
self.gl_display_in_window()
if self.show_undistortion:
gl.glPushMatrix()
make_coord_system_norm_based()
draw_gl_texture(self.undist_img)
gl.glPopMatrix()
def gl_display(self):
for grid_points in self.img_points:
calib_bounds = cv2.convexHull(grid_points)[:,0] #we dont need that extra encapsulation that opencv likes so much
draw_polyline(calib_bounds,1,RGBA(0.,0.,1.,.5),line_type=gl.GL_LINE_LOOP)
if self._window:
self.gl_display_in_window()
if self.show_undistortion:
gl.glPushMatrix()
make_coord_system_norm_based()
draw_gl_texture(self.undist_img)
gl.glPopMatrix()
def draw_polyline(self, segment: model.Classified_Segment):
segment_points = segment.world_2d_points(self._canvas_size)
polyline_color = color_from_segment(segment).to_rgba().channels
polyline_thickness = 2
if not segment_points:
return
gl_utils.draw_polyline(
verts=segment_points,
thickness=float(polyline_thickness),
color=gl_utils.RGBA(*polyline_color),
)
self.draw_id(segment=segment, ref_point=segment_points[-1])
def _draw_markers(self):
color = pyglui_utils.RGBA(*self.color_secondary, 0.5)
for marker in self.tracker.markers_unfiltered:
hat = np.array(
[[[0, 0], [0, 1], [0.5, 1.3], [1, 1], [1, 0], [0, 0]]],
dtype=np.float32)
hat = cv2.perspectiveTransform(
hat, _get_norm_to_points_trans(marker.verts_px))
pyglui_utils.draw_polyline(hat.reshape((6, 2)), color=color)
if (marker.perimeter >= self.tracker.marker_min_perimeter and
marker.id_confidence > self.tracker.marker_min_confidence):
pyglui_utils.draw_polyline(hat.reshape((6, 2)),
color=color,
line_type=gl.GL_POLYGON)
def draw_polyline(self, segment: model.Classified_Segment):
segment_points = segment.world_2d_points(self._canvas_size)
polyline_color = color_from_segment(segment).to_rgba().channels
polyline_thickness = 2
if not segment_points:
return
gl_utils.draw_polyline(
verts=segment_points,
thickness=float(polyline_thickness),
color=gl_utils.RGBA(*polyline_color),
)
self.draw_id(segment=segment, ref_point=segment_points[-1])
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
if self.active:
draw_points_norm([self.smooth_pos],
size=15,
color=RGBA(1., 1., 0., .5))
if self.active and len(self.markers):
# draw the largest ellipse of all detected markers
for marker in self.markers:
e = marker['ellipses'][-1]
pts = cv2.ellipse2Poly((int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]), 0, 360, 15)
draw_polyline(pts, color=RGBA(0., 1., 0, 1.))
if len(self.markers) > 1:
draw_polyline(pts,
1,
RGBA(1., 0., 0., .5),
line_type=GL_POLYGON)
# draw indicator on the first detected marker
if self.counter and self.markers[0]['marker_type'] == 'Ref':
e = self.markers[0]['ellipses'][-1]
pts = cv2.ellipse2Poly((int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]), 0, 360,
360 // self.counter_max)
indicator = [e[0]] + pts[self.counter:].tolist()[::-1] + [e[0]]
draw_polyline(indicator,
color=RGBA(0.1, .5, .7, .8),
line_type=GL_POLYGON)
# draw indicator on the stop marker(s)
if self.auto_stop:
for marker in self.markers:
if marker['marker_type'] == 'Stop':
e = marker['ellipses'][-1]
pts = cv2.ellipse2Poly(
(int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)), int(e[-1]),
0, 360, 360 // self.auto_stop_max)
indicator = [e[0]] + pts[self.auto_stop:].tolist() + [
e[0]
]
draw_polyline(indicator,
color=RGBA(8., 0.1, 0.1, .8),
line_type=GL_POLYGON)
else:
pass
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
# debug mode within world will show green ellipses around detected ellipses
if self.active and self.detected:
for marker in self.markers:
e = marker[-1] # outermost ellipse
pts = cv2.ellipse2Poly((int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]), 0, 360, 15)
draw_polyline(pts, 1, RGBA(0., 1., 0., 1.))
def _draw_legend_grouped(self, labels, width, height, scale, glfont):
glfont.set_size(self.TIMELINE_LINE_HEIGHT * 0.8 * scale)
pad = width * 2 / 3
for label in labels:
color = self.CMAP[label]
glfont.draw_text(width, 0, label)
cygl_utils.draw_polyline(
[
(pad, self.TIMELINE_LINE_HEIGHT / 2),
(width / 4, self.TIMELINE_LINE_HEIGHT / 2),
],
color=color,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
gl.glTranslatef(0, self.TIMELINE_LINE_HEIGHT * scale, 0)
def draw_eyeball_outline(pupil_detection_result_3d):
eye_ball = pupil_detection_result_3d["projected_sphere"]
try:
pts = cv2.ellipse2Poly(
(int(eye_ball["center"][0]), int(eye_ball["center"][1])),
(int(eye_ball["axes"][0] / 2), int(eye_ball["axes"][1] / 2)),
int(eye_ball["angle"]),
0,
360,
8,
)
except ValueError:
# Happens when converting 'nan' to int
# TODO: Investigate why results are sometimes 'nan'
return
draw_polyline(
pts, 2,
RGBA(0.0, 0.9, 0.1, pupil_detection_result_3d["model_confidence"]))
def _draw_markers(self):
color = pyglui_utils.RGBA(*self.color_secondary, 0.5)
for marker in self.tracker.markers_unfiltered:
hat = np.array(
[[[0, 0], [0, 1], [0.5, 1.3], [1, 1], [1, 0], [0, 0]]], dtype=np.float32
)
hat = cv2.perspectiveTransform(
hat, _get_norm_to_points_trans(marker.verts_px)
)
pyglui_utils.draw_polyline(hat.reshape((6, 2)), color=color)
if (
marker.perimeter >= self.tracker.marker_min_perimeter
and marker.id_confidence > self.tracker.marker_min_confidence
):
pyglui_utils.draw_polyline(
hat.reshape((6, 2)), color=color, line_type=gl.GL_POLYGON
)
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
if self.active and self.detected:
draw_points_norm([self.smooth_pos],size=15,color=RGBA(1.,1.,0.,.5))
for e in self.candidate_ellipses:
pts = cv2.ellipse2Poly( (int(e[0][0]),int(e[0][1])),
(int(e[1][0]/2),int(e[1][1]/2)),
int(e[-1]),0,360,15)
draw_polyline(pts,color=RGBA(0.,1.,0,1.))
else:
pass
def _draw_markers(self):
for marker in self.tracker.markers_unfiltered:
color = rgb_to_rgba(
SURFACE_MARKER_COLOR_RGB_BY_TYPE[marker.marker_type],
alpha=0.5)
hat = np.array(
[[[0, 0], [0, 1], [0.5, 1.3], [1, 1], [1, 0], [0, 0]]],
dtype=np.float32)
hat = cv2.perspectiveTransform(
hat, _get_norm_to_points_trans(marker.verts_px))
# TODO: Should the had be drawn for small or low confidence markers?
pyglui_utils.draw_polyline(hat.reshape((6, 2)),
color=pyglui_utils.RGBA(*color))
if (marker.perimeter >= self.tracker.marker_min_perimeter and
marker.id_confidence > self.tracker.marker_min_confidence):
pyglui_utils.draw_polyline(hat.reshape((6, 2)),
color=pyglui_utils.RGBA(*color),
line_type=gl.GL_POLYGON)
def _draw_surface_frames(self, surface):
if not surface.detected:
return
corners, top_indicator, title_anchor, surface_edit_anchor, marker_edit_anchor = self._get_surface_anchor_points(
surface
)
alpha = min(1, surface.build_up_status)
pyglui_utils.draw_polyline(
corners.reshape((5, 2)), color=pyglui_utils.RGBA(*self.color_primary, alpha)
)
pyglui_utils.draw_polyline(
top_indicator.reshape((4, 2)),
color=pyglui_utils.RGBA(*self.color_primary, alpha),
)
self._draw_surf_menu(
surface, title_anchor, surface_edit_anchor, marker_edit_anchor
)
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
# debug mode within world will show green ellipses around detected ellipses
if self.active and self.detected:
for e in self.candidate_ellipses:
pts = cv2.ellipse2Poly( (int(e[0][0]),int(e[0][1])),
(int(e[1][0]/2),int(e[1][1]/2)),
int(e[-1]),0,360,15)
draw_polyline(pts,1,RGBA(0.,1.,0.,1.))
else:
pass
if self._window:
self.gl_display_in_window()
def draw_legend(self, width, height, scale):
self.glfont.push_state()
self.glfont.set_align_string(v_align='right', h_align='top')
self.glfont.set_size(15. * scale)
self.glfont.draw_text(width, 0, self.timeline.label)
legend_height = 13. * scale
pad = 10 * scale
self.glfont.draw_text(width, legend_height, 'Activaty')
cygl_utils.draw_polyline([(pad, legend_height + pad * 2 / 3),
(width / 2, legend_height + pad * 2 / 3)],
color=activity_color,
line_type=gl.GL_LINES,
thickness=4. * scale)
legend_height += 1.5 * pad
self.glfont.draw_text(width, legend_height, 'Thresholds')
cygl_utils.draw_polyline([(pad, legend_height + pad * 2 / 3),
(width / 2, legend_height + pad * 2 / 3)],
color=threshold_color,
line_type=gl.GL_LINES,
thickness=4. * scale)
legend_height += 1.5 * pad
self.glfont.draw_text(width, legend_height, 'Blinks')
cygl_utils.draw_polyline([(pad, legend_height + pad * 2 / 3),
(width / 2, legend_height + pad * 2 / 3)],
color=blink_color,
line_type=gl.GL_LINES,
thickness=4. * scale)
def gl_display(self):
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glOrtho(-self.h_pad, (self.frame_count)+self.h_pad, -self.v_pad, 1+self.v_pad,-1,1) # ranging from 0 to cache_len-1 (horizontal) and 0 to 1 (vertical)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
color1 = RGBA(.1,.9,.2,1.)
color2 = RGBA(.1,.9,.2,1.)
if self.in_mark != 0 or self.out_mark != self.frame_count:
draw_polyline( [(self.in_mark,0),(self.out_mark,0)],color=color1,thickness=20.)
draw_points([(self.in_mark,0),],color=color2,size=20)
draw_points([(self.out_mark,0),],color=color2,size=20)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def draw_legend(self, width, height, scale):
self.glfont.push_state()
self.glfont.set_align_string(v_align="right", h_align="top")
self.glfont.set_size(15.0 * scale)
legend_height = 13.0 * scale
pad = 10 * scale
self.glfont.draw_text(width, legend_height,
"channel " + str(self.channel + 1))
cygl_utils.draw_polyline(
[
(pad, legend_height + pad * 2 / 3),
(width / 2, legend_height + pad * 2 / 3),
],
color=COLOR_LEGEND_WORLD,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
legend_height += 1.5 * pad
self.glfont.pop_state()
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
if self.active or self.visualize:
# Draw hand detection results
for (x1, y1, x2, y2), fingertips in zip(self.hand_viz, self.finger_viz):
pts = np.array(
[[x1, y1], [x1, y2], [x2, y2], [x2, y1], [x1, y1]], np.int32
)
cygl_utils.draw_polyline(
pts,
thickness=3 * self.g_pool.gui_user_scale,
color=cygl_utils.RGBA(0.0, 1.0, 0.0, 1.0),
)
for tip in fingertips:
if tip is not None:
y, x = tip
cygl_utils.draw_progress(
(x, y),
0.0,
1.0,
inner_radius=25 * self.g_pool.gui_user_scale,
outer_radius=35 * self.g_pool.gui_user_scale,
color=cygl_utils.RGBA(1.0, 1.0, 1.0, 1.0),
sharpness=0.9,
)
cygl_utils.draw_points(
[(x, y)],
size=10 * self.g_pool.gui_user_scale,
color=cygl_utils.RGBA(1.0, 1.0, 1.0, 1.0),
sharpness=0.9,
)
def draw_fps_legend(self, width, height, scale):
self.glfont.push_state()
self.glfont.set_align_string(v_align="right", h_align="top")
self.glfont.set_size(15.0 * scale)
self.glfont.draw_text(width, 0, self.fps_timeline.label)
legend_height = 13.0 * scale
pad = 10 * scale
if self.show_world_fps:
self.glfont.draw_text(width, legend_height, "world FPS")
cygl_utils.draw_polyline(
[
(pad, legend_height + pad * 2 / 3),
(width / 2, legend_height + pad * 2 / 3),
],
color=COLOR_LEGEND_WORLD,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
legend_height += 1.5 * pad
if self.show_eye_fps:
self.glfont.draw_text(width, legend_height, "eye1 FPS")
cygl_utils.draw_polyline(
[
(pad, legend_height + pad * 2 / 3),
(width / 2, legend_height + pad * 2 / 3),
],
color=COLOR_LEGEND_EYE_LEFT,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
legend_height += 1.5 * pad
self.glfont.draw_text(width, legend_height, "eye0 FPS")
cygl_utils.draw_polyline(
[
(pad, legend_height + pad * 2 / 3),
(width / 2, legend_height + pad * 2 / 3),
],
color=COLOR_LEGEND_EYE_RIGHT,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
self.glfont.pop_state()
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
if self.active:
# draw the largest ellipse of all detected markers
for marker in self.markers:
e = marker["ellipses"][-1]
pts = cv2.ellipse2Poly(
(int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]),
0,
360,
15,
)
draw_polyline(pts, color=RGBA(0.0, 1.0, 0, 1.0))
if len(self.markers) > 1:
draw_polyline(
pts, 1, RGBA(1.0, 0.0, 0.0, 0.5), line_type=gl.GL_POLYGON
)
# draw indicator on the stop marker(s)
if self.auto_stop:
for marker in self.markers:
if marker["marker_type"] == "Stop":
e = marker["ellipses"][-1]
pts = cv2.ellipse2Poly(
(int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]),
0,
360,
360 // self.auto_stop_max,
)
indicator = [e[0]] + pts[self.auto_stop :].tolist() + [e[0]]
draw_polyline(
indicator,
color=RGBA(8.0, 0.1, 0.1, 0.8),
line_type=gl.GL_POLYGON,
)
def draw_legend(self, width, height, scale):
self.glfont.push_state()
self.glfont.set_align_string(v_align="right", h_align="top")
self.glfont.set_size(15.0 * scale)
self.glfont.draw_text(width, 0, self.timeline.label)
legend_height = 13.0 * scale
pad = 10 * scale
self.glfont.draw_text(width, legend_height, "Activaty")
cygl_utils.draw_polyline(
[
(pad, legend_height + pad * 2 / 3),
(width / 2, legend_height + pad * 2 / 3),
],
color=activity_color,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
legend_height += 1.5 * pad
self.glfont.draw_text(width, legend_height, "Thresholds")
cygl_utils.draw_polyline(
[
(pad, legend_height + pad * 2 / 3),
(width / 2, legend_height + pad * 2 / 3),
],
color=threshold_color,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
legend_height += 1.5 * pad
self.glfont.draw_text(width, legend_height, "Blinks")
cygl_utils.draw_polyline(
[
(pad, legend_height + pad * 2 / 3),
(width / 2, legend_height + pad * 2 / 3),
],
color=blink_color,
line_type=gl.GL_LINES,
thickness=4.0 * scale,
)
def gl_display(self):
"""
Display marker and surface info inside world screen
"""
if self.mode == "Show Markers and Surfaces":
for m in self.markers:
hat = np.array([[[0, 0], [0, 1], [0.5, 1.3], [1, 1], [1, 0], [0, 0]]], dtype=np.float32)
hat = cv2.perspectiveTransform(hat, m_marker_to_screen(m))
if m["perimeter"] >= self.min_marker_perimeter:
draw_polyline(hat.reshape((6, 2)), color=RGBA(0.1, 1.0, 1.0, 0.5))
draw_polyline(hat.reshape((6, 2)), color=RGBA(0.1, 1.0, 1.0, 0.3), line_type=GL_POLYGON)
else:
draw_polyline(hat.reshape((6, 2)), color=RGBA(0.1, 1.0, 1.0, 0.5))
for s in self.surfaces:
if s not in self.edit_surfaces and s is not self.marker_edit_surface:
s.gl_draw_frame(self.img_shape)
for s in self.edit_surfaces:
s.gl_draw_frame(self.img_shape, highlight=True, surface_mode=True)
s.gl_draw_corners()
if self.marker_edit_surface:
inc = []
exc = []
for m in self.markers:
if m["perimeter"] >= self.min_marker_perimeter:
if self.marker_edit_surface.markers.has_key(m["id"]):
inc.append(m["centroid"])
else:
exc.append(m["centroid"])
draw_points(exc, size=20, color=RGBA(1.0, 0.5, 0.5, 0.8))
draw_points(inc, size=20, color=RGBA(0.5, 1.0, 0.5, 0.8))
self.marker_edit_surface.gl_draw_frame(
self.img_shape, color=(0.0, 0.9, 0.6, 1.0), highlight=True, marker_mode=True
)
for s in self.surfaces:
if self.locate_3d:
s.gl_display_in_window_3d(self.g_pool.image_tex, self.camera_calibration)
else:
s.gl_display_in_window(self.g_pool.image_tex)
def draw_activation(self, width, height, scale):
t0, t1 = self.g_pool.timestamps[0], self.g_pool.timestamps[-1]
with gl_utils.Coord_System(t0, t1, -1, 1):
cygl_utils.draw_polyline(
self.cache["response_points"],
color=activity_color,
line_type=gl.GL_LINE_STRIP,
thickness=scale,
)
cygl_utils.draw_polyline(
self.cache["class_points"],
color=blink_color,
line_type=gl.GL_LINE_STRIP,
thickness=scale,
)
cygl_utils.draw_polyline(
self.cache["thresholds"],
color=threshold_color,
line_type=gl.GL_LINES,
thickness=scale,
)
def _gl_display_cache_bars(self, width, height, scale):
ts = self.g_pool.timestamps
with gl_utils.Coord_System(ts[0], ts[-1], height, 0):
# Lines for areas that have been cached
cached_ranges = []
for r in self.marker_cache.visited_ranges:
cached_ranges += ((ts[r[0]], 0), (ts[r[1]], 0))
gl.glTranslatef(0, scale * self.TIMELINE_LINE_HEIGHT / 2, 0)
color = pyglui_utils.RGBA(0.8, 0.2, 0.2, 0.8)
pyglui_utils.draw_polyline(
cached_ranges, color=color, line_type=gl.GL_LINES, thickness=scale * 4
)
cached_ranges = []
for r in self.marker_cache.positive_ranges:
cached_ranges += ((ts[r[0]], 0), (ts[r[1]], 0))
color = pyglui_utils.RGBA(0, 0.7, 0.3, 0.8)
pyglui_utils.draw_polyline(
cached_ranges, color=color, line_type=gl.GL_LINES, thickness=scale * 4
)
# Lines where surfaces have been found in video
cached_surfaces = []
for surface in self.surfaces:
found_at = []
if surface.location_cache is not None:
for r in surface.location_cache.positive_ranges: # [[0,1],[3,4]]
found_at += ((ts[r[0]], 0), (ts[r[1]], 0))
cached_surfaces.append(found_at)
color = pyglui_utils.RGBA(0, 0.7, 0.3, 0.8)
for surface in cached_surfaces:
gl.glTranslatef(0, scale * self.TIMELINE_LINE_HEIGHT, 0)
pyglui_utils.draw_polyline(
surface, color=color, line_type=gl.GL_LINES, thickness=scale * 2
)
def gl_display(self):
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
gluOrtho2D(-self.h_pad, (self.frame_count)+self.h_pad, -self.v_pad, 1+self.v_pad) # ranging from 0 to cache_len-1 (horizontal) and 0 to 1 (vertical)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
# custom events
for e in self.custom_events:
draw_polyline([(e,.06),(e,.005)], color = RGBA(.8, .8, .8, .8))
size = len(self.custom_events)
if size > 1:
for i, e in enumerate(self.custom_events):
draw_points([(e, .03)], size = 5, color = RGBA(.1, .5, .5, 1.))
i = 0
while True:
if i == 0:
draw_polyline([(self.custom_events[i],.03),(self.custom_events[i+1],0.03)], color = RGBA(.8, .8, .8, .8))
elif (i > 0) and (i < (size-1)):
draw_polyline([(self.custom_events[i] +1,.03),(self.custom_events[i+1],0.03)], color = RGBA(.8, .8, .8, .8))
if 'chain' in self.mode:
i += 1
elif 'in out pairs' in self.mode:
i += 2
if i > (size-1):
break
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def update_window(self, g_pool , gaze_points0 , sphere0 , gaze_points1 = [] , sphere1 = None, intersection_points = [] ): if not self.window: return self.begin_update_window() #sets context self.clear_gl_screen() self.trackball.push() glMatrixMode( GL_MODELVIEW ) # draw things in world camera coordinate system glPushMatrix() glLoadIdentity() calibration_points_line_color = RGBA(0.5,0.5,0.5,0.1); error_line_color = RGBA(1.0,0.0,0.0,0.5) self.draw_coordinate_system(200) if self.world_camera_width != 0: self.draw_frustum( self.world_camera_width/ 10.0 , self.world_camera_height/ 10.0 , self.world_camera_focal / 10.0) for p in self.cal_observed_points_3d: glutils.draw_polyline( [ (0,0,0), p] , 1 , calibration_points_line_color, line_type = GL_LINES) #draw error lines form eye gaze points to ref points for(cal_point,ref_point) in zip(self.cal_ref_points_3d, self.cal_observed_points_3d): glutils.draw_polyline( [ cal_point, ref_point] , 1 , error_line_color, line_type = GL_LINES) #calibration points glutils.draw_points( self.cal_ref_points_3d , 4 , RGBA( 0, 1, 1, 1 ) ) glPopMatrix() if sphere0: # eye camera glPushMatrix() glLoadMatrixf( self.eye_camera_to_world_matrix0.T ) self.draw_coordinate_system(60) self.draw_frustum( self.image_width / 10.0, self.image_height / 10.0, self.focal_length /10.) glPopMatrix() #everything else is in world coordinates #eye sphere_center0 = list(sphere0['center']) sphere_radius0 = sphere0['radius'] self.draw_sphere(sphere_center0,sphere_radius0, color = RGBA(1,1,0,1)) #gazelines for p in self.cal_gaze_points0_3d: glutils.draw_polyline( [ sphere_center0, p] , 1 , calibration_points_line_color, line_type = GL_LINES) #calibration points # glutils.draw_points( self.cal_gaze_points0_3d , 4 , RGBA( 1, 0, 1, 1 ) ) #current gaze points glutils.draw_points( gaze_points0 , 2 , RGBA( 1, 0, 0, 1 ) ) for p in gaze_points0: glutils.draw_polyline( [sphere_center0, p] , 1 , RGBA(0,0,0,1), line_type = GL_LINES) #draw error lines form eye gaze points to ref points for(cal_gaze_point,ref_point) in zip(self.cal_gaze_points0_3d, self.cal_ref_points_3d): glutils.draw_polyline( [ cal_gaze_point, ref_point] , 1 , error_line_color, line_type = GL_LINES) #second eye if sphere1: # eye camera glPushMatrix() glLoadMatrixf( self.eye_camera_to_world_matrix1.T ) self.draw_coordinate_system(60) self.draw_frustum( self.image_width / 10.0, self.image_height / 10.0, self.focal_length /10.) glPopMatrix() #everything else is in world coordinates #eye sphere_center1 = list(sphere1['center']) sphere_radius1 = sphere1['radius'] self.draw_sphere(sphere_center1,sphere_radius1, color = RGBA(1,1,0,1)) #gazelines for p in self.cal_gaze_points1_3d: glutils.draw_polyline( [ sphere_center1, p] , 4 , calibration_points_line_color, line_type = GL_LINES) #calibration points glutils.draw_points( self.cal_gaze_points1_3d , 4 , RGBA( 1, 0, 1, 1 ) ) #current gaze points glutils.draw_points( gaze_points1 , 2 , RGBA( 1, 0, 0, 1 ) ) for p in gaze_points1: glutils.draw_polyline( [sphere_center1, p] , 1 , RGBA(0,0,0,1), line_type = GL_LINES) #draw error lines form eye gaze points to ref points for(cal_gaze_point,ref_point) in zip(self.cal_gaze_points1_3d, self.cal_ref_points_3d): glutils.draw_polyline( [ cal_gaze_point, ref_point] , 1 , error_line_color, line_type = GL_LINES) self.trackball.pop() self.end_update_window() #swap buffers, handle context
def eye(pupil_queue, timebase, pipe_to_world, is_alive_flag, user_dir, version, eye_id, cap_src):
"""
Creates a window, gl context.
Grabs images from a capture.
Streams Pupil coordinates into g_pool.pupil_queue
"""
is_alive = Is_Alive_Manager(is_alive_flag)
with is_alive:
import logging
# Set up root logger for this process before doing imports of logged modules.
logger = logging.getLogger()
logger.setLevel(logging.INFO)
# remove inherited handlers
logger.handlers = []
# create file handler which logs even debug messages
fh = logging.FileHandler(os.path.join(user_dir,'eye%s.log'%eye_id),mode='w')
# fh.setLevel(logging.DEBUG)
# create console handler with a higher log level
ch = logging.StreamHandler()
ch.setLevel(logger.level+10)
# create formatter and add it to the handlers
formatter = logging.Formatter('Eye'+str(eye_id)+' Process: %(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
formatter = logging.Formatter('EYE'+str(eye_id)+' Process [%(levelname)s] %(name)s : %(message)s')
ch.setFormatter(formatter)
# add the handlers to the logger
logger.addHandler(fh)
logger.addHandler(ch)
#silence noisy modules
logging.getLogger("OpenGL").setLevel(logging.ERROR)
# create logger for the context of this function
logger = logging.getLogger(__name__)
# We deferr the imports becasue of multiprocessing.
# Otherwise the world process each process also loads the other imports.
#general imports
import numpy as np
import cv2
#display
import glfw
from pyglui import ui,graph,cygl
from pyglui.cygl.utils import draw_points, RGBA, draw_polyline, Named_Texture, Sphere
import OpenGL.GL as gl
from gl_utils import basic_gl_setup,adjust_gl_view, clear_gl_screen ,make_coord_system_pixel_based,make_coord_system_norm_based, make_coord_system_eye_camera_based
from ui_roi import UIRoi
#monitoring
import psutil
import math
# helpers/utils
from file_methods import Persistent_Dict
from version_utils import VersionFormat
from methods import normalize, denormalize, Roi, timer
from video_capture import autoCreateCapture, FileCaptureError, EndofVideoFileError, CameraCaptureError
from av_writer import JPEG_Writer,AV_Writer
# Pupil detectors
from pupil_detectors import Detector_2D, Detector_3D
pupil_detectors = {Detector_2D.__name__:Detector_2D,Detector_3D.__name__:Detector_3D}
#UI Platform tweaks
if platform.system() == 'Linux':
scroll_factor = 10.0
window_position_default = (600,300*eye_id)
elif platform.system() == 'Windows':
scroll_factor = 1.0
window_position_default = (600,31+300*eye_id)
else:
scroll_factor = 1.0
window_position_default = (600,300*eye_id)
#g_pool holds variables for this process
g_pool = Global_Container()
# make some constants avaiable
g_pool.user_dir = user_dir
g_pool.version = version
g_pool.app = 'capture'
g_pool.pupil_queue = pupil_queue
g_pool.timebase = timebase
# Callback functions
def on_resize(window,w, h):
if not g_pool.iconified:
active_window = glfw.glfwGetCurrentContext()
glfw.glfwMakeContextCurrent(window)
g_pool.gui.update_window(w,h)
graph.adjust_size(w,h)
adjust_gl_view(w,h)
glfw.glfwMakeContextCurrent(active_window)
def on_key(window, key, scancode, action, mods):
g_pool.gui.update_key(key,scancode,action,mods)
def on_char(window,char):
g_pool.gui.update_char(char)
def on_iconify(window,iconified):
g_pool.iconified = iconified
def on_button(window,button, action, mods):
if g_pool.display_mode == 'roi':
if action == glfw.GLFW_RELEASE and g_pool.u_r.active_edit_pt:
g_pool.u_r.active_edit_pt = False
return # if the roi interacts we dont what the gui to interact as well
elif action == glfw.GLFW_PRESS:
pos = glfw.glfwGetCursorPos(window)
pos = normalize(pos,glfw.glfwGetWindowSize(main_window))
if g_pool.flip:
pos = 1-pos[0],1-pos[1]
pos = denormalize(pos,(frame.width,frame.height)) # Position in img pixels
if g_pool.u_r.mouse_over_edit_pt(pos,g_pool.u_r.handle_size+40,g_pool.u_r.handle_size+40):
return # if the roi interacts we dont what the gui to interact as well
g_pool.gui.update_button(button,action,mods)
def on_pos(window,x, y):
hdpi_factor = float(glfw.glfwGetFramebufferSize(window)[0]/glfw.glfwGetWindowSize(window)[0])
g_pool.gui.update_mouse(x*hdpi_factor,y*hdpi_factor)
if g_pool.u_r.active_edit_pt:
pos = normalize((x,y),glfw.glfwGetWindowSize(main_window))
if g_pool.flip:
pos = 1-pos[0],1-pos[1]
pos = denormalize(pos,(frame.width,frame.height) )
g_pool.u_r.move_vertex(g_pool.u_r.active_pt_idx,pos)
def on_scroll(window,x,y):
g_pool.gui.update_scroll(x,y*scroll_factor)
# load session persistent settings
session_settings = Persistent_Dict(os.path.join(g_pool.user_dir,'user_settings_eye%s'%eye_id))
if session_settings.get("version",VersionFormat('0.0')) < g_pool.version:
logger.info("Session setting are from older version of this app. I will not use those.")
session_settings.clear()
# Initialize capture
cap = autoCreateCapture(cap_src, timebase=g_pool.timebase)
default_settings = {'frame_size':(640,480),'frame_rate':60}
previous_settings = session_settings.get('capture_settings',None)
if previous_settings and previous_settings['name'] == cap.name:
cap.settings = previous_settings
else:
cap.settings = default_settings
# Test capture
try:
frame = cap.get_frame()
except CameraCaptureError:
logger.error("Could not retrieve image from capture")
cap.close()
return
#signal world that we are ready to go
# pipe_to_world.send('eye%s process ready'%eye_id)
# any object we attach to the g_pool object *from now on* will only be visible to this process!
# vars should be declared here to make them visible to the code reader.
g_pool.iconified = False
g_pool.capture = cap
g_pool.flip = session_settings.get('flip',False)
g_pool.display_mode = session_settings.get('display_mode','camera_image')
g_pool.display_mode_info_text = {'camera_image': "Raw eye camera image. This uses the least amount of CPU power",
'roi': "Click and drag on the blue circles to adjust the region of interest. The region should be as small as possible, but large enough to capture all pupil movements.",
'algorithm': "Algorithm display mode overlays a visualization of the pupil detection parameters on top of the eye video. Adjust parameters within the Pupil Detection menu below."}
g_pool.u_r = UIRoi(frame.img.shape)
g_pool.u_r.set(session_settings.get('roi',g_pool.u_r.get()))
def on_frame_size_change(new_size):
g_pool.u_r = UIRoi((new_size[1],new_size[0]))
cap.on_frame_size_change = on_frame_size_change
writer = None
pupil_detector_settings = session_settings.get('pupil_detector_settings',None)
last_pupil_detector = pupil_detectors[session_settings.get('last_pupil_detector',Detector_2D.__name__)]
g_pool.pupil_detector = last_pupil_detector(g_pool,pupil_detector_settings)
# UI callback functions
def set_scale(new_scale):
g_pool.gui.scale = new_scale
g_pool.gui.collect_menus()
def set_display_mode_info(val):
g_pool.display_mode = val
g_pool.display_mode_info.text = g_pool.display_mode_info_text[val]
def set_detector(new_detector):
g_pool.pupil_detector.cleanup()
g_pool.pupil_detector = new_detector(g_pool)
g_pool.pupil_detector.init_gui(g_pool.sidebar)
# Initialize glfw
glfw.glfwInit()
title = "eye %s"%eye_id
width,height = session_settings.get('window_size',(frame.width, frame.height))
main_window = glfw.glfwCreateWindow(width,height, title, None, None)
window_pos = session_settings.get('window_position',window_position_default)
glfw.glfwSetWindowPos(main_window,window_pos[0],window_pos[1])
glfw.glfwMakeContextCurrent(main_window)
cygl.utils.init()
# gl_state settings
basic_gl_setup()
g_pool.image_tex = Named_Texture()
g_pool.image_tex.update_from_frame(frame)
glfw.glfwSwapInterval(0)
sphere = Sphere(20)
#setup GUI
g_pool.gui = ui.UI()
g_pool.gui.scale = session_settings.get('gui_scale',1)
g_pool.sidebar = ui.Scrolling_Menu("Settings",pos=(-300,0),size=(0,0),header_pos='left')
general_settings = ui.Growing_Menu('General')
general_settings.append(ui.Slider('scale',g_pool.gui, setter=set_scale,step = .05,min=1.,max=2.5,label='Interface Size'))
general_settings.append(ui.Button('Reset window size',lambda: glfw.glfwSetWindowSize(main_window,frame.width,frame.height)) )
general_settings.append(ui.Switch('flip',g_pool,label='Flip image display'))
general_settings.append(ui.Selector('display_mode',g_pool,setter=set_display_mode_info,selection=['camera_image','roi','algorithm'], labels=['Camera Image', 'ROI', 'Algorithm'], label="Mode") )
g_pool.display_mode_info = ui.Info_Text(g_pool.display_mode_info_text[g_pool.display_mode])
general_settings.append(g_pool.display_mode_info)
g_pool.sidebar.append(general_settings)
g_pool.gui.append(g_pool.sidebar)
detector_selector = ui.Selector('pupil_detector',getter = lambda: g_pool.pupil_detector.__class__ ,setter=set_detector,selection=[Detector_2D, Detector_3D],labels=['C++ 2d detector', 'C++ 3d detector'], label="Detection method")
general_settings.append(detector_selector)
# let detector add its GUI
g_pool.pupil_detector.init_gui(g_pool.sidebar)
# let the camera add its GUI
g_pool.capture.init_gui(g_pool.sidebar)
# Register callbacks main_window
glfw.glfwSetFramebufferSizeCallback(main_window,on_resize)
glfw.glfwSetWindowIconifyCallback(main_window,on_iconify)
glfw.glfwSetKeyCallback(main_window,on_key)
glfw.glfwSetCharCallback(main_window,on_char)
glfw.glfwSetMouseButtonCallback(main_window,on_button)
glfw.glfwSetCursorPosCallback(main_window,on_pos)
glfw.glfwSetScrollCallback(main_window,on_scroll)
#set the last saved window size
on_resize(main_window, *glfw.glfwGetWindowSize(main_window))
# load last gui configuration
g_pool.gui.configuration = session_settings.get('ui_config',{})
#set up performance graphs
pid = os.getpid()
ps = psutil.Process(pid)
ts = frame.timestamp
cpu_graph = graph.Bar_Graph()
cpu_graph.pos = (20,130)
cpu_graph.update_fn = ps.cpu_percent
cpu_graph.update_rate = 5
cpu_graph.label = 'CPU %0.1f'
fps_graph = graph.Bar_Graph()
fps_graph.pos = (140,130)
fps_graph.update_rate = 5
fps_graph.label = "%0.0f FPS"
#create a timer to control window update frequency
window_update_timer = timer(1/60.)
def window_should_update():
return next(window_update_timer)
# Event loop
while not glfw.glfwWindowShouldClose(main_window):
if pipe_to_world.poll():
cmd = pipe_to_world.recv()
if cmd == 'Exit':
break
elif cmd == "Ping":
pipe_to_world.send("Pong")
command = None
else:
command,payload = cmd
if command == 'Set_Detection_Mapping_Mode':
if payload == '3d':
if not isinstance(g_pool.pupil_detector,Detector_3D):
set_detector(Detector_3D)
detector_selector.read_only = True
else:
set_detector(Detector_2D)
detector_selector.read_only = False
else:
command = None
# Get an image from the grabber
try:
frame = cap.get_frame()
except CameraCaptureError:
logger.error("Capture from Camera Failed. Stopping.")
break
except EndofVideoFileError:
logger.warning("Video File is done. Stopping")
cap.seek_to_frame(0)
frame = cap.get_frame()
#update performace graphs
t = frame.timestamp
dt,ts = t-ts,t
try:
fps_graph.add(1./dt)
except ZeroDivisionError:
pass
cpu_graph.update()
### RECORDING of Eye Video (on demand) ###
# Setup variables and lists for recording
if 'Rec_Start' == command:
record_path,raw_mode = payload
logger.info("Will save eye video to: %s"%record_path)
timestamps_path = os.path.join(record_path, "eye%s_timestamps.npy"%eye_id)
if raw_mode and frame.jpeg_buffer:
video_path = os.path.join(record_path, "eye%s.mp4"%eye_id)
writer = JPEG_Writer(video_path,cap.frame_rate)
else:
video_path = os.path.join(record_path, "eye%s.mp4"%eye_id)
writer = AV_Writer(video_path,cap.frame_rate)
timestamps = []
elif 'Rec_Stop' == command:
logger.info("Done recording.")
writer.release()
writer = None
np.save(timestamps_path,np.asarray(timestamps))
del timestamps
if writer:
writer.write_video_frame(frame)
timestamps.append(frame.timestamp)
# pupil ellipse detection
result = g_pool.pupil_detector.detect(frame, g_pool.u_r, g_pool.display_mode == 'algorithm')
result['id'] = eye_id
# stream the result
g_pool.pupil_queue.put(result)
# GL drawing
if window_should_update():
if not g_pool.iconified:
glfw.glfwMakeContextCurrent(main_window)
clear_gl_screen()
# switch to work in normalized coordinate space
if g_pool.display_mode == 'algorithm':
g_pool.image_tex.update_from_ndarray(frame.img)
elif g_pool.display_mode in ('camera_image','roi'):
g_pool.image_tex.update_from_ndarray(frame.gray)
else:
pass
make_coord_system_norm_based(g_pool.flip)
g_pool.image_tex.draw()
window_size = glfw.glfwGetWindowSize(main_window)
make_coord_system_pixel_based((frame.height,frame.width,3),g_pool.flip)
if result['method'] == '3d c++':
eye_ball = result['projected_sphere']
try:
pts = cv2.ellipse2Poly( (int(eye_ball['center'][0]),int(eye_ball['center'][1])),
(int(eye_ball['axes'][0]/2),int(eye_ball['axes'][1]/2)),
int(eye_ball['angle']),0,360,8)
except ValueError as e:
pass
else:
draw_polyline(pts,2,RGBA(0.,.9,.1,result['model_confidence']) )
if result['confidence'] >0:
if result.has_key('ellipse'):
pts = cv2.ellipse2Poly( (int(result['ellipse']['center'][0]),int(result['ellipse']['center'][1])),
(int(result['ellipse']['axes'][0]/2),int(result['ellipse']['axes'][1]/2)),
int(result['ellipse']['angle']),0,360,15)
confidence = result['confidence'] * 0.7 #scale it a little
draw_polyline(pts,1,RGBA(1.,0,0,confidence))
draw_points([result['ellipse']['center']],size=20,color=RGBA(1.,0.,0.,confidence),sharpness=1.)
# render graphs
graph.push_view()
fps_graph.draw()
cpu_graph.draw()
graph.pop_view()
# render GUI
g_pool.gui.update()
#render the ROI
if g_pool.display_mode == 'roi':
g_pool.u_r.draw(g_pool.gui.scale)
#update screen
glfw.glfwSwapBuffers(main_window)
glfw.glfwPollEvents()
g_pool.pupil_detector.visualize() #detector decides if we visualize or not
# END while running
# in case eye recording was still runnnig: Save&close
if writer:
logger.info("Done recording eye.")
writer = None
np.save(timestamps_path,np.asarray(timestamps))
glfw.glfwRestoreWindow(main_window) #need to do this for windows os
# save session persistent settings
session_settings['gui_scale'] = g_pool.gui.scale
session_settings['roi'] = g_pool.u_r.get()
session_settings['flip'] = g_pool.flip
session_settings['display_mode'] = g_pool.display_mode
session_settings['ui_config'] = g_pool.gui.configuration
session_settings['capture_settings'] = g_pool.capture.settings
session_settings['window_size'] = glfw.glfwGetWindowSize(main_window)
session_settings['window_position'] = glfw.glfwGetWindowPos(main_window)
session_settings['version'] = g_pool.version
session_settings['last_pupil_detector'] = g_pool.pupil_detector.__class__.__name__
session_settings['pupil_detector_settings'] = g_pool.pupil_detector.get_settings()
session_settings.close()
g_pool.pupil_detector.cleanup()
g_pool.gui.terminate()
glfw.glfwDestroyWindow(main_window)
glfw.glfwTerminate()
cap.close()
logger.debug("Process done")