Esempio n. 1
0
    def cleanup(self):
        glfw.glfwRestoreWindow(self.g_pool.main_window)

        del self.g_pool.menubar[:]
        self.g_pool.gui.remove(self.g_pool.menubar)

        self.g_pool.gui.terminate()
        glfw.glfwDestroyWindow(self.g_pool.main_window)
        glfw.glfwTerminate()

        del self.g_pool.gui
        del self.g_pool.main_window
        del self.texture
Esempio n. 2
0
    def cleanup(self):
        glfw.glfwRestoreWindow(self.g_pool.main_window)

        del self.g_pool.menubar[:]
        self.g_pool.gui.remove(self.g_pool.menubar)

        self.g_pool.gui.terminate()
        glfw.glfwDestroyWindow(self.g_pool.main_window)
        glfw.glfwTerminate()

        del self.g_pool.gui
        del self.g_pool.main_window
        del self.texture
Esempio n. 3
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def world(pupil_queue, timebase, lauchner_pipe, eye_pipes, eyes_are_alive,
          user_dir, version, cap_src):
    """world
    Creates a window, gl context.
    Grabs images from a capture.
    Receives Pupil coordinates from eye process[es]
    Can run various plug-ins.
    """

    import logging
    # Set up root logger for this process before doing imports of logged modules.
    logger = logging.getLogger()
    logger.setLevel(logging.INFO)
    # create file handler which logs even debug messages
    fh = logging.FileHandler(os.path.join(user_dir, 'world.log'), mode='w')
    fh.setLevel(logger.level)
    # 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(
        'World Process: %(asctime)s - %(name)s - %(levelname)s - %(message)s')
    fh.setFormatter(formatter)
    formatter = logging.Formatter(
        'WORLD 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)
    logging.getLogger("libav").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.
    # This is not harmfull but unnessasary.

    #general imports
    from time import time
    import numpy as np

    #display
    import glfw
    from pyglui import ui, graph, cygl
    from pyglui.cygl.utils import Named_Texture
    from gl_utils import basic_gl_setup, adjust_gl_view, clear_gl_screen, make_coord_system_pixel_based, make_coord_system_norm_based

    #check versions for our own depedencies as they are fast-changing
    from pyglui import __version__ as pyglui_version
    assert pyglui_version >= '0.8'

    #monitoring
    import psutil

    # helpers/utils
    from file_methods import Persistent_Dict
    from methods import normalize, denormalize, delta_t
    from video_capture import autoCreateCapture, FileCaptureError, EndofVideoFileError, CameraCaptureError
    from version_utils import VersionFormat
    import audio

    # Plug-ins
    from plugin import Plugin_List, import_runtime_plugins
    from calibration_routines import calibration_plugins, gaze_mapping_plugins
    from recorder import Recorder
    from show_calibration import Show_Calibration
    from display_recent_gaze import Display_Recent_Gaze
    from pupil_server import Pupil_Server
    from pupil_sync import Pupil_Sync
    from marker_detector import Marker_Detector
    from log_display import Log_Display
    from annotations import Annotation_Capture
    # create logger for the context of this function

    #UI Platform tweaks
    if platform.system() == 'Linux':
        scroll_factor = 10.0
        window_position_default = (0, 0)
    elif platform.system() == 'Windows':
        scroll_factor = 1.0
        window_position_default = (8, 31)
    else:
        scroll_factor = 1.0
        window_position_default = (0, 0)

    #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
    # g_pool.lauchner_pipe = lauchner_pipe
    g_pool.eye_pipes = eye_pipes
    g_pool.eyes_are_alive = eyes_are_alive

    #manage plugins
    runtime_plugins = import_runtime_plugins(
        os.path.join(g_pool.user_dir, 'plugins'))
    user_launchable_plugins = [
        Show_Calibration, Pupil_Server, Pupil_Sync, Marker_Detector,
        Annotation_Capture
    ] + runtime_plugins
    system_plugins = [Log_Display, Display_Recent_Gaze, Recorder]
    plugin_by_index = system_plugins + user_launchable_plugins + calibration_plugins + gaze_mapping_plugins
    name_by_index = [p.__name__ for p in plugin_by_index]
    plugin_by_name = dict(zip(name_by_index, plugin_by_index))
    default_plugins = [('Log_Display', {}), ('Dummy_Gaze_Mapper', {}),
                       ('Display_Recent_Gaze', {}),
                       ('Screen_Marker_Calibration', {}), ('Recorder', {})]

    # Callback functions
    def on_resize(window, w, h):
        if not g_pool.iconified:
            g_pool.gui.update_window(w, h)
            g_pool.gui.collect_menus()
            graph.adjust_size(w, h)
            adjust_gl_view(w, h)
            for p in g_pool.plugins:
                p.on_window_resize(window, w, h)

    def on_iconify(window, iconified):
        g_pool.iconified = iconified

    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_button(window, button, action, mods):
        g_pool.gui.update_button(button, action, mods)
        pos = glfw.glfwGetCursorPos(window)
        pos = normalize(pos, glfw.glfwGetWindowSize(main_window))
        pos = denormalize(
            pos,
            (frame.img.shape[1], frame.img.shape[0]))  # Position in img pixels
        for p in g_pool.plugins:
            p.on_click(pos, button, action)

    def on_pos(window, x, y):
        hdpi_factor = float(
            glfw.glfwGetFramebufferSize(window)[0] /
            glfw.glfwGetWindowSize(window)[0])
        x, y = x * hdpi_factor, y * hdpi_factor
        g_pool.gui.update_mouse(x, y)

    def on_scroll(window, x, y):
        g_pool.gui.update_scroll(x, y * scroll_factor)

    tick = delta_t()

    def get_dt():
        return next(tick)

    # load session persistent settings
    session_settings = Persistent_Dict(
        os.path.join(g_pool.user_dir, 'user_settings_world'))
    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': (1280, 720), 'frame_rate': 30}
    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()
        lauchner_pipe.send("Exit")
        return

    g_pool.iconified = False
    g_pool.capture = cap
    g_pool.pupil_confidence_threshold = session_settings.get(
        'pupil_confidence_threshold', .6)
    g_pool.detection_mapping_mode = session_settings.get(
        'detection_mapping_mode', '2d')
    g_pool.active_calibration_plugin = None

    audio.audio_mode = session_settings.get('audio_mode',
                                            audio.default_audio_mode)

    def open_plugin(plugin):
        if plugin == "Select to load":
            return
        g_pool.plugins.add(plugin)

    def set_scale(new_scale):
        g_pool.gui.scale = new_scale
        g_pool.gui.collect_menus()

    def launch_eye_process(eye_id, blocking=False):
        if eyes_are_alive[eye_id].value:
            logger.error("Eye%s process already running." % eye_id)
            return
        lauchner_pipe.send(eye_id)
        eye_pipes[eye_id].send(
            ('Set_Detection_Mapping_Mode', g_pool.detection_mapping_mode))

        if blocking:
            #wait for ready message from eye to sequentialize startup
            eye_pipes[eye_id].send('Ping')
            eye_pipes[eye_id].recv()

        logger.warning('Eye %s process started.' % eye_id)

    def stop_eye_process(eye_id, blocking=False):
        if eyes_are_alive[eye_id].value:
            eye_pipes[eye_id].send('Exit')
            if blocking:
                raise NotImplementedError()

    def start_stop_eye(eye_id, make_alive):
        if make_alive:
            launch_eye_process(eye_id)
        else:
            stop_eye_process(eye_id)

    def set_detection_mapping_mode(new_mode):
        if new_mode == '2d':
            for p in g_pool.plugins:
                if "Vector_Gaze_Mapper" in p.class_name:
                    logger.warning(
                        "The gaze mapper is not supported in 2d mode. Please recalibrate."
                    )
                    p.alive = False
            g_pool.plugins.clean()
        for alive, pipe in zip(g_pool.eyes_are_alive, g_pool.eye_pipes):
            if alive.value:
                pipe.send(('Set_Detection_Mapping_Mode', new_mode))
        g_pool.detection_mapping_mode = new_mode

    #window and gl setup
    glfw.glfwInit()
    width, height = session_settings.get('window_size',
                                         (frame.width, frame.height))
    main_window = glfw.glfwCreateWindow(width, height, "World")
    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()
    g_pool.main_window = main_window

    #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=(-350, 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.Selector('audio_mode', audio, selection=audio.audio_modes))
    general_settings.append(
        ui.Selector('detection_mapping_mode',
                    g_pool,
                    label='detection & mapping mode',
                    setter=set_detection_mapping_mode,
                    selection=['2d', '3d']))
    general_settings.append(
        ui.Switch('eye0_process',
                  label='Detect eye 0',
                  setter=lambda alive: start_stop_eye(0, alive),
                  getter=lambda: eyes_are_alive[0].value))
    general_settings.append(
        ui.Switch('eye1_process',
                  label='Detect eye 1',
                  setter=lambda alive: start_stop_eye(1, alive),
                  getter=lambda: eyes_are_alive[1].value))
    general_settings.append(
        ui.Selector('Open plugin',
                    selection=user_launchable_plugins,
                    labels=[
                        p.__name__.replace('_', ' ')
                        for p in user_launchable_plugins
                    ],
                    setter=open_plugin,
                    getter=lambda: "Select to load"))
    general_settings.append(
        ui.Slider('pupil_confidence_threshold',
                  g_pool,
                  step=.01,
                  min=0.,
                  max=1.,
                  label='Minimum pupil confidence'))
    general_settings.append(
        ui.Info_Text('Capture Version: %s' % g_pool.version))
    g_pool.sidebar.append(general_settings)

    g_pool.calibration_menu = ui.Growing_Menu('Calibration')
    g_pool.sidebar.append(g_pool.calibration_menu)
    g_pool.gui.append(g_pool.sidebar)
    g_pool.quickbar = ui.Stretching_Menu('Quick Bar', (0, 100), (120, -100))
    g_pool.gui.append(g_pool.quickbar)
    g_pool.capture.init_gui(g_pool.sidebar)

    #plugins that are loaded based on user settings from previous session
    g_pool.notifications = []
    g_pool.delayed_notifications = {}
    g_pool.plugins = Plugin_List(
        g_pool, plugin_by_name,
        session_settings.get('loaded_plugins', default_plugins))

    #We add the calibration menu selector, after a calibration has been added:
    g_pool.calibration_menu.insert(
        0,
        ui.Selector(
            'active_calibration_plugin',
            getter=lambda: g_pool.active_calibration_plugin.__class__,
            selection=calibration_plugins,
            labels=[p.__name__.replace('_', ' ') for p in calibration_plugins],
            setter=open_plugin,
            label='Method'))

    # 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)

    # gl_state settings
    basic_gl_setup()
    g_pool.image_tex = Named_Texture()
    g_pool.image_tex.update_from_frame(frame)
    # refresh speed settings
    glfw.glfwSwapInterval(0)

    #trigger setup of window and gl sizes
    on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

    #now the we have  aproper window we can load the last gui configuration
    g_pool.gui.configuration = session_settings.get('ui_config', {})

    #set up performace 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"

    pupil_graph = graph.Bar_Graph(max_val=1.0)
    pupil_graph.pos = (260, 130)
    pupil_graph.update_rate = 5
    pupil_graph.label = "Confidence: %0.2f"

    if session_settings.get('eye1_process_alive', False):
        launch_eye_process(1, blocking=True)
    if session_settings.get('eye0_process_alive', True):
        launch_eye_process(0, blocking=False)

    # Event loop
    while not glfw.glfwWindowShouldClose(main_window):

        # 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")
            break

        #update performace graphs
        t = frame.timestamp
        dt, ts = t - ts, t
        try:
            fps_graph.add(1. / dt)
        except ZeroDivisionError:
            pass
        cpu_graph.update()

        #a dictionary that allows plugins to post and read events
        events = {}

        #report time between now and the last loop interation
        events['dt'] = get_dt()

        #receive and map pupil positions
        recent_pupil_positions = []
        while not g_pool.pupil_queue.empty():
            p = g_pool.pupil_queue.get()
            recent_pupil_positions.append(p)
            pupil_graph.add(p['confidence'])
        events['pupil_positions'] = recent_pupil_positions

        # publish delayed notifiactions when their time has come.
        for n in g_pool.delayed_notifications.values():
            if n['_notify_time_'] < time():
                del n['_notify_time_']
                del g_pool.delayed_notifications[n['subject']]
                g_pool.notifications.append(n)

        # notify each plugin if there are new notifications:
        while g_pool.notifications:
            n = g_pool.notifications.pop(0)
            for p in g_pool.plugins:
                p.on_notify(n)

        # allow each Plugin to do its work.
        for p in g_pool.plugins:
            p.update(frame, events)

        #check if a plugin need to be destroyed
        g_pool.plugins.clean()

        # render camera image
        glfw.glfwMakeContextCurrent(main_window)
        if g_pool.iconified:
            pass
        else:
            g_pool.image_tex.update_from_frame(frame)

        make_coord_system_norm_based()
        g_pool.image_tex.draw()
        make_coord_system_pixel_based((frame.height, frame.width, 3))
        # render visual feedback from loaded plugins
        for p in g_pool.plugins:
            p.gl_display()

        if not g_pool.iconified:
            graph.push_view()
            fps_graph.draw()
            cpu_graph.draw()
            pupil_graph.draw()
            graph.pop_view()
            g_pool.gui.update()
            glfw.glfwSwapBuffers(main_window)
        glfw.glfwPollEvents()

    glfw.glfwRestoreWindow(main_window)  #need to do this for windows os
    session_settings['loaded_plugins'] = g_pool.plugins.get_initializers()
    session_settings[
        'pupil_confidence_threshold'] = g_pool.pupil_confidence_threshold
    session_settings['gui_scale'] = g_pool.gui.scale
    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['eye0_process_alive'] = eyes_are_alive[0].value
    session_settings['eye1_process_alive'] = eyes_are_alive[1].value
    session_settings['detection_mapping_mode'] = g_pool.detection_mapping_mode
    session_settings['audio_mode'] = audio.audio_mode
    session_settings.close()

    # de-init all running plugins
    for p in g_pool.plugins:
        p.alive = False
    g_pool.plugins.clean()
    g_pool.gui.terminate()
    glfw.glfwDestroyWindow(main_window)
    glfw.glfwTerminate()
    cap.close()

    #shut down eye processes:
    stop_eye_process(0)
    stop_eye_process(1)

    #shut down laucher
    lauchner_pipe.send("Exit")

    logger.debug("world process done")
Esempio n. 4
0
def eye(
    timebase,
    is_alive_flag,
    ipc_pub_url,
    ipc_sub_url,
    ipc_push_url,
    user_dir,
    version,
    eye_id,
    overwrite_cap_settings=None,
):
    """reads eye video and detects the pupil.

    Creates a window, gl context.
    Grabs images from a capture.
    Streams Pupil coordinates.

    Reacts to notifications:
       ``set_detection_mapping_mode``: Sets detection method
       ``eye_process.should_stop``: Stops the eye process
       ``recording.started``: Starts recording eye video
       ``recording.stopped``: Stops recording eye video
       ``frame_publishing.started``: Starts frame publishing
       ``frame_publishing.stopped``: Stops frame publishing

    Emits notifications:
        ``eye_process.started``: Eye process started
        ``eye_process.stopped``: Eye process stopped

    Emits data:
        ``pupil.<eye id>``: Pupil data for eye with id ``<eye id>``
        ``frame.eye.<eye id>``: Eye frames with id ``<eye id>``
    """

    # We deferr the imports becasue of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    import zmq
    import zmq_tools

    zmq_ctx = zmq.Context()
    ipc_socket = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    pupil_socket = zmq_tools.Msg_Streamer(zmq_ctx, ipc_pub_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx, ipc_sub_url, topics=("notify",))

    # logging setup
    import logging

    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    logger = logging.getLogger()
    logger.handlers = []
    logger.setLevel(logging.NOTSET)
    logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
    # create logger for the context of this function
    logger = logging.getLogger(__name__)

    if is_alive_flag.value:
        # indicates eye process that this is a duplicated startup
        logger.warning("Aborting redundant eye process startup")
        return

    with Is_Alive_Manager(is_alive_flag, ipc_socket, eye_id, logger):
        # general imports
        import traceback
        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
        from pyglui.cygl.utils import Named_Texture
        from gl_utils import basic_gl_setup, adjust_gl_view, clear_gl_screen
        from gl_utils import make_coord_system_pixel_based
        from gl_utils import make_coord_system_norm_based
        from gl_utils import is_window_visible, glViewport
        from ui_roi import UIRoi

        # monitoring
        import psutil

        # helpers/utils
        from uvc import get_time_monotonic
        from file_methods import Persistent_Dict
        from version_utils import VersionFormat
        from methods import normalize, denormalize, timer
        from av_writer import JPEG_Writer, AV_Writer
        from ndsi import H264Writer
        from video_capture import source_classes
        from video_capture import manager_classes

        from background_helper import IPC_Logging_Task_Proxy

        IPC_Logging_Task_Proxy.push_url = ipc_push_url

        # Pupil detectors
        from pupil_detectors import Detector_2D, Detector_3D, Detector_Dummy

        pupil_detectors = {
            Detector_2D.__name__: Detector_2D,
            Detector_3D.__name__: Detector_3D,
            Detector_Dummy.__name__: Detector_Dummy,
        }

        # UI Platform tweaks
        if platform.system() == "Linux":
            scroll_factor = 10.0
            window_position_default = (600, 300 * eye_id + 30)
        elif platform.system() == "Windows":
            scroll_factor = 10.0
            window_position_default = (600, 90 + 300 * eye_id)
        else:
            scroll_factor = 1.0
            window_position_default = (600, 300 * eye_id)

        icon_bar_width = 50
        window_size = None
        camera_render_size = None
        hdpi_factor = 1.0

        # g_pool holds variables for this process
        g_pool = SimpleNamespace()

        # make some constants avaiable
        g_pool.user_dir = user_dir
        g_pool.version = version
        g_pool.app = "capture"
        g_pool.process = "eye{}".format(eye_id)
        g_pool.timebase = timebase

        g_pool.ipc_pub = ipc_socket

        def get_timestamp():
            return get_time_monotonic() - g_pool.timebase.value

        g_pool.get_timestamp = get_timestamp
        g_pool.get_now = get_time_monotonic

        # Callback functions
        def on_resize(window, w, h):
            nonlocal window_size
            nonlocal camera_render_size
            nonlocal hdpi_factor

            active_window = glfw.glfwGetCurrentContext()
            glfw.glfwMakeContextCurrent(window)
            hdpi_factor = glfw.getHDPIFactor(window)
            g_pool.gui.scale = g_pool.gui_user_scale * hdpi_factor
            window_size = w, h
            camera_render_size = w - int(icon_bar_width * g_pool.gui.scale), h
            g_pool.gui.update_window(w, h)
            g_pool.gui.collect_menus()
            for g in g_pool.graphs:
                g.scale = hdpi_factor
                g.adjust_window_size(w, h)
            adjust_gl_view(w, h)
            glfw.glfwMakeContextCurrent(active_window)

        def on_window_key(window, key, scancode, action, mods):
            g_pool.gui.update_key(key, scancode, action, mods)

        def on_window_char(window, char):
            g_pool.gui.update_char(char)

        def on_iconify(window, iconified):
            g_pool.iconified = iconified

        def on_window_mouse_button(window, button, action, mods):
            g_pool.gui.update_button(button, action, mods)

        def on_pos(window, x, y):
            x *= hdpi_factor
            y *= hdpi_factor
            g_pool.gui.update_mouse(x, y)

            if g_pool.u_r.active_edit_pt:
                pos = normalize((x, y), camera_render_size)
                if g_pool.flip:
                    pos = 1 - pos[0], 1 - pos[1]
                pos = denormalize(pos, g_pool.capture.frame_size)
                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)

        def on_drop(window, count, paths):
            paths = [paths[x].decode("utf-8") for x in range(count)]
            plugins = (g_pool.capture_manager, g_pool.capture)
            # call `on_drop` callbacks until a plugin indicates
            # that it has consumed the event (by returning True)
            any(p.on_drop(paths) for p in plugins)

        # load session persistent settings
        session_settings = Persistent_Dict(
            os.path.join(g_pool.user_dir, "user_settings_eye{}".format(eye_id))
        )
        if VersionFormat(session_settings.get("version", "0.0")) != g_pool.version:
            logger.info(
                "Session setting are from a different version of this app. I will not use those."
            )
            session_settings.clear()

        g_pool.iconified = False
        g_pool.capture = None
        g_pool.capture_manager = None
        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.",
        }

        capture_manager_settings = session_settings.get(
            "capture_manager_settings", ("UVC_Manager", {})
        )

        manager_class_name, manager_settings = capture_manager_settings
        manager_class_by_name = {c.__name__: c for c in manager_classes}
        g_pool.capture_manager = manager_class_by_name[manager_class_name](
            g_pool, **manager_settings
        )

        if eye_id == 0:
            cap_src = ["Pupil Cam3 ID0", "Pupil Cam2 ID0", "Pupil Cam1 ID0", "HD-6000"]
        else:
            cap_src = ["Pupil Cam3 ID1", "Pupil Cam2 ID1", "Pupil Cam1 ID1"]

        # Initialize capture
        default_settings = (
            "UVC_Source",
            {"preferred_names": cap_src, "frame_size": (320, 240), "frame_rate": 120},
        )

        capture_source_settings = overwrite_cap_settings or session_settings.get(
            "capture_settings", default_settings
        )
        source_class_name, source_settings = capture_source_settings
        source_class_by_name = {c.__name__: c for c in source_classes}
        g_pool.capture = source_class_by_name[source_class_name](
            g_pool, **source_settings
        )
        assert g_pool.capture

        g_pool.u_r = UIRoi((g_pool.capture.frame_size[1], g_pool.capture.frame_size[0]))
        roi_user_settings = session_settings.get("roi")
        if roi_user_settings and tuple(roi_user_settings[-1]) == g_pool.u_r.get()[-1]:
            g_pool.u_r.set(roi_user_settings)

        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)

        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.deinit_ui()
            g_pool.pupil_detector.cleanup()
            g_pool.pupil_detector = new_detector(g_pool)
            g_pool.pupil_detector.init_ui()

        def toggle_general_settings(collapsed):
            # this is the menu toggle logic.
            # Only one menu can be open.
            # If no menu is open the menubar should collapse.
            g_pool.menubar.collapsed = collapsed
            for m in g_pool.menubar.elements:
                m.collapsed = True
            general_settings.collapsed = collapsed

        # Initialize glfw
        glfw.glfwInit()
        title = "Pupil Capture - eye {}".format(eye_id)

        width, height = g_pool.capture.frame_size
        width *= 2
        height *= 2
        width += icon_bar_width
        width, height = session_settings.get("window_size", (width, 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()

        # UI callback functions
        def set_scale(new_scale):
            g_pool.gui_user_scale = new_scale
            on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        # gl_state settings
        basic_gl_setup()
        g_pool.image_tex = Named_Texture()
        g_pool.image_tex.update_from_ndarray(np.ones((1, 1), dtype=np.uint8) + 125)

        # setup GUI
        g_pool.gui = ui.UI()
        g_pool.gui_user_scale = session_settings.get("gui_scale", 1.0)
        g_pool.menubar = ui.Scrolling_Menu(
            "Settings", pos=(-500, 0), size=(-icon_bar_width, 0), header_pos="left"
        )
        g_pool.iconbar = ui.Scrolling_Menu(
            "Icons", pos=(-icon_bar_width, 0), size=(0, 0), header_pos="hidden"
        )
        g_pool.gui.append(g_pool.menubar)
        g_pool.gui.append(g_pool.iconbar)

        general_settings = ui.Growing_Menu("General", header_pos="headline")
        general_settings.append(
            ui.Selector(
                "gui_user_scale",
                g_pool,
                setter=set_scale,
                selection=[0.8, 0.9, 1.0, 1.1, 1.2],
                label="Interface Size",
            )
        )

        def set_window_size():
            f_width, f_height = g_pool.capture.frame_size
            f_width *= 2
            f_height *= 2
            f_width += int(icon_bar_width * g_pool.gui.scale)
            glfw.glfwSetWindowSize(main_window, f_width, f_height)

        def uroi_on_mouse_button(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
                    # if the roi interacts we dont want
                    # the gui to interact as well
                    return
                elif action == glfw.GLFW_PRESS:
                    x, y = glfw.glfwGetCursorPos(main_window)
                    # pos = normalize(pos, glfw.glfwGetWindowSize(main_window))
                    x *= hdpi_factor
                    y *= hdpi_factor
                    pos = normalize((x, y), camera_render_size)
                    if g_pool.flip:
                        pos = 1 - pos[0], 1 - pos[1]
                    # Position in img pixels
                    pos = denormalize(
                        pos, g_pool.capture.frame_size
                    )  # Position in img pixels
                    if g_pool.u_r.mouse_over_edit_pt(
                        pos, g_pool.u_r.handle_size, g_pool.u_r.handle_size
                    ):
                        # if the roi interacts we dont want
                        # the gui to interact as well
                        return

        general_settings.append(ui.Button("Reset window size", set_window_size))
        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)

        detector_selector = ui.Selector(
            "pupil_detector",
            getter=lambda: g_pool.pupil_detector.__class__,
            setter=set_detector,
            selection=[Detector_Dummy, Detector_2D, Detector_3D],
            labels=["disabled", "C++ 2d detector", "C++ 3d detector"],
            label="Detection method",
        )
        general_settings.append(detector_selector)

        g_pool.menubar.append(general_settings)
        icon = ui.Icon(
            "collapsed",
            general_settings,
            label=chr(0xE8B8),
            on_val=False,
            off_val=True,
            setter=toggle_general_settings,
            label_font="pupil_icons",
        )
        icon.tooltip = "General Settings"
        g_pool.iconbar.append(icon)
        toggle_general_settings(False)

        g_pool.pupil_detector.init_ui()
        g_pool.capture.init_ui()
        g_pool.capture_manager.init_ui()
        g_pool.writer = None

        def replace_source(source_class_name, source_settings):
            g_pool.capture.deinit_ui()
            g_pool.capture.cleanup()
            g_pool.capture = source_class_by_name[source_class_name](
                g_pool, **source_settings
            )
            g_pool.capture.init_ui()
            if g_pool.writer:
                logger.info("Done recording.")
                try:
                    g_pool.writer.release()
                except RuntimeError:
                    logger.error("No eye video recorded")
                g_pool.writer = None

        g_pool.replace_source = replace_source  # for ndsi capture

        # Register callbacks main_window
        glfw.glfwSetFramebufferSizeCallback(main_window, on_resize)
        glfw.glfwSetWindowIconifyCallback(main_window, on_iconify)
        glfw.glfwSetKeyCallback(main_window, on_window_key)
        glfw.glfwSetCharCallback(main_window, on_window_char)
        glfw.glfwSetMouseButtonCallback(main_window, on_window_mouse_button)
        glfw.glfwSetCursorPosCallback(main_window, on_pos)
        glfw.glfwSetScrollCallback(main_window, on_scroll)
        glfw.glfwSetDropCallback(main_window, on_drop)

        # 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 = g_pool.get_timestamp()

        cpu_graph = graph.Bar_Graph()
        cpu_graph.pos = (20, 50)
        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, 50)
        fps_graph.update_rate = 5
        fps_graph.label = "%0.0f FPS"
        g_pool.graphs = [cpu_graph, fps_graph]

        # set the last saved window size
        on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        should_publish_frames = False
        frame_publish_format = "jpeg"
        frame_publish_format_recent_warning = False

        # create a timer to control window update frequency
        window_update_timer = timer(1 / 60)

        def window_should_update():
            return next(window_update_timer)

        logger.warning("Process started.")

        frame = None

        # Event loop
        while not glfw.glfwWindowShouldClose(main_window):

            if notify_sub.new_data:
                t, notification = notify_sub.recv()
                subject = notification["subject"]
                if subject.startswith("eye_process.should_stop"):
                    if notification["eye_id"] == eye_id:
                        break
                elif subject == "set_detection_mapping_mode":
                    if notification["mode"] == "3d":
                        if not isinstance(g_pool.pupil_detector, Detector_3D):
                            set_detector(Detector_3D)
                        detector_selector.read_only = True
                    elif notification["mode"] == "2d":
                        if not isinstance(g_pool.pupil_detector, Detector_2D):
                            set_detector(Detector_2D)
                        detector_selector.read_only = False
                    else:
                        if not isinstance(g_pool.pupil_detector, Detector_Dummy):
                            set_detector(Detector_Dummy)
                        detector_selector.read_only = True
                elif subject == "recording.started":
                    if notification["record_eye"] and g_pool.capture.online:
                        record_path = notification["rec_path"]
                        raw_mode = notification["compression"]
                        logger.info("Will save eye video to: {}".format(record_path))
                        video_path = os.path.join(
                            record_path, "eye{}.mp4".format(eye_id)
                        )
                        if raw_mode and frame and g_pool.capture.jpeg_support:
                            g_pool.writer = JPEG_Writer(
                                video_path, g_pool.capture.frame_rate
                            )
                        elif hasattr(g_pool.capture._recent_frame, "h264_buffer"):
                            g_pool.writer = H264Writer(
                                video_path,
                                g_pool.capture.frame_size[0],
                                g_pool.capture.frame_size[1],
                                g_pool.capture.frame_rate,
                            )
                        else:
                            g_pool.writer = AV_Writer(
                                video_path, g_pool.capture.frame_rate
                            )
                elif subject == "recording.stopped":
                    if g_pool.writer:
                        logger.info("Done recording.")
                        try:
                            g_pool.writer.release()
                        except RuntimeError:
                            logger.error("No eye video recorded")
                        g_pool.writer = None
                elif subject.startswith("meta.should_doc"):
                    ipc_socket.notify(
                        {
                            "subject": "meta.doc",
                            "actor": "eye{}".format(eye_id),
                            "doc": eye.__doc__,
                        }
                    )
                elif subject.startswith("frame_publishing.started"):
                    should_publish_frames = True
                    frame_publish_format = notification.get("format", "jpeg")
                elif subject.startswith("frame_publishing.stopped"):
                    should_publish_frames = False
                    frame_publish_format = "jpeg"
                elif (
                    subject.startswith("start_eye_capture")
                    and notification["target"] == g_pool.process
                ):
                    replace_source(notification["name"], notification["args"])
                elif notification["subject"].startswith("pupil_detector.set_property"):
                    target_process = notification.get("target", g_pool.process)
                    should_apply = target_process == g_pool.process

                    if should_apply:
                        try:
                            property_name = notification["name"]
                            property_value = notification["value"]
                            if "2d" in notification["subject"]:
                                g_pool.pupil_detector.set_2d_detector_property(
                                    property_name, property_value
                                )
                            elif "3d" in notification["subject"]:
                                if not isinstance(g_pool.pupil_detector, Detector_3D):
                                    raise ValueError(
                                        "3d properties are only available"
                                        " if 3d detector is active"
                                    )
                                g_pool.pupil_detector.set_3d_detector_property(
                                    property_name, property_value
                                )
                            else:
                                raise KeyError(
                                    "Notification subject does not "
                                    "specifiy detector type."
                                )
                            logger.debug(
                                "`{}` property set to {}".format(
                                    property_name, property_value
                                )
                            )
                        except KeyError:
                            logger.error("Malformed notification received")
                            logger.debug(traceback.format_exc())
                        except (ValueError, TypeError):
                            logger.error("Invalid property or value")
                            logger.debug(traceback.format_exc())
                elif notification["subject"].startswith(
                    "pupil_detector.broadcast_properties"
                ):
                    target_process = notification.get("target", g_pool.process)
                    should_respond = target_process == g_pool.process
                    if should_respond:
                        props = g_pool.pupil_detector.get_detector_properties()
                        properties_broadcast = {
                            "subject": "pupil_detector.properties.{}".format(eye_id),
                            **props,  # add properties to broadcast
                        }
                        ipc_socket.notify(properties_broadcast)
                g_pool.capture.on_notify(notification)
                g_pool.capture_manager.on_notify(notification)

            # Get an image from the grabber
            event = {}
            g_pool.capture.recent_events(event)
            frame = event.get("frame")
            g_pool.capture_manager.recent_events(event)
            if frame:
                f_width, f_height = g_pool.capture.frame_size
                if (g_pool.u_r.array_shape[0], g_pool.u_r.array_shape[1]) != (
                    f_height,
                    f_width,
                ):
                    g_pool.pupil_detector.on_resolution_change(
                        (g_pool.u_r.array_shape[1], g_pool.u_r.array_shape[0]),
                        g_pool.capture.frame_size,
                    )
                    g_pool.u_r = UIRoi((f_height, f_width))
                if should_publish_frames:
                    try:
                        if frame_publish_format == "jpeg":
                            data = frame.jpeg_buffer
                        elif frame_publish_format == "yuv":
                            data = frame.yuv_buffer
                        elif frame_publish_format == "bgr":
                            data = frame.bgr
                        elif frame_publish_format == "gray":
                            data = frame.gray
                        assert data is not None
                    except (AttributeError, AssertionError, NameError):
                        if not frame_publish_format_recent_warning:
                            frame_publish_format_recent_warning = True
                            logger.warning(
                                '{}s are not compatible with format "{}"'.format(
                                    type(frame), frame_publish_format
                                )
                            )
                    else:
                        frame_publish_format_recent_warning = False
                        pupil_socket.send(
                            {
                                "topic": "frame.eye.{}".format(eye_id),
                                "width": frame.width,
                                "height": frame.height,
                                "index": frame.index,
                                "timestamp": frame.timestamp,
                                "format": frame_publish_format,
                                "__raw_data__": [data],
                            }
                        )

                t = frame.timestamp
                dt, ts = t - ts, t
                try:
                    fps_graph.add(1.0 / dt)
                except ZeroDivisionError:
                    pass

                if g_pool.writer:
                    g_pool.writer.write_video_frame(frame)

                # pupil ellipse detection
                result = g_pool.pupil_detector.detect(
                    frame, g_pool.u_r, g_pool.display_mode == "algorithm"
                )
                if result is not None:
                    result["id"] = eye_id
                    result["topic"] = "pupil.{}".format(eye_id)
                    pupil_socket.send(result)

            cpu_graph.update()

            # GL drawing
            if window_should_update():
                if is_window_visible(main_window):
                    glfw.glfwMakeContextCurrent(main_window)
                    clear_gl_screen()

                    if frame:
                        # 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
                    glViewport(0, 0, *camera_render_size)
                    make_coord_system_norm_based(g_pool.flip)
                    g_pool.image_tex.draw()

                    f_width, f_height = g_pool.capture.frame_size
                    make_coord_system_pixel_based((f_height, f_width, 3), g_pool.flip)
                    if frame and result:
                        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(0.0, 0.9, 0.1, result["model_confidence"]),
                                )
                        if result["confidence"] > 0:
                            if "ellipse" in result:
                                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
                                draw_polyline(pts, 1, RGBA(1.0, 0, 0, confidence))
                                draw_points(
                                    [result["ellipse"]["center"]],
                                    size=20,
                                    color=RGBA(1.0, 0.0, 0.0, confidence),
                                    sharpness=1.0,
                                )

                    glViewport(0, 0, *camera_render_size)
                    make_coord_system_pixel_based((f_height, f_width, 3), g_pool.flip)
                    # render the ROI
                    g_pool.u_r.draw(g_pool.gui.scale)
                    if g_pool.display_mode == "roi":
                        g_pool.u_r.draw_points(g_pool.gui.scale)

                    glViewport(0, 0, *window_size)
                    make_coord_system_pixel_based((*window_size[::-1], 3), g_pool.flip)
                    # render graphs
                    fps_graph.draw()
                    cpu_graph.draw()

                    # render GUI
                    unused_elements = g_pool.gui.update()
                    for butt in unused_elements.buttons:
                        uroi_on_mouse_button(*butt)

                    make_coord_system_pixel_based((*window_size[::-1], 3), g_pool.flip)

                    g_pool.pupil_detector.visualize()  # detector decides if we visualize or not

                    # update screen
                    glfw.glfwSwapBuffers(main_window)
                glfw.glfwPollEvents()

        # END while running

        # in case eye recording was still runnnig: Save&close
        if g_pool.writer:
            logger.info("Done recording eye.")
            g_pool.writer = None

        glfw.glfwRestoreWindow(main_window)  # need to do this for windows os
        # save session persistent settings
        session_settings["gui_scale"] = g_pool.gui_user_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.class_name,
            g_pool.capture.get_init_dict(),
        )
        session_settings["capture_manager_settings"] = (
            g_pool.capture_manager.class_name,
            g_pool.capture_manager.get_init_dict(),
        )
        session_settings["window_position"] = glfw.glfwGetWindowPos(main_window)
        session_settings["version"] = str(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_window_size = glfw.glfwGetWindowSize(main_window)
        if 0 not in session_window_size:
            session_settings["window_size"] = session_window_size

        session_settings.close()

        g_pool.capture.deinit_ui()
        g_pool.capture_manager.deinit_ui()
        g_pool.pupil_detector.deinit_ui()

        g_pool.pupil_detector.cleanup()
        g_pool.capture_manager.cleanup()
        g_pool.capture.cleanup()

        glfw.glfwDestroyWindow(main_window)
        g_pool.gui.terminate()
        glfw.glfwTerminate()
        logger.info("Process shutting down.")
Esempio n. 5
0
def world(
    timebase,
    eye_procs_alive,
    ipc_pub_url,
    ipc_sub_url,
    ipc_push_url,
    user_dir,
    version,
    preferred_remote_port,
    hide_ui,
):
    """Reads world video and runs plugins.

    Creates a window, gl context.
    Grabs images from a capture.
    Maps pupil to gaze data
    Can run various plug-ins.

    Reacts to notifications:
        ``set_detection_mapping_mode``
        ``eye_process.started``
        ``start_plugin``

    Emits notifications:
        ``eye_process.should_start``
        ``eye_process.should_stop``
        ``set_detection_mapping_mode``
        ``world_process.started``
        ``world_process.stopped``
        ``recording.should_stop``: Emits on camera failure
        ``launcher_process.should_stop``

    Emits data:
        ``gaze``: Gaze data from current gaze mapping plugin.``
        ``*``: any other plugin generated data in the events
               that it not [dt,pupil,gaze].
    """

    # We defer the imports because of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    # This is not harmful but unnecessary.

    # general imports
    from time import sleep
    import logging

    # networking
    import zmq
    import zmq_tools

    # zmq ipc setup
    zmq_ctx = zmq.Context()
    ipc_pub = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx,
                                        ipc_sub_url,
                                        topics=("notify", ))

    # log setup
    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    logger = logging.getLogger()
    logger.handlers = []
    logger.setLevel(logging.NOTSET)
    logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
    # create logger for the context of this function
    logger = logging.getLogger(__name__)

    def launch_eye_process(eye_id, delay=0):
        n = {
            "subject": "eye_process.should_start.{}".format(eye_id),
            "eye_id": eye_id,
            "delay": delay,
        }
        ipc_pub.notify(n)

    def stop_eye_process(eye_id):
        n = {
            "subject": "eye_process.should_stop.{}".format(eye_id),
            "eye_id": eye_id,
            "delay": 0.2,
        }
        ipc_pub.notify(n)

    def start_stop_eye(eye_id, make_alive):
        if make_alive:
            launch_eye_process(eye_id)
        else:
            stop_eye_process(eye_id)

    def set_detection_mapping_mode(new_mode):
        n = {"subject": "set_detection_mapping_mode", "mode": new_mode}
        ipc_pub.notify(n)

    try:
        from background_helper import IPC_Logging_Task_Proxy

        IPC_Logging_Task_Proxy.push_url = ipc_push_url

        from tasklib.background.patches import IPCLoggingPatch

        IPCLoggingPatch.ipc_push_url = ipc_push_url

        # display
        import glfw
        from version_utils import VersionFormat
        from pyglui import ui, cygl, __version__ as pyglui_version

        assert VersionFormat(pyglui_version) >= VersionFormat(
            "1.24"), "pyglui out of date, please upgrade to newest version"
        from pyglui.cygl.utils import Named_Texture
        import gl_utils

        # helpers/utils
        from file_methods import Persistent_Dict
        from methods import normalize, denormalize, delta_t, get_system_info, timer
        from uvc import get_time_monotonic

        logger.info("Application Version: {}".format(version))
        logger.info("System Info: {}".format(get_system_info()))

        import audio

        # trigger pupil detector cpp build:
        import pupil_detectors

        del pupil_detectors

        # Plug-ins
        from plugin import (
            Plugin,
            System_Plugin_Base,
            Plugin_List,
            import_runtime_plugins,
        )
        from plugin_manager import Plugin_Manager
        from calibration_routines import (
            calibration_plugins,
            gaze_mapping_plugins,
            Calibration_Plugin,
            Gaze_Mapping_Plugin,
        )
        from fixation_detector import Fixation_Detector
        from recorder import Recorder
        from display_recent_gaze import Display_Recent_Gaze
        from time_sync import Time_Sync
        from pupil_remote import Pupil_Remote
        from pupil_groups import Pupil_Groups
        from surface_tracker import Surface_Tracker_Online
        from log_display import Log_Display
        from annotations import Annotation_Capture
        from log_history import Log_History
        from frame_publisher import Frame_Publisher
        from blink_detection import Blink_Detection
        from video_capture import (
            source_classes,
            manager_classes,
            Base_Manager,
            Base_Source,
        )
        from pupil_data_relay import Pupil_Data_Relay
        from remote_recorder import Remote_Recorder
        from audio_capture import Audio_Capture
        from accuracy_visualizer import Accuracy_Visualizer

        # from saccade_detector import Saccade_Detector
        from system_graphs import System_Graphs
        from camera_intrinsics_estimation import Camera_Intrinsics_Estimation
        from hololens_relay import Hololens_Relay
        from head_pose_tracker.online_head_pose_tracker import Online_Head_Pose_Tracker

        # UI Platform tweaks
        if platform.system() == "Linux":
            scroll_factor = 10.0
            window_position_default = (30, 30)
        elif platform.system() == "Windows":
            scroll_factor = 10.0
            window_position_default = (8, 90)
        else:
            scroll_factor = 1.0
            window_position_default = (0, 0)

        process_was_interrupted = False

        def interrupt_handler(sig, frame):
            import traceback

            trace = traceback.format_stack(f=frame)
            logger.debug(f"Caught signal {sig} in:\n" + "".join(trace))
            nonlocal process_was_interrupted
            process_was_interrupted = True

        signal.signal(signal.SIGINT, interrupt_handler)

        icon_bar_width = 50
        window_size = None
        camera_render_size = None
        hdpi_factor = 1.0

        # g_pool holds variables for this process they are accessible to all plugins
        g_pool = SimpleNamespace()
        g_pool.app = "capture"
        g_pool.process = "world"
        g_pool.user_dir = user_dir
        g_pool.version = version
        g_pool.timebase = timebase
        g_pool.zmq_ctx = zmq_ctx
        g_pool.ipc_pub = ipc_pub
        g_pool.ipc_pub_url = ipc_pub_url
        g_pool.ipc_sub_url = ipc_sub_url
        g_pool.ipc_push_url = ipc_push_url
        g_pool.eye_procs_alive = eye_procs_alive
        g_pool.preferred_remote_port = preferred_remote_port

        def get_timestamp():
            return get_time_monotonic() - g_pool.timebase.value

        g_pool.get_timestamp = get_timestamp
        g_pool.get_now = get_time_monotonic

        # manage plugins
        runtime_plugins = import_runtime_plugins(
            os.path.join(g_pool.user_dir, "plugins"))
        user_plugins = [
            Audio_Capture,
            Pupil_Groups,
            Frame_Publisher,
            Pupil_Remote,
            Time_Sync,
            Surface_Tracker_Online,
            Annotation_Capture,
            Log_History,
            Fixation_Detector,
            Blink_Detection,
            Remote_Recorder,
            Accuracy_Visualizer,
            Camera_Intrinsics_Estimation,
            Hololens_Relay,
            Online_Head_Pose_Tracker,
        ]

        system_plugins = ([
            Log_Display,
            Display_Recent_Gaze,
            Recorder,
            Pupil_Data_Relay,
            Plugin_Manager,
            System_Graphs,
        ] + manager_classes + source_classes)
        plugins = (system_plugins + user_plugins + runtime_plugins +
                   calibration_plugins + gaze_mapping_plugins)
        user_plugins += [
            p for p in runtime_plugins if not isinstance(
                p,
                (
                    Base_Manager,
                    Base_Source,
                    System_Plugin_Base,
                    Calibration_Plugin,
                    Gaze_Mapping_Plugin,
                ),
            )
        ]
        g_pool.plugin_by_name = {p.__name__: p for p in plugins}

        default_capture_settings = {
            "preferred_names": [
                "Pupil Cam1 ID2",
                "Logitech Camera",
                "(046d:081d)",
                "C510",
                "B525",
                "C525",
                "C615",
                "C920",
                "C930e",
            ],
            "frame_size": (1280, 720),
            "frame_rate":
            30,
        }

        default_plugins = [
            ("UVC_Source", default_capture_settings),
            ("Pupil_Data_Relay", {}),
            ("UVC_Manager", {}),
            ("Log_Display", {}),
            ("Dummy_Gaze_Mapper", {}),
            ("Display_Recent_Gaze", {}),
            ("Screen_Marker_Calibration", {}),
            ("Recorder", {}),
            ("Pupil_Remote", {}),
            ("Accuracy_Visualizer", {}),
            ("Plugin_Manager", {}),
            ("System_Graphs", {}),
        ]

        # Callback functions
        def on_resize(window, w, h):
            nonlocal window_size
            nonlocal camera_render_size
            nonlocal hdpi_factor
            if w == 0 or h == 0:
                return
            hdpi_factor = glfw.getHDPIFactor(window)
            g_pool.gui.scale = g_pool.gui_user_scale * hdpi_factor
            window_size = w, h
            camera_render_size = w - int(icon_bar_width * g_pool.gui.scale), h
            g_pool.gui.update_window(*window_size)
            g_pool.gui.collect_menus()

            for p in g_pool.plugins:
                p.on_window_resize(window, *camera_render_size)

        def on_window_key(window, key, scancode, action, mods):
            g_pool.gui.update_key(key, scancode, action, mods)

        def on_window_char(window, char):
            g_pool.gui.update_char(char)

        def on_window_mouse_button(window, button, action, mods):
            g_pool.gui.update_button(button, action, mods)

        def on_pos(window, x, y):
            x, y = x * hdpi_factor, y * hdpi_factor
            g_pool.gui.update_mouse(x, y)
            pos = x, y
            pos = normalize(pos, camera_render_size)
            # Position in img pixels
            pos = denormalize(pos, g_pool.capture.frame_size)
            for p in g_pool.plugins:
                p.on_pos(pos)

        def on_scroll(window, x, y):
            g_pool.gui.update_scroll(x, y * scroll_factor)

        def on_drop(window, count, paths):
            paths = [paths[x].decode("utf-8") for x in range(count)]
            for plugin in g_pool.plugins:
                if plugin.on_drop(paths):
                    break

        tick = delta_t()

        def get_dt():
            return next(tick)

        # load session persistent settings
        session_settings = Persistent_Dict(
            os.path.join(g_pool.user_dir, "user_settings_world"))
        if VersionFormat(session_settings.get("version",
                                              "0.0")) != g_pool.version:
            logger.info(
                "Session setting are from a different version of this app. I will not use those."
            )
            session_settings.clear()

        g_pool.min_calibration_confidence = session_settings.get(
            "min_calibration_confidence", 0.8)
        g_pool.detection_mapping_mode = session_settings.get(
            "detection_mapping_mode", "3d")
        g_pool.active_calibration_plugin = None
        g_pool.active_gaze_mapping_plugin = None
        g_pool.capture = None

        audio.audio_mode = session_settings.get("audio_mode",
                                                audio.default_audio_mode)

        def handle_notifications(noti):
            subject = noti["subject"]
            if subject == "set_detection_mapping_mode":
                if noti["mode"] == "2d":
                    if ("Vector_Gaze_Mapper"
                            in g_pool.active_gaze_mapping_plugin.class_name):
                        logger.warning(
                            "The gaze mapper is not supported in 2d mode. Please recalibrate."
                        )
                        g_pool.plugins.add(
                            g_pool.plugin_by_name["Dummy_Gaze_Mapper"])
                g_pool.detection_mapping_mode = noti["mode"]
            elif subject == "start_plugin":
                try:
                    g_pool.plugins.add(g_pool.plugin_by_name[noti["name"]],
                                       args=noti.get("args", {}))
                except KeyError as err:
                    logger.error(f"Attempt to load unknown plugin: {err}")
            elif subject == "stop_plugin":
                for p in g_pool.plugins:
                    if p.class_name == noti["name"]:
                        p.alive = False
                        g_pool.plugins.clean()
            elif subject == "eye_process.started":
                noti = {
                    "subject": "set_detection_mapping_mode",
                    "mode": g_pool.detection_mapping_mode,
                }
                ipc_pub.notify(noti)
            elif subject == "set_min_calibration_confidence":
                g_pool.min_calibration_confidence = noti["value"]
            elif subject.startswith("meta.should_doc"):
                ipc_pub.notify({
                    "subject": "meta.doc",
                    "actor": g_pool.app,
                    "doc": world.__doc__
                })
                for p in g_pool.plugins:
                    if (p.on_notify.__doc__
                            and p.__class__.on_notify != Plugin.on_notify):
                        ipc_pub.notify({
                            "subject": "meta.doc",
                            "actor": p.class_name,
                            "doc": p.on_notify.__doc__,
                        })
            elif subject == "world_process.adapt_window_size":
                set_window_size()

        width, height = session_settings.get("window_size",
                                             (1280 + icon_bar_width, 720))

        # window and gl setup
        glfw.glfwInit()
        if hide_ui:
            glfw.glfwWindowHint(glfw.GLFW_VISIBLE, 0)  # hide window
        main_window = glfw.glfwCreateWindow(width, height,
                                            "Pupil Capture - World")
        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()
        g_pool.main_window = main_window

        def set_scale(new_scale):
            g_pool.gui_user_scale = new_scale
            window_size = (
                camera_render_size[0] +
                int(icon_bar_width * g_pool.gui_user_scale * hdpi_factor),
                glfw.glfwGetFramebufferSize(main_window)[1],
            )
            logger.warning(icon_bar_width * g_pool.gui_user_scale *
                           hdpi_factor)
            glfw.glfwSetWindowSize(main_window, *window_size)

        def reset_restart():
            logger.warning("Resetting all settings and restarting Capture.")
            glfw.glfwSetWindowShouldClose(main_window, True)
            ipc_pub.notify({"subject": "clear_settings_process.should_start"})
            ipc_pub.notify({
                "subject": "world_process.should_start",
                "delay": 2.0
            })

        def toggle_general_settings(collapsed):
            # this is the menu toggle logic.
            # Only one menu can be open.
            # If no menu is opened, the menubar should collapse.
            g_pool.menubar.collapsed = collapsed
            for m in g_pool.menubar.elements:
                m.collapsed = True
            general_settings.collapsed = collapsed

        # setup GUI
        g_pool.gui = ui.UI()
        g_pool.gui_user_scale = session_settings.get("gui_scale", 1.0)
        g_pool.menubar = ui.Scrolling_Menu("Settings",
                                           pos=(-400, 0),
                                           size=(-icon_bar_width, 0),
                                           header_pos="left")
        g_pool.iconbar = ui.Scrolling_Menu("Icons",
                                           pos=(-icon_bar_width, 0),
                                           size=(0, 0),
                                           header_pos="hidden")
        g_pool.quickbar = ui.Stretching_Menu("Quick Bar", (0, 100),
                                             (120, -100))
        g_pool.gui.append(g_pool.menubar)
        g_pool.gui.append(g_pool.iconbar)
        g_pool.gui.append(g_pool.quickbar)

        general_settings = ui.Growing_Menu("General", header_pos="headline")
        general_settings.append(
            ui.Selector(
                "gui_user_scale",
                g_pool,
                setter=set_scale,
                selection=[0.6, 0.8, 1.0, 1.2, 1.4],
                label="Interface size",
            ))

        def set_window_size():
            f_width, f_height = g_pool.capture.frame_size
            f_width += int(icon_bar_width * g_pool.gui.scale)
            glfw.glfwSetWindowSize(main_window, f_width, f_height)
            on_resize(main_window, f_width, f_height)

        general_settings.append(ui.Button("Reset window size",
                                          set_window_size))
        general_settings.append(
            ui.Selector("audio_mode", audio, selection=audio.audio_modes))
        general_settings.append(
            ui.Selector(
                "detection_mapping_mode",
                g_pool,
                label="detection & mapping mode",
                setter=set_detection_mapping_mode,
                selection=["disabled", "2d", "3d"],
            ))
        general_settings.append(
            ui.Switch(
                "eye0_process",
                label="Detect eye 0",
                setter=lambda alive: start_stop_eye(0, alive),
                getter=lambda: eye_procs_alive[0].value,
            ))
        general_settings.append(
            ui.Switch(
                "eye1_process",
                label="Detect eye 1",
                setter=lambda alive: start_stop_eye(1, alive),
                getter=lambda: eye_procs_alive[1].value,
            ))

        general_settings.append(
            ui.Info_Text("Capture Version: {}".format(g_pool.version)))
        general_settings.append(
            ui.Button("Restart with default settings", reset_restart))

        g_pool.menubar.append(general_settings)
        icon = ui.Icon(
            "collapsed",
            general_settings,
            label=chr(0xE8B8),
            on_val=False,
            off_val=True,
            setter=toggle_general_settings,
            label_font="pupil_icons",
        )
        icon.tooltip = "General Settings"
        g_pool.iconbar.append(icon)

        user_plugin_separator = ui.Separator()
        user_plugin_separator.order = 0.35
        g_pool.iconbar.append(user_plugin_separator)

        # plugins that are loaded based on user settings from previous session
        g_pool.plugins = Plugin_List(
            g_pool, session_settings.get("loaded_plugins", default_plugins))

        # Register callbacks main_window
        glfw.glfwSetFramebufferSizeCallback(main_window, on_resize)
        glfw.glfwSetKeyCallback(main_window, on_window_key)
        glfw.glfwSetCharCallback(main_window, on_window_char)
        glfw.glfwSetMouseButtonCallback(main_window, on_window_mouse_button)
        glfw.glfwSetCursorPosCallback(main_window, on_pos)
        glfw.glfwSetScrollCallback(main_window, on_scroll)
        glfw.glfwSetDropCallback(main_window, on_drop)

        # gl_state settings
        gl_utils.basic_gl_setup()
        g_pool.image_tex = Named_Texture()

        toggle_general_settings(True)

        # now that we have a proper window we can load the last gui configuration
        g_pool.gui.configuration = session_settings.get("ui_config", {})

        # create a timer to control window update frequency
        window_update_timer = timer(1 / 60)

        def window_should_update():
            return next(window_update_timer)

        # trigger setup of window and gl sizes
        on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        if session_settings.get("eye1_process_alive", True):
            launch_eye_process(1, delay=0.6)
        if session_settings.get("eye0_process_alive", True):
            launch_eye_process(0, delay=0.3)

        ipc_pub.notify({"subject": "world_process.started"})
        logger.warning("Process started.")

        # Event loop
        while (not glfw.glfwWindowShouldClose(main_window)
               and not process_was_interrupted):

            # fetch newest notifications
            new_notifications = []
            while notify_sub.new_data:
                t, n = notify_sub.recv()
                new_notifications.append(n)

            # notify each plugin if there are new notifications:
            for n in new_notifications:
                handle_notifications(n)
                for p in g_pool.plugins:
                    p.on_notify(n)

            # a dictionary that allows plugins to post and read events
            events = {}
            # report time between now and the last loop interation
            events["dt"] = get_dt()

            # allow each Plugin to do its work.
            for p in g_pool.plugins:
                p.recent_events(events)

            # check if a plugin need to be destroyed
            g_pool.plugins.clean()

            # "blacklisted" events that were already sent
            del events["pupil"]
            del events["gaze"]
            # delete if exists. More expensive than del, so only use it when key might not exist
            events.pop("annotation", None)

            # send new events to ipc:
            if "frame" in events:
                del events["frame"]  # send explicitly with frame publisher
            if "depth_frame" in events:
                del events["depth_frame"]
            if "audio_packets" in events:
                del events["audio_packets"]
            del events["dt"]  # no need to send this
            for data in events.values():
                assert isinstance(data, (list, tuple))
                for d in data:
                    ipc_pub.send(d)

            glfw.glfwMakeContextCurrent(main_window)
            # render visual feedback from loaded plugins
            glfw.glfwPollEvents()
            if window_should_update() and gl_utils.is_window_visible(
                    main_window):

                gl_utils.glViewport(0, 0, *camera_render_size)
                for p in g_pool.plugins:
                    p.gl_display()

                gl_utils.glViewport(0, 0, *window_size)
                try:
                    clipboard = glfw.glfwGetClipboardString(
                        main_window).decode()
                except AttributeError:  # clipboard is None, might happen on startup
                    clipboard = ""
                g_pool.gui.update_clipboard(clipboard)
                user_input = g_pool.gui.update()
                if user_input.clipboard != clipboard:
                    # only write to clipboard if content changed
                    glfw.glfwSetClipboardString(main_window,
                                                user_input.clipboard.encode())

                for button, action, mods in user_input.buttons:
                    x, y = glfw.glfwGetCursorPos(main_window)
                    pos = x * hdpi_factor, y * hdpi_factor
                    pos = normalize(pos, camera_render_size)
                    # Position in img pixels
                    pos = denormalize(pos, g_pool.capture.frame_size)

                    for plugin in g_pool.plugins:
                        if plugin.on_click(pos, button, action):
                            break

                for key, scancode, action, mods in user_input.keys:
                    for plugin in g_pool.plugins:
                        if plugin.on_key(key, scancode, action, mods):
                            break

                for char_ in user_input.chars:
                    for plugin in g_pool.plugins:
                        if plugin.on_char(char_):
                            break

                glfw.glfwSwapBuffers(main_window)

        session_settings["loaded_plugins"] = g_pool.plugins.get_initializers()
        session_settings["gui_scale"] = g_pool.gui_user_scale
        session_settings["ui_config"] = g_pool.gui.configuration
        session_settings["version"] = str(g_pool.version)
        session_settings["eye0_process_alive"] = eye_procs_alive[0].value
        session_settings["eye1_process_alive"] = eye_procs_alive[1].value
        session_settings[
            "min_calibration_confidence"] = g_pool.min_calibration_confidence
        session_settings[
            "detection_mapping_mode"] = g_pool.detection_mapping_mode
        session_settings["audio_mode"] = audio.audio_mode

        if not hide_ui:
            glfw.glfwRestoreWindow(
                main_window)  # need to do this for windows os
            session_settings["window_position"] = glfw.glfwGetWindowPos(
                main_window)
            session_window_size = glfw.glfwGetWindowSize(main_window)
            if 0 not in session_window_size:
                session_settings["window_size"] = session_window_size

        session_settings.close()

        # de-init all running plugins
        for p in g_pool.plugins:
            p.alive = False
        g_pool.plugins.clean()

        g_pool.gui.terminate()
        glfw.glfwDestroyWindow(main_window)
        glfw.glfwTerminate()

    except Exception:
        import traceback

        trace = traceback.format_exc()
        logger.error("Process Capture crashed with trace:\n{}".format(trace))

    finally:
        # shut down eye processes:
        stop_eye_process(0)
        stop_eye_process(1)

        logger.info("Process shutting down.")
        ipc_pub.notify({"subject": "world_process.stopped"})
        sleep(1.0)
Esempio n. 6
0
def world(
    timebase,
    eye_procs_alive,
    ipc_pub_url,
    ipc_sub_url,
    ipc_push_url,
    user_dir,
    version,
    preferred_remote_port,
):
    """Reads world video and runs plugins.

    Creates a window, gl context.
    Grabs images from a capture.
    Maps pupil to gaze data
    Can run various plug-ins.

    Reacts to notifications:
        ``set_detection_mapping_mode``
        ``eye_process.started``
        ``start_plugin``

    Emits notifications:
        ``eye_process.should_start``
        ``eye_process.should_stop``
        ``set_detection_mapping_mode``
        ``world_process.started``
        ``world_process.stopped``
        ``recording.should_stop``: Emits on camera failure
        ``launcher_process.should_stop``

    Emits data:
        ``gaze``: Gaze data from current gaze mapping plugin.``
        ``*``: any other plugin generated data in the events
               that it not [dt,pupil,gaze].
    """

    # We defer the imports because of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    # This is not harmful but unnecessary.

    # general imports
    from time import sleep
    import logging

    # networking
    import zmq
    import zmq_tools

    # zmq ipc setup
    zmq_ctx = zmq.Context()
    ipc_pub = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx, ipc_sub_url, topics=("notify",))

    # log setup
    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    logger = logging.getLogger()
    logger.handlers = []
    logger.setLevel(logging.NOTSET)
    logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
    # create logger for the context of this function
    logger = logging.getLogger(__name__)

    def launch_eye_process(eye_id, delay=0):
        n = {
            "subject": "eye_process.should_start.{}".format(eye_id),
            "eye_id": eye_id,
            "delay": delay,
        }
        ipc_pub.notify(n)

    def stop_eye_process(eye_id):
        n = {
            "subject": "eye_process.should_stop.{}".format(eye_id),
            "eye_id": eye_id,
            "delay": 0.2,
        }
        ipc_pub.notify(n)

    def start_stop_eye(eye_id, make_alive):
        if make_alive:
            launch_eye_process(eye_id)
        else:
            stop_eye_process(eye_id)

    def set_detection_mapping_mode(new_mode):
        n = {"subject": "set_detection_mapping_mode", "mode": new_mode}
        ipc_pub.notify(n)

    try:
        from background_helper import IPC_Logging_Task_Proxy

        IPC_Logging_Task_Proxy.push_url = ipc_push_url

        from tasklib.background.patches import IPCLoggingPatch

        IPCLoggingPatch.ipc_push_url = ipc_push_url

        # display
        import glfw
        from version_utils import VersionFormat
        from pyglui import ui, cygl, __version__ as pyglui_version

        assert VersionFormat(pyglui_version) >= VersionFormat(
            "1.23"
        ), "pyglui out of date, please upgrade to newest version"
        from pyglui.cygl.utils import Named_Texture
        import gl_utils

        # helpers/utils
        from file_methods import Persistent_Dict
        from methods import normalize, denormalize, delta_t, get_system_info, timer
        from uvc import get_time_monotonic

        logger.info("Application Version: {}".format(version))
        logger.info("System Info: {}".format(get_system_info()))

        import audio

        # trigger pupil detector cpp build:
        import pupil_detectors

        del pupil_detectors

        # Plug-ins
        from plugin import (
            Plugin,
            System_Plugin_Base,
            Plugin_List,
            import_runtime_plugins,
        )
        from plugin_manager import Plugin_Manager
        from calibration_routines import (
            calibration_plugins,
            gaze_mapping_plugins,
            Calibration_Plugin,
            Gaze_Mapping_Plugin,
        )
        from fixation_detector import Fixation_Detector
        from eye_movement import Eye_Movement_Detector_Real_Time
        from recorder import Recorder
        from display_recent_gaze import Display_Recent_Gaze
        from time_sync import Time_Sync
        from pupil_remote import Pupil_Remote
        from pupil_groups import Pupil_Groups
        from surface_tracker import Surface_Tracker_Online
        from log_display import Log_Display
        from annotations import Annotation_Capture
        from log_history import Log_History
        from frame_publisher import Frame_Publisher
        from blink_detection import Blink_Detection
        from video_capture import (
            source_classes,
            manager_classes,
            Base_Manager,
            Base_Source,
        )
        from pupil_data_relay import Pupil_Data_Relay
        from remote_recorder import Remote_Recorder
        from audio_capture import Audio_Capture
        from accuracy_visualizer import Accuracy_Visualizer

        # from saccade_detector import Saccade_Detector
        from system_graphs import System_Graphs
        from camera_intrinsics_estimation import Camera_Intrinsics_Estimation
        from hololens_relay import Hololens_Relay

        # UI Platform tweaks
        if platform.system() == "Linux":
            scroll_factor = 10.0
            window_position_default = (30, 30)
        elif platform.system() == "Windows":
            scroll_factor = 10.0
            window_position_default = (8, 90)
        else:
            scroll_factor = 1.0
            window_position_default = (0, 0)

        icon_bar_width = 50
        window_size = None
        camera_render_size = None
        hdpi_factor = 1.0

        # g_pool holds variables for this process they are accessible to all plugins
        g_pool = SimpleNamespace()
        g_pool.app = "capture"
        g_pool.process = "world"
        g_pool.user_dir = user_dir
        g_pool.version = version
        g_pool.timebase = timebase
        g_pool.zmq_ctx = zmq_ctx
        g_pool.ipc_pub = ipc_pub
        g_pool.ipc_pub_url = ipc_pub_url
        g_pool.ipc_sub_url = ipc_sub_url
        g_pool.ipc_push_url = ipc_push_url
        g_pool.eye_procs_alive = eye_procs_alive
        g_pool.preferred_remote_port = preferred_remote_port

        def get_timestamp():
            return get_time_monotonic() - g_pool.timebase.value

        g_pool.get_timestamp = get_timestamp
        g_pool.get_now = get_time_monotonic

        # manage plugins
        runtime_plugins = import_runtime_plugins(
            os.path.join(g_pool.user_dir, "plugins")
        )
        user_plugins = [
            Audio_Capture,
            Pupil_Groups,
            Frame_Publisher,
            Pupil_Remote,
            Time_Sync,
            Surface_Tracker_Online,
            Annotation_Capture,
            Log_History,
            Fixation_Detector,
            Eye_Movement_Detector_Real_Time,
            Blink_Detection,
            Remote_Recorder,
            Accuracy_Visualizer,
            Camera_Intrinsics_Estimation,
            Hololens_Relay,
        ]

        if platform.system() != "Windows":
            # Head pose tracking is currently not available on Windows
            from head_pose_tracker.online_head_pose_tracker import (
                Online_Head_Pose_Tracker,
            )

            user_plugins.append(Online_Head_Pose_Tracker)

        system_plugins = (
            [
                Log_Display,
                Display_Recent_Gaze,
                Recorder,
                Pupil_Data_Relay,
                Plugin_Manager,
                System_Graphs,
            ]
            + manager_classes
            + source_classes
        )
        plugins = (
            system_plugins
            + user_plugins
            + runtime_plugins
            + calibration_plugins
            + gaze_mapping_plugins
        )
        user_plugins += [
            p
            for p in runtime_plugins
            if not isinstance(
                p,
                (
                    Base_Manager,
                    Base_Source,
                    System_Plugin_Base,
                    Calibration_Plugin,
                    Gaze_Mapping_Plugin,
                ),
            )
        ]
        g_pool.plugin_by_name = {p.__name__: p for p in plugins}

        default_capture_settings = {
            "preferred_names": [
                "Pupil Cam1 ID2",
                "Logitech Camera",
                "(046d:081d)",
                "C510",
                "B525",
                "C525",
                "C615",
                "C920",
                "C930e",
            ],
            "frame_size": (1280, 720),
            "frame_rate": 30,
        }

        default_plugins = [
            ("UVC_Source", default_capture_settings),
            ("Pupil_Data_Relay", {}),
            ("UVC_Manager", {}),
            ("Log_Display", {}),
            ("Dummy_Gaze_Mapper", {}),
            ("Display_Recent_Gaze", {}),
            ("Screen_Marker_Calibration", {}),
            ("Recorder", {}),
            ("Pupil_Remote", {}),
            ("Accuracy_Visualizer", {}),
            ("Plugin_Manager", {}),
            ("System_Graphs", {}),
        ]

        # Callback functions
        def on_resize(window, w, h):
            nonlocal window_size
            nonlocal camera_render_size
            nonlocal hdpi_factor
            if w == 0 or h == 0:
                return
            hdpi_factor = glfw.getHDPIFactor(window)
            g_pool.gui.scale = g_pool.gui_user_scale * hdpi_factor
            window_size = w, h
            camera_render_size = w - int(icon_bar_width * g_pool.gui.scale), h
            g_pool.gui.update_window(*window_size)
            g_pool.gui.collect_menus()

            for p in g_pool.plugins:
                p.on_window_resize(window, *camera_render_size)

        def on_window_key(window, key, scancode, action, mods):
            g_pool.gui.update_key(key, scancode, action, mods)

        def on_window_char(window, char):
            g_pool.gui.update_char(char)

        def on_window_mouse_button(window, button, action, mods):
            g_pool.gui.update_button(button, action, mods)

        def on_pos(window, x, y):
            x, y = x * hdpi_factor, y * hdpi_factor
            g_pool.gui.update_mouse(x, y)
            pos = x, y
            pos = normalize(pos, camera_render_size)
            # Position in img pixels
            pos = denormalize(pos, g_pool.capture.frame_size)
            for p in g_pool.plugins:
                p.on_pos(pos)

        def on_scroll(window, x, y):
            g_pool.gui.update_scroll(x, y * scroll_factor)

        def on_drop(window, count, paths):
            paths = [paths[x].decode("utf-8") for x in range(count)]
            # call `on_drop` callbacks until a plugin indicates
            # that it has consumed the event (by returning True)
            any(p.on_drop(paths) for p in g_pool.plugins)

        tick = delta_t()

        def get_dt():
            return next(tick)

        # load session persistent settings
        session_settings = Persistent_Dict(
            os.path.join(g_pool.user_dir, "user_settings_world")
        )
        if VersionFormat(session_settings.get("version", "0.0")) != g_pool.version:
            logger.info(
                "Session setting are from a different version of this app. I will not use those."
            )
            session_settings.clear()

        g_pool.min_calibration_confidence = session_settings.get(
            "min_calibration_confidence", 0.8
        )
        g_pool.detection_mapping_mode = session_settings.get(
            "detection_mapping_mode", "3d"
        )
        g_pool.active_calibration_plugin = None
        g_pool.active_gaze_mapping_plugin = None
        g_pool.capture = None

        audio.audio_mode = session_settings.get("audio_mode", audio.default_audio_mode)

        def handle_notifications(noti):
            subject = noti["subject"]
            if subject == "set_detection_mapping_mode":
                if noti["mode"] == "2d":
                    if (
                        "Vector_Gaze_Mapper"
                        in g_pool.active_gaze_mapping_plugin.class_name
                    ):
                        logger.warning(
                            "The gaze mapper is not supported in 2d mode. Please recalibrate."
                        )
                        g_pool.plugins.add(g_pool.plugin_by_name["Dummy_Gaze_Mapper"])
                g_pool.detection_mapping_mode = noti["mode"]
            elif subject == "start_plugin":
                g_pool.plugins.add(
                    g_pool.plugin_by_name[noti["name"]], args=noti.get("args", {})
                )
            elif subject == "stop_plugin":
                for p in g_pool.plugins:
                    if p.class_name == noti["name"]:
                        p.alive = False
                        g_pool.plugins.clean()
            elif subject == "eye_process.started":
                noti = {
                    "subject": "set_detection_mapping_mode",
                    "mode": g_pool.detection_mapping_mode,
                }
                ipc_pub.notify(noti)
            elif subject == "set_min_calibration_confidence":
                g_pool.min_calibration_confidence = noti["value"]
            elif subject.startswith("meta.should_doc"):
                ipc_pub.notify(
                    {"subject": "meta.doc", "actor": g_pool.app, "doc": world.__doc__}
                )
                for p in g_pool.plugins:
                    if (
                        p.on_notify.__doc__
                        and p.__class__.on_notify != Plugin.on_notify
                    ):
                        ipc_pub.notify(
                            {
                                "subject": "meta.doc",
                                "actor": p.class_name,
                                "doc": p.on_notify.__doc__,
                            }
                        )

        width, height = session_settings.get(
            "window_size", (1280 + icon_bar_width, 720)
        )

        # window and gl setup
        glfw.glfwInit()
        main_window = glfw.glfwCreateWindow(width, height, "Pupil Capture - World")
        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()
        g_pool.main_window = main_window

        def set_scale(new_scale):
            g_pool.gui_user_scale = new_scale
            window_size = (
                camera_render_size[0]
                + int(icon_bar_width * g_pool.gui_user_scale * hdpi_factor),
                glfw.glfwGetFramebufferSize(main_window)[1],
            )
            logger.warning(icon_bar_width * g_pool.gui_user_scale * hdpi_factor)
            glfw.glfwSetWindowSize(main_window, *window_size)

        def reset_restart():
            logger.warning("Resetting all settings and restarting Capture.")
            glfw.glfwSetWindowShouldClose(main_window, True)
            ipc_pub.notify({"subject": "clear_settings_process.should_start"})
            ipc_pub.notify({"subject": "world_process.should_start", "delay": 2.0})

        def toggle_general_settings(collapsed):
            # this is the menu toggle logic.
            # Only one menu can be open.
            # If no menu is opened, the menubar should collapse.
            g_pool.menubar.collapsed = collapsed
            for m in g_pool.menubar.elements:
                m.collapsed = True
            general_settings.collapsed = collapsed

        # setup GUI
        g_pool.gui = ui.UI()
        g_pool.gui_user_scale = session_settings.get("gui_scale", 1.0)
        g_pool.menubar = ui.Scrolling_Menu(
            "Settings", pos=(-400, 0), size=(-icon_bar_width, 0), header_pos="left"
        )
        g_pool.iconbar = ui.Scrolling_Menu(
            "Icons", pos=(-icon_bar_width, 0), size=(0, 0), header_pos="hidden"
        )
        g_pool.quickbar = ui.Stretching_Menu("Quick Bar", (0, 100), (120, -100))
        g_pool.gui.append(g_pool.menubar)
        g_pool.gui.append(g_pool.iconbar)
        g_pool.gui.append(g_pool.quickbar)

        general_settings = ui.Growing_Menu("General", header_pos="headline")
        general_settings.append(
            ui.Selector(
                "gui_user_scale",
                g_pool,
                setter=set_scale,
                selection=[0.6, 0.8, 1.0, 1.2, 1.4],
                label="Interface size",
            )
        )

        def set_window_size():
            f_width, f_height = g_pool.capture.frame_size
            f_width += int(icon_bar_width * g_pool.gui.scale)
            glfw.glfwSetWindowSize(main_window, f_width, f_height)

        general_settings.append(ui.Button("Reset window size", set_window_size))
        general_settings.append(
            ui.Selector("audio_mode", audio, selection=audio.audio_modes)
        )
        general_settings.append(
            ui.Selector(
                "detection_mapping_mode",
                g_pool,
                label="detection & mapping mode",
                setter=set_detection_mapping_mode,
                selection=["disabled", "2d", "3d"],
            )
        )
        general_settings.append(
            ui.Switch(
                "eye0_process",
                label="Detect eye 0",
                setter=lambda alive: start_stop_eye(0, alive),
                getter=lambda: eye_procs_alive[0].value,
            )
        )
        general_settings.append(
            ui.Switch(
                "eye1_process",
                label="Detect eye 1",
                setter=lambda alive: start_stop_eye(1, alive),
                getter=lambda: eye_procs_alive[1].value,
            )
        )

        general_settings.append(
            ui.Info_Text("Capture Version: {}".format(g_pool.version))
        )
        general_settings.append(
            ui.Button("Restart with default settings", reset_restart)
        )

        g_pool.menubar.append(general_settings)
        icon = ui.Icon(
            "collapsed",
            general_settings,
            label=chr(0xE8B8),
            on_val=False,
            off_val=True,
            setter=toggle_general_settings,
            label_font="pupil_icons",
        )
        icon.tooltip = "General Settings"
        g_pool.iconbar.append(icon)

        user_plugin_separator = ui.Separator()
        user_plugin_separator.order = 0.35
        g_pool.iconbar.append(user_plugin_separator)

        # plugins that are loaded based on user settings from previous session
        g_pool.plugins = Plugin_List(
            g_pool, session_settings.get("loaded_plugins", default_plugins)
        )

        # Register callbacks main_window
        glfw.glfwSetFramebufferSizeCallback(main_window, on_resize)
        glfw.glfwSetKeyCallback(main_window, on_window_key)
        glfw.glfwSetCharCallback(main_window, on_window_char)
        glfw.glfwSetMouseButtonCallback(main_window, on_window_mouse_button)
        glfw.glfwSetCursorPosCallback(main_window, on_pos)
        glfw.glfwSetScrollCallback(main_window, on_scroll)
        glfw.glfwSetDropCallback(main_window, on_drop)

        # gl_state settings
        gl_utils.basic_gl_setup()
        g_pool.image_tex = Named_Texture()

        toggle_general_settings(True)

        # now that we have a proper window we can load the last gui configuration
        g_pool.gui.configuration = session_settings.get("ui_config", {})

        # create a timer to control window update frequency
        window_update_timer = timer(1 / 60)

        def window_should_update():
            return next(window_update_timer)

        # trigger setup of window and gl sizes
        on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        if session_settings.get("eye1_process_alive", True):
            launch_eye_process(1, delay=0.6)
        if session_settings.get("eye0_process_alive", True):
            launch_eye_process(0, delay=0.3)

        ipc_pub.notify({"subject": "world_process.started"})
        logger.warning("Process started.")

        # Event loop
        while not glfw.glfwWindowShouldClose(main_window):

            # fetch newest notifications
            new_notifications = []
            while notify_sub.new_data:
                t, n = notify_sub.recv()
                new_notifications.append(n)

            # notify each plugin if there are new notifications:
            for n in new_notifications:
                handle_notifications(n)
                for p in g_pool.plugins:
                    p.on_notify(n)

            # a dictionary that allows plugins to post and read events
            events = {}
            # report time between now and the last loop interation
            events["dt"] = get_dt()

            # allow each Plugin to do its work.
            for p in g_pool.plugins:
                p.recent_events(events)

            # check if a plugin need to be destroyed
            g_pool.plugins.clean()

            # "blacklisted" events that were already sent
            del events["pupil"]
            del events["gaze"]
            # delete if exists. More expensive than del, so only use it when key might not exist
            events.pop("annotation", None)

            # send new events to ipc:
            if "frame" in events:
                del events["frame"]  # send explicitly with frame publisher
            if "depth_frame" in events:
                del events["depth_frame"]
            if "audio_packets" in events:
                del events["audio_packets"]
            del events["dt"]  # no need to send this
            for data in events.values():
                assert isinstance(data, (list, tuple))
                for d in data:
                    ipc_pub.send(d)

            glfw.glfwMakeContextCurrent(main_window)
            # render visual feedback from loaded plugins
            if window_should_update() and gl_utils.is_window_visible(main_window):

                gl_utils.glViewport(0, 0, *camera_render_size)
                for p in g_pool.plugins:
                    p.gl_display()

                gl_utils.glViewport(0, 0, *window_size)
                try:
                    clipboard = glfw.glfwGetClipboardString(main_window).decode()
                except AttributeError:  # clipboard is None, might happen on startup
                    clipboard = ""
                g_pool.gui.update_clipboard(clipboard)
                user_input = g_pool.gui.update()
                if user_input.clipboard != clipboard:
                    # only write to clipboard if content changed
                    glfw.glfwSetClipboardString(
                        main_window, user_input.clipboard.encode()
                    )

                for button, action, mods in user_input.buttons:
                    x, y = glfw.glfwGetCursorPos(main_window)
                    pos = x * hdpi_factor, y * hdpi_factor
                    pos = normalize(pos, camera_render_size)
                    # Position in img pixels
                    pos = denormalize(pos, g_pool.capture.frame_size)

                    # call `on_click` callbacks until a plugin indicates
                    # that it has consumed the event (by returning True)
                    any(p.on_click(pos, button, action) for p in g_pool.plugins)

                for key, scancode, action, mods in user_input.keys:
                    # call `on_key` callbacks until a plugin indicates
                    # that it has consumed the event (by returning True)
                    any(p.on_key(key, scancode, action, mods) for p in g_pool.plugins)

                for char_ in user_input.chars:
                    # call `char_` callbacks until a plugin indicates
                    # that it has consumed the event (by returning True)
                    any(p.on_char(char_) for p in g_pool.plugins)

                glfw.glfwSwapBuffers(main_window)
            glfw.glfwPollEvents()

        glfw.glfwRestoreWindow(main_window)  # need to do this for windows os
        session_settings["loaded_plugins"] = g_pool.plugins.get_initializers()
        session_settings["gui_scale"] = g_pool.gui_user_scale
        session_settings["ui_config"] = g_pool.gui.configuration
        session_settings["window_position"] = glfw.glfwGetWindowPos(main_window)
        session_settings["version"] = str(g_pool.version)
        session_settings["eye0_process_alive"] = eye_procs_alive[0].value
        session_settings["eye1_process_alive"] = eye_procs_alive[1].value
        session_settings[
            "min_calibration_confidence"
        ] = g_pool.min_calibration_confidence
        session_settings["detection_mapping_mode"] = g_pool.detection_mapping_mode
        session_settings["audio_mode"] = audio.audio_mode

        session_window_size = glfw.glfwGetWindowSize(main_window)
        if 0 not in session_window_size:
            session_settings["window_size"] = session_window_size

        session_settings.close()

        # de-init all running plugins
        for p in g_pool.plugins:
            p.alive = False
        g_pool.plugins.clean()

        g_pool.gui.terminate()
        glfw.glfwDestroyWindow(main_window)
        glfw.glfwTerminate()

    except:
        import traceback

        trace = traceback.format_exc()
        logger.error("Process Capture crashed with trace:\n{}".format(trace))

    finally:
        # shut down eye processes:
        stop_eye_process(0)
        stop_eye_process(1)

        logger.info("Process shutting down.")
        ipc_pub.notify({"subject": "world_process.stopped"})
        sleep(1.0)
Esempio n. 7
0
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")
Esempio n. 8
0
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)
        logging.getLogger("libav").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
        from OpenGL.GL import GL_LINE_LOOP
        from gl_utils import basic_gl_setup, adjust_gl_view, clear_gl_screen, make_coord_system_pixel_based, make_coord_system_norm_based
        from ui_roi import UIRoi
        #monitoring
        import psutil

        # 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 Canny_Detector, Detector_2D, Detector_3D
        pupil_detectors = {
            Canny_Detector.__name__: Canny_Detector,
            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 a small as possible but big enough to capture to pupil in its movements",
            'algorithm':
            "Algorithm display mode overlays a visualization of the pupil detection parameters on top of the eye video. Adjust parameters with in 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)

        #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=[Canny_Detector, Detector_2D, Detector_3D],
            labels=[
                'Python 2D detector', '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()
                    # switch to work in pixel space
                    make_coord_system_pixel_based(
                        (frame.height, frame.width, 3), g_pool.flip)

                    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)
                            draw_polyline(pts, 1, RGBA(1., 0, 0, .5))
                        draw_points([result['ellipse']['center']],
                                    size=20,
                                    color=RGBA(1., 0., 0., .5),
                                    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")
Esempio n. 9
0
def eye(timebase, is_alive_flag, ipc_pub_url, ipc_sub_url,ipc_push_url, user_dir, version, eye_id,overwrite_cap_settings=None):
    """reads eye video and detects the pupil.

    Creates a window, gl context.
    Grabs images from a capture.
    Streams Pupil coordinates.

    Reacts to notifications:
       ``set_detection_mapping_mode``: Sets detection method
       ``eye_process.should_stop``: Stops the eye process
       ``recording.started``: Starts recording eye video
       ``recording.stopped``: Stops recording eye video
       ``frame_publishing.started``: Starts frame publishing
       ``frame_publishing.stopped``: Stops frame publishing

    Emits notifications:
        ``eye_process.started``: Eye process started
        ``eye_process.stopped``: Eye process stopped

    Emits data:
        ``pupil.<eye id>``: Pupil data for eye with id ``<eye id>``
        ``frame.eye.<eye id>``: Eye frames with id ``<eye id>``
    """


    # We deferr the imports becasue of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    import zmq
    import zmq_tools
    zmq_ctx = zmq.Context()
    ipc_socket = zmq_tools.Msg_Dispatcher(zmq_ctx,ipc_push_url)
    pupil_socket = zmq_tools.Msg_Streamer(zmq_ctx,ipc_pub_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx,ipc_sub_url,topics=("notify",))

    with Is_Alive_Manager(is_alive_flag,ipc_socket,eye_id):

        #logging setup
        import logging
        logging.getLogger("OpenGL").setLevel(logging.ERROR)
        logger = logging.getLogger()
        logger.handlers = []
        logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx,ipc_push_url))
        # create logger for the context of this function
        logger = logging.getLogger(__name__)

        #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,is_window_visible
        from ui_roi import UIRoi
        #monitoring
        import psutil
        import math


        # helpers/utils
        from uvc import get_time_monotonic, StreamError
        from file_methods import Persistent_Dict
        from version_utils import VersionFormat
        from methods import normalize, denormalize, Roi, timer
        from av_writer import JPEG_Writer,AV_Writer

        from video_capture import InitialisationError,StreamError, Fake_Source,EndofVideoFileError, source_classes, manager_classes
        source_by_name = {src.class_name():src for src in source_classes}

        # 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.timebase = timebase

        g_pool.ipc_pub = ipc_socket

        def get_timestamp():
            return get_time_monotonic()-g_pool.timebase.value
        g_pool.get_timestamp = get_timestamp
        g_pool.get_now = get_time_monotonic

        # Callback functions
        def on_resize(window,w, h):
            if is_window_visible(window):
                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()

        capture_manager_settings = session_settings.get(
            'capture_manager_settings', ('UVC_Manager',{}))

        if eye_id == 0:
            cap_src = ["Pupil Cam1 ID0","HD-6000","Integrated Camera","HD USB Camera","USB 2.0 Camera"]
        else:
            cap_src = ["Pupil Cam1 ID1","HD-6000","Integrated Camera"]

        # Initialize capture
        default_settings = {
            'source_class_name': 'UVC_Source',
            'preferred_names'  : cap_src,
            'frame_size': (640,480),
            'frame_rate': 90
        }
        settings = overwrite_cap_settings or session_settings.get('capture_settings', default_settings)
        try:
            cap = source_by_name[settings['source_class_name']](g_pool, **settings)
        except (KeyError,InitialisationError) as e:
            if isinstance(e,KeyError):
                logger.warning('Incompatible capture setting encountered. Falling back to fake source.')
            cap = Fake_Source(g_pool, **settings)

        g_pool.iconified = False
        g_pool.capture = cap
        g_pool.capture_manager = None
        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((g_pool.capture.frame_size[1],g_pool.capture.frame_size[0]))
        roi_user_settings = session_settings.get('roi')
        if roi_user_settings and roi_user_settings[-1] == g_pool.u_r.get()[-1]:
            g_pool.u_r.set(roi_user_settings)

        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',g_pool.capture.frame_size)
        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()
        glfw.glfwSwapInterval(0)

        #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.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)

        g_pool.capture_selector_menu = ui.Growing_Menu('Capture Selection')
        g_pool.capture_source_menu = ui.Growing_Menu('Capture Source')
        g_pool.capture.init_gui()

        g_pool.sidebar.append(general_settings)
        g_pool.sidebar.append(g_pool.capture_selector_menu)
        g_pool.sidebar.append(g_pool.capture_source_menu)

        g_pool.pupil_detector.init_gui(g_pool.sidebar)

        manager_class_name, manager_settings = capture_manager_settings
        manager_class_by_name = {c.__name__:c for c in manager_classes}
        g_pool.capture_manager = manager_class_by_name[manager_class_name](g_pool,**manager_settings)
        g_pool.capture_manager.init_gui()

        def open_manager(manager_class):
            g_pool.capture_manager.cleanup()
            g_pool.capture_manager = manager_class(g_pool)
            g_pool.capture_manager.init_gui()

        #We add the capture selection menu, after a manager has been added:
        g_pool.capture_selector_menu.insert(0,ui.Selector(
            'capture_manager',g_pool,
            setter    = open_manager,
            getter    = lambda: g_pool.capture_manager.__class__,
            selection = manager_classes,
            labels    = [b.gui_name for b in manager_classes],
            label     = 'Manager'
        ))

        # 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 = g_pool.get_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"

        should_publish_frames = False
        frame_publish_format = 'jpeg'

        #create a timer to control window update frequency
        window_update_timer = timer(1/60.)
        def window_should_update():
            return next(window_update_timer)

        logger.warning('Process started.')

        # Event loop
        while not glfw.glfwWindowShouldClose(main_window):

            if notify_sub.new_data:
                t,notification = notify_sub.recv()
                subject = notification['subject']
                if subject == 'eye_process.should_stop':
                    if notification['eye_id'] == eye_id:
                        break
                elif subject == 'set_detection_mapping_mode':
                    if notification['mode'] == '3d':
                        if not isinstance(g_pool.pupil_detector,Detector_3D):
                            set_detector(Detector_3D)
                        detector_selector.read_only  = True
                    else:
                        if not isinstance(g_pool.pupil_detector,Detector_2D):
                            set_detector(Detector_2D)
                        detector_selector.read_only = False
                elif subject == 'recording.started':
                    if notification['record_eye']:
                        record_path = notification['rec_path']
                        raw_mode = notification['compression']
                        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,g_pool.capture.frame_rate)
                        else:
                            video_path = os.path.join(record_path, "eye%s.mp4"%eye_id)
                            writer = AV_Writer(video_path,g_pool.capture.frame_rate)
                        timestamps = []
                elif subject == 'recording.stopped':
                    if writer:
                        logger.info("Done recording.")
                        writer.release()
                        writer = None
                        np.save(timestamps_path,np.asarray(timestamps))
                        del timestamps
                elif subject.startswith('meta.should_doc'):
                    ipc_socket.notify({
                        'subject':'meta.doc',
                        'actor':'eye%i'%eye_id,
                        'doc':eye.__doc__
                        })
                elif subject.startswith('frame_publishing.started'):
                    should_publish_frames = True
                    frame_publish_format = notification.get('format','jpeg')
                elif subject.startswith('frame_publishing.stopped'):
                    should_publish_frames = False
                    frame_publish_format = 'jpeg'
                else:
                    g_pool.capture_manager.on_notify(notification)

            # Get an image from the grabber
            try:
                frame = g_pool.capture.get_frame()
            except StreamError as e:
                logger.error("Error getting frame. Stopping eye process.")
                logger.debug("Caught error: %s"%e)
                break
            except EndofVideoFileError:
                logger.warning("Video File is done. Stopping")
                g_pool.capture.seek_to_frame(0)
                frame = g_pool.capture.get_frame()

            g_pool.u_r = UIRoi((frame.height,frame.width))
            g_pool.capture_manager.update(frame, {})

            if should_publish_frames and frame.jpeg_buffer:
                if   frame_publish_format == "jpeg":
                    data = frame.jpeg_buffer
                elif frame_publish_format == "yuv":
                    data = frame.yuv_buffer
                elif frame_publish_format == "bgr":
                    data = frame.bgr
                elif frame_publish_format == "gray":
                    data = frame.gray
                pupil_socket.send('frame.eye.%s'%eye_id,{
                    'width': frame.width,
                    'height': frame.width,
                    'index': frame.index,
                    'timestamp': frame.timestamp,
                    'format': frame_publish_format,
                    '__raw_data__': [data]
                })


            #update performace graphs
            t = frame.timestamp
            dt,ts = t-ts,t
            try:
                fps_graph.add(1./dt)
            except ZeroDivisionError:
                pass
            cpu_graph.update()



            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
            pupil_socket.send('pupil.%s'%eye_id,result)

            # GL drawing
            if window_should_update():
                if is_window_visible(main_window):
                    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)
                    g_pool.capture.gl_display()

                    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
                    g_pool.u_r.draw(g_pool.gui.scale)
                    if g_pool.display_mode == 'roi':
                        g_pool.u_r.draw_points(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['capture_manager_settings'] = g_pool.capture_manager.class_name, g_pool.capture_manager.get_init_dict()
        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.capture.deinit_gui()
        g_pool.pupil_detector.cleanup()
        g_pool.gui.terminate()
        glfw.glfwDestroyWindow(main_window)
        glfw.glfwTerminate()
        g_pool.capture_manager.cleanup()
        g_pool.capture.cleanup()
        logger.info("Process shutting down.")
Esempio n. 10
0
def eye(
    timebase,
    is_alive_flag,
    ipc_pub_url,
    ipc_sub_url,
    ipc_push_url,
    user_dir,
    version,
    eye_id,
    overwrite_cap_settings=None,
    hide_ui=False,
    debug=False,
    pub_socket_hwm=None,
):
    """reads eye video and detects the pupil.

    Creates a window, gl context.
    Grabs images from a capture.
    Streams Pupil coordinates.

    Reacts to notifications:
        ``eye_process.should_stop``: Stops the eye process
        ``recording.started``: Starts recording eye video
        ``recording.stopped``: Stops recording eye video
        ``frame_publishing.started``: Starts frame publishing
        ``frame_publishing.stopped``: Stops frame publishing
        ``start_eye_plugin``: Start plugins in eye process

    Emits notifications:
        ``eye_process.started``: Eye process started
        ``eye_process.stopped``: Eye process stopped

    Emits data:
        ``pupil.<eye id>``: Pupil data for eye with id ``<eye id>``
        ``frame.eye.<eye id>``: Eye frames with id ``<eye id>``
    """

    # We deferr the imports becasue of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    import zmq
    import zmq_tools

    zmq_ctx = zmq.Context()
    ipc_socket = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    pupil_socket = zmq_tools.Msg_Streamer(zmq_ctx, ipc_pub_url, pub_socket_hwm)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx, ipc_sub_url, topics=("notify",))

    # logging setup
    import logging

    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    logger = logging.getLogger()
    logger.handlers = []
    logger.setLevel(logging.NOTSET)
    logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
    # create logger for the context of this function
    logger = logging.getLogger(__name__)

    if is_alive_flag.value:
        # indicates eye process that this is a duplicated startup
        logger.warning("Aborting redundant eye process startup")
        return

    with Is_Alive_Manager(is_alive_flag, ipc_socket, eye_id, logger):
        # general imports
        import traceback
        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
        from pyglui.cygl.utils import Named_Texture
        import gl_utils
        from gl_utils import basic_gl_setup, adjust_gl_view, clear_gl_screen
        from gl_utils import make_coord_system_pixel_based
        from gl_utils import make_coord_system_norm_based
        from gl_utils import is_window_visible, glViewport

        # monitoring
        import psutil

        # Plug-ins
        from plugin import Plugin_List

        # helpers/utils
        from uvc import get_time_monotonic
        from file_methods import Persistent_Dict
        from version_utils import parse_version
        from methods import normalize, denormalize, timer
        from av_writer import JPEG_Writer, MPEG_Writer, NonMonotonicTimestampError
        from ndsi import H264Writer
        from video_capture import source_classes, manager_classes
        from roi import Roi

        from background_helper import IPC_Logging_Task_Proxy
        from pupil_detector_plugins import available_detector_plugins, EVENT_KEY

        IPC_Logging_Task_Proxy.push_url = ipc_push_url

        def interrupt_handler(sig, frame):
            import traceback

            trace = traceback.format_stack(f=frame)
            logger.debug(f"Caught signal {sig} in:\n" + "".join(trace))
            # NOTE: Interrupt is handled in world/service/player which are responsible for
            # shutting down the eye process properly

        signal.signal(signal.SIGINT, interrupt_handler)

        # UI Platform tweaks
        if platform.system() == "Linux":
            scroll_factor = 10.0
            window_position_default = (600, 300 * eye_id + 30)
        elif platform.system() == "Windows":
            scroll_factor = 10.0
            window_position_default = (600, 90 + 300 * eye_id)
        else:
            scroll_factor = 1.0
            window_position_default = (600, 300 * eye_id)

        icon_bar_width = 50
        window_size = None
        content_scale = 1.0

        # g_pool holds variables for this process
        g_pool = SimpleNamespace()

        # make some constants avaiable
        g_pool.debug = debug
        g_pool.user_dir = user_dir
        g_pool.version = version
        g_pool.app = "capture"
        g_pool.eye_id = eye_id
        g_pool.process = f"eye{eye_id}"
        g_pool.timebase = timebase
        g_pool.camera_render_size = None

        g_pool.ipc_pub = ipc_socket

        def get_timestamp():
            return get_time_monotonic() - g_pool.timebase.value

        g_pool.get_timestamp = get_timestamp
        g_pool.get_now = get_time_monotonic
        
        g_pool.ritnet_2d = False

        default_2d, default_3d, available_detectors = available_detector_plugins()
        plugins = manager_classes + source_classes + available_detectors + [Roi]
        g_pool.plugin_by_name = {p.__name__: p for p in plugins}

        preferred_names = [
            f"Pupil Cam3 ID{eye_id}",
            f"Pupil Cam2 ID{eye_id}",
            f"Pupil Cam1 ID{eye_id}",
        ]
        if eye_id == 0:
            preferred_names += ["HD-6000"]

        default_capture_name = "UVC_Source"
        default_capture_settings = {
            "preferred_names": preferred_names,
            "frame_size": (192, 192),
            "frame_rate": 120,
        }

        default_plugins = [
            # TODO: extend with plugins
            (default_capture_name, default_capture_settings),
            ("UVC_Manager", {}),
            # Detectors needs to be loaded first to set `g_pool.pupil_detector`
            (default_2d.__name__, {}),
            (default_3d.__name__, {}),
            ("NDSI_Manager", {}),
            ("HMD_Streaming_Manager", {}),
            ("File_Manager", {}),
            ("PupilDetectorManager", {}),
            ("Roi", {}),
        ]

        def consume_events_and_render_buffer():
            glfw.glfwMakeContextCurrent(main_window)
            clear_gl_screen()

            if all(c > 0 for c in g_pool.camera_render_size):
                glViewport(0, 0, *g_pool.camera_render_size)
                for p in g_pool.plugins:
                    p.gl_display()

            glViewport(0, 0, *window_size)
            # render graphs
            fps_graph.draw()
            cpu_graph.draw()

            # render GUI
            try:
                clipboard = glfw.glfwGetClipboardString(main_window).decode()
            except AttributeError:  # clipboard is None, might happen on startup
                clipboard = ""
            g_pool.gui.update_clipboard(clipboard)
            user_input = g_pool.gui.update()
            if user_input.clipboard != clipboard:
                # only write to clipboard if content changed
                glfw.glfwSetClipboardString(main_window, user_input.clipboard.encode())

            for button, action, mods in user_input.buttons:
                x, y = glfw.glfwGetCursorPos(main_window)
                pos = glfw.window_coordinate_to_framebuffer_coordinate(
                    main_window, x, y, cached_scale=None
                )
                pos = normalize(pos, g_pool.camera_render_size)
                if g_pool.flip:
                    pos = 1 - pos[0], 1 - pos[1]
                # Position in img pixels
                pos = denormalize(pos, g_pool.capture.frame_size)

                for plugin in g_pool.plugins:
                    if plugin.on_click(pos, button, action):
                        break

            for key, scancode, action, mods in user_input.keys:
                for plugin in g_pool.plugins:
                    if plugin.on_key(key, scancode, action, mods):
                        break

            for char_ in user_input.chars:
                for plugin in g_pool.plugins:
                    if plugin.on_char(char_):
                        break

            # update screen
            glfw.glfwSwapBuffers(main_window)

        # Callback functions
        def on_resize(window, w, h):
            nonlocal window_size
            nonlocal content_scale

            is_minimized = bool(glfw.glfwGetWindowAttrib(window, glfw.GLFW_ICONIFIED))

            if is_minimized:
                return

            # Always clear buffers on resize to make sure that there are no overlapping
            # artifacts from previous frames.
            gl_utils.glClear(gl_utils.GL_COLOR_BUFFER_BIT)
            gl_utils.glClearColor(0, 0, 0, 1)

            active_window = glfw.glfwGetCurrentContext()
            glfw.glfwMakeContextCurrent(window)
            content_scale = glfw.get_content_scale(window)
            framebuffer_scale = glfw.get_framebuffer_scale(window)
            g_pool.gui.scale = content_scale
            window_size = w, h
            g_pool.camera_render_size = w - int(icon_bar_width * g_pool.gui.scale), h
            g_pool.gui.update_window(w, h)
            g_pool.gui.collect_menus()
            for g in g_pool.graphs:
                g.scale = content_scale
                g.adjust_window_size(w, h)
            adjust_gl_view(w, h)
            glfw.glfwMakeContextCurrent(active_window)

            # Minimum window size required, otherwise parts of the UI can cause openGL
            # issues with permanent effects. Depends on the content scale, which can
            # potentially be dynamically modified, so we re-adjust the size limits every
            # time here.
            min_size = int(2 * icon_bar_width * g_pool.gui.scale / framebuffer_scale)
            glfw.glfwSetWindowSizeLimits(
                window, min_size, min_size, glfw.GLFW_DONT_CARE, glfw.GLFW_DONT_CARE
            )

            # Needed, to update the window buffer while resizing
            consume_events_and_render_buffer()

        def on_window_key(window, key, scancode, action, mods):
            g_pool.gui.update_key(key, scancode, action, mods)

        def on_window_char(window, char):
            g_pool.gui.update_char(char)

        def on_iconify(window, iconified):
            g_pool.iconified = iconified

        def on_window_mouse_button(window, button, action, mods):
            g_pool.gui.update_button(button, action, mods)

        def on_pos(window, x, y):
            x, y = glfw.window_coordinate_to_framebuffer_coordinate(
                window, x, y, cached_scale=None
            )
            g_pool.gui.update_mouse(x, y)

            pos = x, y
            pos = normalize(pos, g_pool.camera_render_size)
            if g_pool.flip:
                pos = 1 - pos[0], 1 - pos[1]
            # Position in img pixels
            pos = denormalize(pos, g_pool.capture.frame_size)

            for p in g_pool.plugins:
                p.on_pos(pos)

        def on_scroll(window, x, y):
            g_pool.gui.update_scroll(x, y * scroll_factor)

        def on_drop(window, count, paths):
            paths = [paths[x].decode("utf-8") for x in range(count)]
            for plugin in g_pool.plugins:
                if plugin.on_drop(paths):
                    break

        # load session persistent settings
        session_settings = Persistent_Dict(
            os.path.join(g_pool.user_dir, "user_settings_eye{}".format(eye_id))
        )
        if parse_version(session_settings.get("version", "0.0")) != g_pool.version:
            logger.info(
                "Session setting are from a different version of this app. I will not use those."
            )
            session_settings.clear()

        camera_is_physically_flipped = eye_id == 0
        g_pool.iconified = False
        g_pool.capture = None
        g_pool.flip = session_settings.get("flip", camera_is_physically_flipped)
        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.",
        }

        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 toggle_general_settings(collapsed):
            # this is the menu toggle logic.
            # Only one menu can be open.
            # If no menu is open the menubar should collapse.
            g_pool.menubar.collapsed = collapsed
            for m in g_pool.menubar.elements:
                m.collapsed = True
            general_settings.collapsed = collapsed

        # Initialize glfw
        glfw.glfwInit()
        glfw.glfwWindowHint(glfw.GLFW_SCALE_TO_MONITOR, glfw.GLFW_TRUE)
        if hide_ui:
            glfw.glfwWindowHint(glfw.GLFW_VISIBLE, 0)  # hide window
        title = "Pupil Capture - eye {}".format(eye_id)

        # Pupil Cam1 uses 4:3 resolutions. Pupil Cam2 and Cam3 use 1:1 resolutions.
        # As all Pupil Core and VR/AR add-ons are shipped with Pupil Cam2 and Cam3
        # cameras, we adjust the default eye window size to a 1:1 content aspect ratio.
        # The size of 500 was chosen s.t. the menu still fits.
        default_window_size = 500 + icon_bar_width, 500
        width, height = session_settings.get("window_size", default_window_size)

        main_window = glfw.glfwCreateWindow(width, height, title, None, None)

        window_position_manager = gl_utils.WindowPositionManager()
        window_pos = window_position_manager.new_window_position(
            window=main_window,
            default_position=window_position_default,
            previous_position=session_settings.get("window_position", None),
        )
        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_ndarray(np.ones((1, 1), dtype=np.uint8) + 125)

        # setup GUI
        g_pool.gui = ui.UI()
        g_pool.menubar = ui.Scrolling_Menu(
            "Settings", pos=(-500, 0), size=(-icon_bar_width, 0), header_pos="left"
        )
        g_pool.iconbar = ui.Scrolling_Menu(
            "Icons", pos=(-icon_bar_width, 0), size=(0, 0), header_pos="hidden"
        )
        g_pool.gui.append(g_pool.menubar)
        g_pool.gui.append(g_pool.iconbar)

        general_settings = ui.Growing_Menu("General", header_pos="headline")

        def set_window_size():
            # Get current capture frame size
            f_width, f_height = g_pool.capture.frame_size
            # Eye camera resolutions are too small to be used as default window sizes.
            # We use double their size instead.
            frame_scale_factor = 2
            f_width *= frame_scale_factor
            f_height *= frame_scale_factor

            # Get current display scale factor
            content_scale = glfw.get_content_scale(main_window)
            framebuffer_scale = glfw.get_framebuffer_scale(main_window)
            display_scale_factor = content_scale / framebuffer_scale

            # Scale the capture frame size by display scale factor
            f_width *= display_scale_factor
            f_height *= display_scale_factor

            # Increas the width to account for the added scaled icon bar width
            f_width += icon_bar_width * display_scale_factor

            # Set the newly calculated size (scaled capture frame size + scaled icon bar width)
            glfw.glfwSetWindowSize(main_window, int(f_width), int(f_height))

        general_settings.append(ui.Button("Reset window size", set_window_size))
        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.menubar.append(general_settings)
        icon = ui.Icon(
            "collapsed",
            general_settings,
            label=chr(0xE8B8),
            on_val=False,
            off_val=True,
            setter=toggle_general_settings,
            label_font="pupil_icons",
        )
        icon.tooltip = "General Settings"
        g_pool.iconbar.append(icon)

        plugins_to_load = session_settings.get("loaded_plugins", default_plugins)
        if overwrite_cap_settings:
            # Ensure that overwrite_cap_settings takes preference over source plugins
            # with incorrect settings that were loaded from session settings.
            plugins_to_load.append(overwrite_cap_settings)

        g_pool.plugins = Plugin_List(g_pool, plugins_to_load)

        if not g_pool.capture:
            # Make sure we always have a capture running. Important if there was no
            # capture stored in session settings.
            g_pool.plugins.add(
                g_pool.plugin_by_name[default_capture_name], default_capture_settings
            )

        toggle_general_settings(True)

        g_pool.writer = None
        g_pool.rec_path = None

        # Register callbacks main_window
        glfw.glfwSetFramebufferSizeCallback(main_window, on_resize)
        glfw.glfwSetWindowIconifyCallback(main_window, on_iconify)
        glfw.glfwSetKeyCallback(main_window, on_window_key)
        glfw.glfwSetCharCallback(main_window, on_window_char)
        glfw.glfwSetMouseButtonCallback(main_window, on_window_mouse_button)
        glfw.glfwSetCursorPosCallback(main_window, on_pos)
        glfw.glfwSetScrollCallback(main_window, on_scroll)
        glfw.glfwSetDropCallback(main_window, on_drop)

        # load last gui configuration
        g_pool.gui.configuration = session_settings.get("ui_config", {})
        # If previously selected plugin was not loaded this time, we will have an
        # expanded menubar without any menu selected. We need to ensure the menubar is
        # collapsed in this case.
        if all(submenu.collapsed for submenu in g_pool.menubar.elements):
            g_pool.menubar.collapsed = True

        # set up performance graphs
        pid = os.getpid()
        ps = psutil.Process(pid)
        ts = g_pool.get_timestamp()

        cpu_graph = graph.Bar_Graph()
        cpu_graph.pos = (20, 50)
        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, 50)
        fps_graph.update_rate = 5
        fps_graph.label = "%0.0f FPS"
        g_pool.graphs = [cpu_graph, fps_graph]

        # set the last saved window size
        on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        should_publish_frames = False
        frame_publish_format = "jpeg"
        frame_publish_format_recent_warning = False

        # create a timer to control window update frequency
        window_update_timer = timer(1 / 60)

        def window_should_update():
            return next(window_update_timer)

        logger.warning("Process started.")

        frame = None

        # Event loop
        while not glfw.glfwWindowShouldClose(main_window):

            if notify_sub.new_data:
                t, notification = notify_sub.recv()
                subject = notification["subject"]
                if subject.startswith("eye_process.should_stop"):
                    if notification["eye_id"] == eye_id:
                        break
                elif subject == "recording.started":
                    if notification["record_eye"] and g_pool.capture.online:
                        g_pool.rec_path = notification["rec_path"]
                        raw_mode = notification["compression"]
                        start_time_synced = notification["start_time_synced"]
                        logger.info(f"Will save eye video to: {g_pool.rec_path}")
                        video_path = os.path.join(
                            g_pool.rec_path, "eye{}.mp4".format(eye_id)
                        )
                        if raw_mode and frame and g_pool.capture.jpeg_support:
                            g_pool.writer = JPEG_Writer(video_path, start_time_synced)
                        elif hasattr(g_pool.capture._recent_frame, "h264_buffer"):
                            g_pool.writer = H264Writer(
                                video_path,
                                g_pool.capture.frame_size[0],
                                g_pool.capture.frame_size[1],
                                g_pool.capture.frame_rate,
                            )
                        else:
                            g_pool.writer = MPEG_Writer(video_path, start_time_synced)
                elif subject == "recording.stopped":
                    if g_pool.writer:
                        logger.info("Done recording.")
                        try:
                            g_pool.writer.release()
                        except RuntimeError:
                            logger.error("No eye video recorded")
                        else:
                            # TODO: wrap recording logic into plugin
                            g_pool.capture.intrinsics.save(
                                g_pool.rec_path, custom_name=f"eye{eye_id}"
                            )
                        finally:
                            g_pool.writer = None
                elif subject.startswith("meta.should_doc"):
                    ipc_socket.notify(
                        {
                            "subject": "meta.doc",
                            "actor": "eye{}".format(eye_id),
                            "doc": eye.__doc__,
                        }
                    )
                elif subject.startswith("frame_publishing.started"):
                    should_publish_frames = True
                    frame_publish_format = notification.get("format", "jpeg")
                elif subject.startswith("frame_publishing.stopped"):
                    should_publish_frames = False
                    frame_publish_format = "jpeg"
                elif (
                    subject.startswith("start_eye_plugin")
                    and notification["target"] == g_pool.process
                ):
                    try:
                        g_pool.plugins.add(
                            g_pool.plugin_by_name[notification["name"]],
                            notification.get("args", {}),
                        )
                    except KeyError as err:
                        logger.error(f"Attempt to load unknown plugin: {err}")

                for plugin in g_pool.plugins:
                    plugin.on_notify(notification)

            event = {}
            for plugin in g_pool.plugins:
                plugin.recent_events(event)

            frame = event.get("frame")
            if frame:
                if should_publish_frames:
                    try:
                        if frame_publish_format == "jpeg":
                            data = frame.jpeg_buffer
                        elif frame_publish_format == "yuv":
                            data = frame.yuv_buffer
                        elif frame_publish_format == "bgr":
                            data = frame.bgr
                        elif frame_publish_format == "gray":
                            data = frame.gray
                        assert data is not None
                    except (AttributeError, AssertionError, NameError):
                        if not frame_publish_format_recent_warning:
                            frame_publish_format_recent_warning = True
                            logger.warning(
                                '{}s are not compatible with format "{}"'.format(
                                    type(frame), frame_publish_format
                                )
                            )
                    else:
                        frame_publish_format_recent_warning = False
                        pupil_socket.send(
                            {
                                "topic": "frame.eye.{}".format(eye_id),
                                "width": frame.width,
                                "height": frame.height,
                                "index": frame.index,
                                "timestamp": frame.timestamp,
                                "format": frame_publish_format,
                                "__raw_data__": [data],
                            }
                        )

                t = frame.timestamp
                dt, ts = t - ts, t
                try:
                    fps_graph.add(1.0 / dt)
                except ZeroDivisionError:
                    pass

                if g_pool.writer:
                    try:
                        g_pool.writer.write_video_frame(frame)
                    except NonMonotonicTimestampError as e:
                        logger.error(
                            "Recorder received non-monotonic timestamp!"
                            " Stopping the recording!"
                        )
                        logger.debug(str(e))
                        ipc_socket.notify({"subject": "recording.should_stop"})
                        ipc_socket.notify(
                            {"subject": "recording.should_stop", "remote_notify": "all"}
                        )

                for result in event.get(EVENT_KEY, ()):
                    pupil_socket.send(result)

            cpu_graph.update()

            # GL drawing
            if window_should_update():
                if is_window_visible(main_window):
                    consume_events_and_render_buffer()
                glfw.glfwPollEvents()

        # END while running

        # in case eye recording was still runnnig: Save&close
        if g_pool.writer:
            logger.info("Done recording eye.")
            g_pool.writer.release()
            g_pool.writer = None

        session_settings["loaded_plugins"] = g_pool.plugins.get_initializers()
        # save session persistent settings
        session_settings["flip"] = g_pool.flip
        session_settings["display_mode"] = g_pool.display_mode
        session_settings["ui_config"] = g_pool.gui.configuration
        session_settings["version"] = str(g_pool.version)

        if not hide_ui:
            glfw.glfwRestoreWindow(main_window)  # need to do this for windows os
            session_settings["window_position"] = glfw.glfwGetWindowPos(main_window)
            session_window_size = glfw.glfwGetWindowSize(main_window)
            if 0 not in session_window_size:
                f_width, f_height = session_window_size
                if platform.system() in ("Windows", "Linux"):
                    # Store unscaled window size as the operating system will scale the
                    # windows appropriately during launch on Windows and Linux.
                    f_width, f_height = (
                        f_width / content_scale,
                        f_height / content_scale,
                    )
                session_settings["window_size"] = int(f_width), int(f_height)

        session_settings.close()

        for plugin in g_pool.plugins:
            plugin.alive = False
        g_pool.plugins.clean()

        glfw.glfwDestroyWindow(main_window)
        g_pool.gui.terminate()
        glfw.glfwTerminate()
        logger.info("Process shutting down.")
Esempio n. 11
0
def eye(timebase, is_alive_flag, ipc_pub_url, ipc_sub_url, ipc_push_url,
        user_dir, version, eye_id, cap_src):
    """reads eye video and detects the pupil.

    Creates a window, gl context.
    Grabs images from a capture.
    Streams Pupil coordinates.

    Reacts to notifications:
       ``set_detection_mapping_mode``: Sets detection method
       ``eye_process.should_stop``: Stops the eye process
       ``recording.started``: Starts recording eye video
       ``recording.stopped``: Stops recording eye video

    Emits notifications:
        ``eye_process.started``: Eye process started
        ``eye_process.stopped``: Eye process stopped

    Emits data:
        ``pupil.<eye id>``: Pupil data for eye with id ``<eye id>``
    """

    # We deferr the imports becasue of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    import zmq
    import zmq_tools
    zmq_ctx = zmq.Context()
    ipc_socket = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    pupil_socket = zmq_tools.Msg_Streamer(zmq_ctx, ipc_pub_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx,
                                        ipc_sub_url,
                                        topics=("notify", ))

    with Is_Alive_Manager(is_alive_flag, ipc_socket, eye_id):

        #logging setup
        import logging
        logging.getLogger("OpenGL").setLevel(logging.ERROR)
        logger = logging.getLogger()
        logger.handlers = []
        logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
        # create logger for the context of this function
        logger = logging.getLogger(__name__)

        #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.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

        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((cap.frame_size[1], cap.frame_size[0]))
        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', cap.frame_size)
        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()
        glfw.glfwSwapInterval(0)

        #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 = cap.get_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)

        logger.warning('Process started.')

        # Event loop
        while not glfw.glfwWindowShouldClose(main_window):

            if notify_sub.new_data:
                t, notification = notify_sub.recv()
                subject = notification['subject']
                if subject == 'eye_process.should_stop':
                    if notification['eye_id'] == eye_id:
                        break
                elif subject == 'set_detection_mapping_mode':
                    if notification['mode'] == '3d':
                        if not isinstance(g_pool.pupil_detector, Detector_3D):
                            set_detector(Detector_3D)
                        detector_selector.read_only = True
                    else:
                        if not isinstance(g_pool.pupil_detector, Detector_2D):
                            set_detector(Detector_2D)
                        detector_selector.read_only = False
                elif subject == 'recording.started':
                    if notification['record_eye']:
                        record_path = notification['rec_path']
                        raw_mode = notification['compression']
                        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 subject == 'recording.stopped':
                    if writer:
                        logger.info("Done recording.")
                        writer.release()
                        writer = None
                        np.save(timestamps_path, np.asarray(timestamps))
                        del timestamps
                elif subject.startswith('meta.should_doc'):
                    ipc_socket.notify({
                        'subject': 'meta.doc',
                        'actor': 'eye%i' % eye_id,
                        'doc': eye.__doc__
                    })

            # 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()

            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
            pupil_socket.send('pupil.%s' % eye_id, 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
                    g_pool.u_r.draw(g_pool.gui.scale)
                    if g_pool.display_mode == 'roi':
                        g_pool.u_r.draw_points(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.info("Process shutting down.")
Esempio n. 12
0
def world(timebase, eyes_are_alive, ipc_pub_url, ipc_sub_url,
          ipc_push_url, user_dir, version, glint_queue, glint_vector_queue):
    """Reads world video and runs plugins.

    Creates a window, gl context.
    Grabs images from a capture.
    Maps pupil to gaze data
    Can run various plug-ins.

    Reacts to notifications:
        ``set_detection_mapping_mode``
        ``eye_process.started``
        ``start_plugin``

    Emits notifications:
        ``eye_process.should_start``
        ``eye_process.should_stop``
        ``set_detection_mapping_mode``
        ``world_process.started``
        ``world_process.stopped``
        ``recording.should_stop``: Emits on camera failure
        ``launcher_process.should_stop``

    Emits data:
        ``gaze``: Gaze data from current gaze mapping plugin.``
        ``*``: any other plugin generated data in the events
               that it not [dt,pupil,gaze].
    """

    # We defer the imports because of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    # This is not harmful but unnecessary.

    # general imports
    import logging

    # networking
    import zmq
    import zmq_tools

    # zmq ipc setup
    zmq_ctx = zmq.Context()
    ipc_pub = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx, ipc_sub_url, topics=('notify',))

    # log setup
    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    logger = logging.getLogger()
    logger.handlers = []
    logger.setLevel(logging.INFO)
    logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
    # create logger for the context of this function
    logger = logging.getLogger(__name__)

    # display
    import glfw
    from pyglui import ui, graph, cygl, __version__ as pyglui_version
    assert pyglui_version >= '1.3'
    from pyglui.cygl.utils import Named_Texture
    import gl_utils

    # monitoring
    import psutil

    # helpers/utils
    from version_utils import VersionFormat
    from file_methods import Persistent_Dict,load_object
    from methods import normalize, denormalize, delta_t, get_system_info, timer
    from uvc import get_time_monotonic
    from time import time
    import json
    logger.info('Application Version: {}'.format(version))
    logger.info('System Info: {}'.format(get_system_info()))

    import audio

    # trigger pupil detector cpp build:
    import pupil_detectors
    del pupil_detectors

    # Plug-ins
    from plugin import Plugin, Plugin_List, import_runtime_plugins
    from calibration_routines import calibration_plugins, gaze_mapping_plugins, Calibration_Plugin
    from fixation_detector import Fixation_Detector_3D
    from recorder import Recorder
    from display_recent_gaze import Display_Recent_Gaze
    from time_sync import Time_Sync
    from pupil_remote import Pupil_Remote
    from pupil_groups import Pupil_Groups
    from surface_tracker import Surface_Tracker
    from log_display import Log_Display
    from annotations import Annotation_Capture
    from log_history import Log_History
    from frame_publisher import Frame_Publisher
    from blink_detection import Blink_Detection
    from video_capture import source_classes, manager_classes,Base_Manager
    from pupil_data_relay import Pupil_Data_Relay
    from remote_recorder import Remote_Recorder
    from audio_capture import Audio_Capture

    # UI Platform tweaks
    if platform.system() == 'Linux':
        scroll_factor = 10.0
        window_position_default = (0, 0)
    elif platform.system() == 'Windows':
        scroll_factor = 10.0
        window_position_default = (8, 31)
    else:
        scroll_factor = 1.0
        window_position_default = (0, 0)

    # g_pool holds variables for this process they are accesible to all plugins
    g_pool = Global_Container()
    g_pool.app = 'capture'
    g_pool.process = 'world'
    g_pool.user_dir = user_dir
    g_pool.version = version
    g_pool.timebase = timebase

    g_pool.glints = glint_queue
    g_pool.glint_pupil_vectors = glint_vector_queue

    g_pool.zmq_ctx = zmq_ctx
    g_pool.ipc_pub = ipc_pub
    g_pool.ipc_pub_url = ipc_pub_url
    g_pool.ipc_sub_url = ipc_sub_url
    g_pool.ipc_push_url = ipc_push_url
    g_pool.eyes_are_alive = eyes_are_alive

    def get_timestamp():
        return get_time_monotonic() - g_pool.timebase.value
    g_pool.get_timestamp = get_timestamp
    g_pool.get_now = get_time_monotonic

    # manage plugins
    runtime_plugins = import_runtime_plugins(os.path.join(g_pool.user_dir, 'plugins'))
    calibration_plugins += [p for p in runtime_plugins if issubclass(p,Calibration_Plugin)]
    runtime_plugins = [p for p in runtime_plugins if not issubclass(p,Calibration_Plugin)]
    manager_classes += [p for p in runtime_plugins if issubclass(p,Base_Manager)]
    runtime_plugins = [p for p in runtime_plugins if not issubclass(p,Base_Manager)]
    user_launchable_plugins = [Audio_Capture, Pupil_Groups, Frame_Publisher, Pupil_Remote, Time_Sync, Surface_Tracker,
                               Annotation_Capture, Log_History, Fixation_Detector_3D, Blink_Detection,
                               Remote_Recorder] + runtime_plugins
    system_plugins = [Log_Display, Display_Recent_Gaze, Recorder, Pupil_Data_Relay]
    plugin_by_index = (system_plugins + user_launchable_plugins + calibration_plugins
                       + gaze_mapping_plugins + manager_classes + source_classes)
    name_by_index = [p.__name__ for p in plugin_by_index]
    plugin_by_name = dict(zip(name_by_index, plugin_by_index))

    default_capture_settings = {
        'preferred_names': ["Pupil Cam1 ID2", "Logitech Camera", "(046d:081d)",
                            "C510", "B525", "C525", "C615", "C920", "C930e"],
        'frame_size': (1280, 720),
        'frame_rate': 30
    }

    default_plugins = [("UVC_Source", default_capture_settings),
                       ('Pupil_Data_Relay', {}),
                       ('UVC_Manager', {}),
                       ('Log_Display', {}),
                       ('Dummy_Gaze_Mapper', {}),
                       ('Display_Recent_Gaze', {}),
                       ('Screen_Marker_Calibration', {}),
                       ('Recorder', {}),
                       ('Pupil_Remote', {})]

    # Callback functions
    def on_resize(window, w, h):
        if gl_utils.is_window_visible(window):
            hdpi_factor = float(glfw.glfwGetFramebufferSize(window)[0] / glfw.glfwGetWindowSize(window)[0])
            g_pool.gui.scale = g_pool.gui_user_scale * hdpi_factor
            g_pool.gui.update_window(w, h)
            g_pool.gui.collect_menus()
            for g in g_pool.graphs:
                g.scale = hdpi_factor
                g.adjust_window_size(w, h)
            gl_utils.adjust_gl_view(w, h)
            for p in g_pool.plugins:
                p.on_window_resize(window, w, h)

    def on_iconify(window, iconified):
        g_pool.iconified = iconified

    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_button(window, button, action, mods):
        g_pool.gui.update_button(button, action, mods)
        pos = glfw.glfwGetCursorPos(window)
        pos = normalize(pos, glfw.glfwGetWindowSize(main_window))
        # Position in img pixels
        pos = denormalize(pos, g_pool.capture.frame_size)
        for p in g_pool.plugins:
            p.on_click(pos, button, action)

    def on_pos(window, x, y):
        hdpi_factor = float(glfw.glfwGetFramebufferSize(
            window)[0] / glfw.glfwGetWindowSize(window)[0])
        x, y = x * hdpi_factor, y * hdpi_factor
        g_pool.gui.update_mouse(x, y)

    def on_scroll(window, x, y):
        g_pool.gui.update_scroll(x, y * scroll_factor)

    tick = delta_t()

    def get_dt():
        return next(tick)

    # load session persistent settings
    session_settings = Persistent_Dict(os.path.join(g_pool.user_dir, 'user_settings_world'))
    if VersionFormat(session_settings.get("version", '0.0')) != g_pool.version:
        logger.info("Session setting are from a different version of this app. I will not use those.")
        session_settings.clear()

    g_pool.iconified = False
    g_pool.detection_mapping_mode = session_settings.get('detection_mapping_mode', '3d')
    g_pool.active_calibration_plugin = None
    g_pool.calGlint = session_settings.get('calibrate_glint', False)
    g_pool.active_gaze_mapping_plugin = None
    g_pool.capture_manager = None

    audio.audio_mode = session_settings.get('audio_mode', audio.default_audio_mode)

    def open_plugin(plugin):
        if plugin == "Select to load":
            return
        g_pool.plugins.add(plugin)

    def launch_eye_process(eye_id, delay=0):
        n = {'subject': 'eye_process.should_start.{}'.format(eye_id),
             'eye_id': eye_id, 'delay': delay}
        ipc_pub.notify(n)

    def stop_eye_process(eye_id):
        n = {'subject': 'eye_process.should_stop', 'eye_id': eye_id}
        ipc_pub.notify(n)

    def start_stop_eye(eye_id, make_alive):
        if make_alive:
            launch_eye_process(eye_id)
        else:
            stop_eye_process(eye_id)

    def set_detection_mapping_mode(new_mode):
        n = {'subject': 'set_detection_mapping_mode', 'mode': new_mode}
        ipc_pub.notify(n)

    def handle_notifications(n):
        subject = n['subject']
        if subject == 'set_detection_mapping_mode':
            if n['mode'] == '2d':
                if ("Vector_Gaze_Mapper" in
                        g_pool.active_gaze_mapping_plugin.class_name):
                    logger.warning("The gaze mapper is not supported in 2d mode. Please recalibrate.")
                    g_pool.plugins.add(plugin_by_name['Dummy_Gaze_Mapper'])
            g_pool.detection_mapping_mode = n['mode']
        elif subject == 'start_plugin':
            g_pool.plugins.add(
                plugin_by_name[n['name']], args=n.get('args', {}))
        elif subject == 'eye_process.started':
            n = {'subject': 'set_detection_mapping_mode',
                 'mode': g_pool.detection_mapping_mode}
            ipc_pub.notify(n)
        elif subject.startswith('meta.should_doc'):
            ipc_pub.notify({'subject': 'meta.doc',
                            'actor': g_pool.app,
                            'doc': world.__doc__})
            for p in g_pool.plugins:
                if (p.on_notify.__doc__
                        and p.__class__.on_notify != Plugin.on_notify):
                    ipc_pub.notify({'subject': 'meta.doc',
                                    'actor': p.class_name,
                                    'doc': p.on_notify.__doc__})

    # window and gl setup
    glfw.glfwInit()
    width, height = session_settings.get('window_size', (1280, 720))
    main_window = glfw.glfwCreateWindow(width, height, "Pupil Capture - World")
    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()
    g_pool.main_window = main_window

    g_pool.world_settings = "default"

    def convert_keys_to_string(dictionary):
        """Recursively converts dictionary keys to strings."""
        if not isinstance(dictionary, dict):
            return dictionary
        return dict((str(k.decode('utf8')), convert_keys_to_string(v))
            for k, v in dictionary.items())


    def set_world_settings(new_settings):
        g_pool.world_settings = new_settings

        if not new_settings == "default":
            try:
                    path = os.path.join(g_pool.user_dir,'world_settings_' + new_settings + '.json')
                    with open(path, 'r') as fp:
                        json_str = fp.read()
                        world_settings_new = json.loads(json_str)

            except:
                logger.error("Settings don't exist")
                return

            #world_settings_new = convert_keys_to_string(world_settings_new)
            controls = g_pool.capture.uvc_capture.controls

            controls_dict = dict([(c.display_name,c) for c in controls])
            try:
                g_pool.capture.frame_rate = world_settings_new['frame_rate']
                g_pool.capture.frame_size = world_settings_new['frame_size']
            except:
                logger.info("no frame rate and frame size in camera settings")
            for key in controls_dict:
                try:
                    controls_dict[key].value = world_settings_new[key]
                except:
                    logger.info("no key with the name '%s' in camera settings" %key)

    def set_scale(new_scale):
        g_pool.gui_user_scale = new_scale
        on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

    # setup GUI
    g_pool.gui = ui.UI()
    g_pool.gui_user_scale = session_settings.get('gui_scale', 1.)
    g_pool.sidebar = ui.Scrolling_Menu("Settings", pos=(-350, 0), size=(0, 0), header_pos='left')
    general_settings = ui.Growing_Menu('General')
    general_settings.append(ui.Selector('world_settings',g_pool,setter=set_world_settings,selection=['default','outdoors'], labels=['Default', 'Outdoors'], label="World settings") )
    general_settings.append(ui.Selector('gui_user_scale', g_pool, setter=set_scale, selection=[.8, .9, 1., 1.1, 1.2], label='Interface size'))
    general_settings.append(ui.Button('Reset window size',lambda: glfw.glfwSetWindowSize(main_window,g_pool.capture.frame_size[0],g_pool.capture.frame_size[1])) )
    general_settings.append(ui.Selector('audio_mode',audio,selection=audio.audio_modes))
    general_settings.append(ui.Selector('detection_mapping_mode',
                                        g_pool,
                                        label='detection & mapping mode',
                                        setter=set_detection_mapping_mode,
                                        selection=['2d','3d']
                                    ))
    general_settings.append(ui.Switch('eye0_process',
                                        label='Detect eye 0',
                                        setter=lambda alive: start_stop_eye(0,alive),
                                        getter=lambda: eyes_are_alive[0].value
                                    ))
    general_settings.append(ui.Switch('eye1_process',
                                        label='Detect eye 1',
                                        setter=lambda alive: start_stop_eye(1,alive),
                                        getter=lambda: eyes_are_alive[1].value
                                    ))
    selector_label = "Select to load"
    labels = [p.__name__.replace('_', ' ') for p in user_launchable_plugins]
    user_launchable_plugins.insert(0, selector_label)
    labels.insert(0, selector_label)
    general_settings.append(ui.Selector('Open plugin',
                                        selection=user_launchable_plugins,
                                        labels=labels,
                                        setter=open_plugin,
                                        getter=lambda: selector_label))

    general_settings.append(ui.Info_Text('Capture Version: {}'.format(g_pool.version)))

    g_pool.quickbar = ui.Stretching_Menu('Quick Bar', (0, 100), (120, -100))

    g_pool.capture_source_menu = ui.Growing_Menu('Capture Source')
    g_pool.capture_source_menu.collapsed = True

    g_pool.calibration_menu = ui.Growing_Menu('Calibration')
    #g_pool.calibration_menu.append(ui.Switch('calGlint', g_pool,on_val=True,off_val=False,label='Calibrate with glint'))
    g_pool.calibration_menu.collapsed = True
    g_pool.capture_selector_menu = ui.Growing_Menu('Capture Selection')

    g_pool.sidebar.append(general_settings)
    g_pool.sidebar.append(g_pool.capture_selector_menu)
    g_pool.sidebar.append(g_pool.capture_source_menu)
    g_pool.sidebar.append(g_pool.calibration_menu)

    g_pool.gui.append(g_pool.sidebar)
    g_pool.gui.append(g_pool.quickbar)

    # plugins that are loaded based on user settings from previous session
    g_pool.plugins = Plugin_List(g_pool, plugin_by_name, session_settings.get('loaded_plugins', default_plugins))

    #We add the calibration menu selector, after a calibration has been added:
    g_pool.calibration_menu.insert(0,ui.Selector(
                        'active_calibration_plugin',
                        getter=lambda: g_pool.active_calibration_plugin.__class__,
                        selection = calibration_plugins,
                        labels = [p.__name__.replace('_',' ') for p in calibration_plugins],
                        setter= open_plugin,label='Method'
                                ))

    #We add the capture selection menu, after a manager has been added:
    g_pool.capture_selector_menu.insert(0,ui.Selector(
                            'capture_manager',
                            setter    = open_plugin,
                            getter    = lambda: g_pool.capture_manager.__class__,
                            selection = manager_classes,
                            labels    = [b.gui_name for b in manager_classes],
                            label     = 'Manager'
                        ))

    # 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)

    # gl_state settings
    gl_utils.basic_gl_setup()
    g_pool.image_tex = Named_Texture()

    # now the we have  aproper window we can load the last gui configuration
    g_pool.gui.configuration = session_settings.get('ui_config', {})

    # create a timer to control window update frequency
    window_update_timer = timer(1 / 60)
    def window_should_update():
        return next(window_update_timer)

    # set up performace graphs:
    pid = os.getpid()
    ps = psutil.Process(pid)
    ts = g_pool.get_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"

    pupil0_graph = graph.Bar_Graph(max_val=1.0)
    pupil0_graph.pos = (260, 130)
    pupil0_graph.update_rate = 5
    pupil0_graph.label = "id0 conf: %0.2f"
    pupil1_graph = graph.Bar_Graph(max_val=1.0)
    pupil1_graph.pos = (380, 130)
    pupil1_graph.update_rate = 5
    pupil1_graph.label = "id1 conf: %0.2f"
    pupil_graphs = pupil0_graph, pupil1_graph
    g_pool.graphs = [cpu_graph, fps_graph, pupil0_graph, pupil1_graph]

    # trigger setup of window and gl sizes
    on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

    if session_settings.get('eye1_process_alive', False):
        launch_eye_process(1, delay=0.6)
    if session_settings.get('eye0_process_alive', True):
        launch_eye_process(0, delay=0.3)

    ipc_pub.notify({'subject': 'world_process.started'})
    logger.warning('Process started.')

    # Event loop
    while not glfw.glfwWindowShouldClose(main_window):
        tUnix = time()
        # fetch newest notifications
        new_notifications = []
        while notify_sub.new_data:
            t, n = notify_sub.recv()
            new_notifications.append(n)

        # notify each plugin if there are new notifications:
        for n in new_notifications:
            handle_notifications(n)
            for p in g_pool.plugins:
                p.on_notify(n)


        #a dictionary that allows plugins to post and read events
        events = {}
        events['timestamp_unix'] = tUnix

        # report time between now and the last loop interation
        events['dt'] = get_dt()

        recent_glint_positions = []
        while not g_pool.glints.empty():
            g = g_pool.glints.get()
            recent_glint_positions.append(g)
        events['glint_positions'] = recent_glint_positions


        recent_glint_pupil_vectors = []
        while not g_pool.glint_pupil_vectors.empty():
            v = g_pool.glint_pupil_vectors.get()
            recent_glint_pupil_vectors.append(v)
        events['glint_pupil_vectors'] = recent_glint_pupil_vectors

        # allow each Plugin to do its work.
        for p in g_pool.plugins:
            p.recent_events(events)

        # check if a plugin need to be destroyed
        g_pool.plugins.clean()

        # update performace graphs
        if 'frame' in events:
            t = events["frame"].timestamp
            dt, ts = t-ts, t
            try:
                fps_graph.add(1./dt)
            except ZeroDivisionError:
                pass
        for p in events["pupil_positions"]:
            pupil_graphs[p['id']].add(p['confidence'])
        cpu_graph.update()

        # send new events to ipc:
        del events['glint_pupil_vectors']
        del events['glint_positions']
        del events['timestamp_unix']
        del events['pupil_positions']  # already on the wire
        del events['gaze_positions']  # sent earlier
        if 'frame' in events:
            del events['frame']  # send explicity with frame publisher
        if 'audio_packets' in events:
            del events['audio_packets']
        del events['dt']  # no need to send this
        for topic, data in events.items():
            assert(isinstance(data, (list, tuple)))
            for d in data:
                ipc_pub.send(topic, d)

        glfw.glfwMakeContextCurrent(main_window)
        # render visual feedback from loaded plugins
        if window_should_update() and gl_utils.is_window_visible(main_window):
            g_pool.capture.gl_display()
            for p in g_pool.plugins:
                p.gl_display()

            for g in g_pool.graphs:
                g.draw()

            g_pool.gui.update()
            glfw.glfwSwapBuffers(main_window)
        glfw.glfwPollEvents()

    glfw.glfwRestoreWindow(main_window)  # need to do this for windows os
    session_settings['loaded_plugins'] = g_pool.plugins.get_initializers()
    session_settings['calibrate_glint'] = g_pool.calGlint
    session_settings['gui_scale'] = g_pool.gui_user_scale
    session_settings['ui_config'] = g_pool.gui.configuration
    session_settings['window_size'] = glfw.glfwGetWindowSize(main_window)
    session_settings['window_position'] = glfw.glfwGetWindowPos(main_window)
    session_settings['version'] = str(g_pool.version)
    session_settings['eye0_process_alive'] = eyes_are_alive[0].value
    session_settings['eye1_process_alive'] = eyes_are_alive[1].value
    session_settings['detection_mapping_mode'] = g_pool.detection_mapping_mode
    session_settings['audio_mode'] = audio.audio_mode
    session_settings.close()

    # de-init all running plugins
    for p in g_pool.plugins:
        p.alive = False
    g_pool.plugins.clean()
    g_pool.gui.terminate()
    glfw.glfwDestroyWindow(main_window)
    glfw.glfwTerminate()

    g_pool.capture.deinit_gui()

    # shut down eye processes:
    stop_eye_process(0)
    stop_eye_process(1)

    logger.info("Process shutting down.")
    ipc_pub.notify({'subject': 'world_process.stopped'})

    # shut down launcher
    n = {'subject': 'launcher_process.should_stop'}
    ipc_pub.notify(n)
    zmq_ctx.destroy()
Esempio n. 13
0
def world(timebase,eyes_are_alive,ipc_pub_url,ipc_sub_url,ipc_push_url,user_dir,version,cap_src):
    """Reads world video and runs plugins.

    Creates a window, gl context.
    Grabs images from a capture.
    Maps pupil to gaze data
    Can run various plug-ins.

    Reacts to notifications:
        ``set_detection_mapping_mode``
        ``eye_process.started``
        ``start_plugin``

    Emits notifications:
        ``eye_process.should_start``
        ``eye_process.should_stop``
        ``set_detection_mapping_mode``
        ``world_process.started``
        ``world_process.stopped``
        ``recording.should_stop``: Emits on camera failure
        ``launcher_process.should_stop``

    Emits data:
        ``gaze``: Gaze data from current gaze mapping plugin.``
        ``*``: any other plugin generated data in the events that it not [dt,pupil,gaze].
    """

    # We defer the imports because of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    # This is not harmful but unnecessary.

    #general imports
    from time import time,sleep
    import numpy as np
    import logging
    import zmq
    import zmq_tools
    #zmq ipc setup
    zmq_ctx = zmq.Context()
    ipc_pub = zmq_tools.Msg_Dispatcher(zmq_ctx,ipc_push_url)
    gaze_pub = zmq_tools.Msg_Streamer(zmq_ctx,ipc_pub_url)
    pupil_sub = zmq_tools.Msg_Receiver(zmq_ctx,ipc_sub_url,topics=('pupil',))
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx,ipc_sub_url,topics=('notify',))

    #log setup
    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    logger = logging.getLogger()
    logger.handlers = []
    logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx,ipc_push_url))
    # create logger for the context of this function
    logger = logging.getLogger(__name__)

    #display
    import glfw
    from pyglui import ui,graph,cygl
    from pyglui.cygl.utils import Named_Texture
    from gl_utils import basic_gl_setup,adjust_gl_view, clear_gl_screen,make_coord_system_pixel_based,make_coord_system_norm_based,glFlush

    #check versions for our own depedencies as they are fast-changing
    from pyglui import __version__ as pyglui_version
    assert pyglui_version >= '0.8'

    #monitoring
    import psutil

    # helpers/utils
    from file_methods import Persistent_Dict
    from methods import normalize, denormalize, delta_t, get_system_info
    from video_capture import autoCreateCapture, FileCaptureError, EndofVideoFileError, CameraCaptureError
    from version_utils import VersionFormat
    import audio
    from uvc import get_time_monotonic


    #trigger pupil detector cpp build:
    import pupil_detectors
    del pupil_detectors

    # Plug-ins
    from plugin import Plugin,Plugin_List,import_runtime_plugins
    from calibration_routines import calibration_plugins, gaze_mapping_plugins
    from recorder import Recorder
    from show_calibration import Show_Calibration
    from display_recent_gaze import Display_Recent_Gaze
    from pupil_sync import Pupil_Sync
    from pupil_remote import Pupil_Remote
    from surface_tracker import Surface_Tracker
    from log_display import Log_Display
    from annotations import Annotation_Capture
    from log_history import Log_History

    logger.info('Application Version: %s'%version)
    logger.info('System Info: %s'%get_system_info())

    #UI Platform tweaks
    if platform.system() == 'Linux':
        scroll_factor = 10.0
        window_position_default = (0,0)
    elif platform.system() == 'Windows':
        scroll_factor = 1.0
        window_position_default = (8,31)
    else:
        scroll_factor = 1.0
        window_position_default = (0,0)


    #g_pool holds variables for this process they are accesible to all plugins
    g_pool = Global_Container()
    g_pool.app = 'capture'
    g_pool.user_dir = user_dir
    g_pool.version = version
    g_pool.timebase = timebase
    g_pool.zmq_ctx = zmq_ctx
    g_pool.ipc_pub = ipc_pub
    g_pool.ipc_pub_url = ipc_pub_url
    g_pool.ipc_sub_url = ipc_sub_url
    g_pool.ipc_push_url = ipc_push_url
    g_pool.eyes_are_alive = eyes_are_alive
    def get_timestamp():
        return get_time_monotonic()-g_pool.timebase.value
    g_pool.get_timestamp = get_timestamp
    g_pool.get_now = get_time_monotonic


    #manage plugins
    runtime_plugins = import_runtime_plugins(os.path.join(g_pool.user_dir,'plugins'))
    user_launchable_plugins = [Show_Calibration,Pupil_Remote,Pupil_Sync,Surface_Tracker,Annotation_Capture,Log_History]+runtime_plugins
    system_plugins  = [Log_Display,Display_Recent_Gaze,Recorder]
    plugin_by_index =  system_plugins+user_launchable_plugins+calibration_plugins+gaze_mapping_plugins
    name_by_index = [p.__name__ for p in plugin_by_index]
    plugin_by_name = dict(zip(name_by_index,plugin_by_index))
    default_plugins = [('Log_Display',{}),('Dummy_Gaze_Mapper',{}),('Display_Recent_Gaze',{}), ('Screen_Marker_Calibration',{}),('Recorder',{}),('Pupil_Remote',{})]


    # Callback functions
    def on_resize(window,w, h):
        if not g_pool.iconified:
            g_pool.gui.update_window(w,h)
            g_pool.gui.collect_menus()
            graph.adjust_size(w,h)
            adjust_gl_view(w,h)
            for p in g_pool.plugins:
                p.on_window_resize(window,w,h)

    def on_iconify(window,iconified):
        g_pool.iconified = iconified

    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_button(window,button, action, mods):
        g_pool.gui.update_button(button,action,mods)
        pos = glfw.glfwGetCursorPos(window)
        pos = normalize(pos,glfw.glfwGetWindowSize(main_window))
        pos = denormalize(pos,(frame.img.shape[1],frame.img.shape[0]) ) # Position in img pixels
        for p in g_pool.plugins:
            p.on_click(pos,button,action)

    def on_pos(window,x, y):
        hdpi_factor = float(glfw.glfwGetFramebufferSize(window)[0]/glfw.glfwGetWindowSize(window)[0])
        x,y = x*hdpi_factor,y*hdpi_factor
        g_pool.gui.update_mouse(x,y)

    def on_scroll(window,x,y):
        g_pool.gui.update_scroll(x,y*scroll_factor)


    tick = delta_t()
    def get_dt():
        return next(tick)

    # load session persistent settings
    session_settings = Persistent_Dict(os.path.join(g_pool.user_dir,'user_settings_world'))
    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':(1280,720),'frame_rate':30}
    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


    g_pool.iconified = False
    g_pool.capture = cap
    g_pool.detection_mapping_mode = session_settings.get('detection_mapping_mode','2d')
    g_pool.active_calibration_plugin = None
    g_pool.active_gaze_mapping_plugin = None

    audio.audio_mode = session_settings.get('audio_mode',audio.default_audio_mode)

    def open_plugin(plugin):
        if plugin ==  "Select to load":
            return
        g_pool.plugins.add(plugin)

    def set_scale(new_scale):
        g_pool.gui.scale = new_scale
        g_pool.gui.collect_menus()

    def launch_eye_process(eye_id,delay=0):
        n = {'subject':'eye_process.should_start.%s'%eye_id,'eye_id':eye_id,'delay':delay}
        ipc_pub.notify(n)

    def stop_eye_process(eye_id):
        n = {'subject':'eye_process.should_stop','eye_id':eye_id}
        ipc_pub.notify(n)

    def start_stop_eye(eye_id,make_alive):
        if make_alive:
            launch_eye_process(eye_id)
        else:
            stop_eye_process(eye_id)

    def set_detection_mapping_mode(new_mode):
        n = {'subject':'set_detection_mapping_mode','mode':new_mode}
        ipc_pub.notify(n)

    def handle_notifications(n):
        subject = n['subject']
        if subject == 'set_detection_mapping_mode':
            if n['mode'] == '2d':
                if "Vector_Gaze_Mapper" in g_pool.active_gaze_mapping_plugin.class_name:
                    logger.warning("The gaze mapper is not supported in 2d mode. Please recalibrate.")
                    g_pool.plugins.add(plugin_by_name['Dummy_Gaze_Mapper'])
            g_pool.detection_mapping_mode = n['mode']
        elif subject == 'start_plugin':
            g_pool.plugins.add(plugin_by_name[n['name']],args=n.get('args',{}) )
        elif subject == 'eye_process.started':
            n = {'subject':'set_detection_mapping_mode','mode':g_pool.detection_mapping_mode}
            ipc_pub.notify(n)
        elif subject.startswith('meta.should_doc'):
            ipc_pub.notify({
                'subject':'meta.doc',
                'actor':g_pool.app,
                'doc':world.__doc__})
            for p in g_pool.plugins:
                if p.on_notify.__doc__ and p.__class__.on_notify != Plugin.on_notify:
                    ipc_pub.notify({
                        'subject':'meta.doc',
                        'actor': p.class_name,
                        'doc':p.on_notify.__doc__})

    #window and gl setup
    glfw.glfwInit()
    width,height = session_settings.get('window_size',cap.frame_size)
    main_window = glfw.glfwCreateWindow(width,height, "World")
    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()
    g_pool.main_window = main_window



    #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=(-350,0),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.Selector('audio_mode',audio,selection=audio.audio_modes))
    general_settings.append(ui.Selector('detection_mapping_mode',g_pool,label='detection & mapping mode',setter=set_detection_mapping_mode,selection=['2d','3d']))
    general_settings.append(ui.Switch('eye0_process',label='Detect eye 0',setter=lambda alive: start_stop_eye(0,alive),getter=lambda: eyes_are_alive[0].value ))
    general_settings.append(ui.Switch('eye1_process',label='Detect eye 1',setter=lambda alive: start_stop_eye(1,alive),getter=lambda: eyes_are_alive[1].value ))
    general_settings.append(ui.Selector('Open plugin', selection = user_launchable_plugins,
                                        labels = [p.__name__.replace('_',' ') for p in user_launchable_plugins],
                                        setter= open_plugin, getter=lambda: "Select to load"))
    general_settings.append(ui.Info_Text('Capture Version: %s'%g_pool.version))
    g_pool.sidebar.append(general_settings)

    g_pool.calibration_menu = ui.Growing_Menu('Calibration')
    g_pool.sidebar.append(g_pool.calibration_menu)
    g_pool.gui.append(g_pool.sidebar)
    g_pool.quickbar = ui.Stretching_Menu('Quick Bar',(0,100),(120,-100))
    g_pool.gui.append(g_pool.quickbar)
    g_pool.capture.init_gui(g_pool.sidebar)

    #plugins that are loaded based on user settings from previous session
    g_pool.plugins = Plugin_List(g_pool,plugin_by_name,session_settings.get('loaded_plugins',default_plugins))

    #We add the calibration menu selector, after a calibration has been added:
    g_pool.calibration_menu.insert(0,ui.Selector('active_calibration_plugin',getter=lambda: g_pool.active_calibration_plugin.__class__, selection = calibration_plugins,
                                        labels = [p.__name__.replace('_',' ') for p in calibration_plugins],
                                        setter= open_plugin,label='Method'))

    # 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)

    # gl_state settings
    basic_gl_setup()
    g_pool.image_tex = Named_Texture()
    # refresh speed settings
    glfw.glfwSwapInterval(0)

    #trigger setup of window and gl sizes
    on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

    #now the we have  aproper window we can load the last gui configuration
    g_pool.gui.configuration = session_settings.get('ui_config',{})



    #set up performace graphs:
    pid = os.getpid()
    ps = psutil.Process(pid)
    ts = cap.get_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"

    pupil0_graph = graph.Bar_Graph(max_val=1.0)
    pupil0_graph.pos = (260,130)
    pupil0_graph.update_rate = 5
    pupil0_graph.label = "id0 conf: %0.2f"
    pupil1_graph = graph.Bar_Graph(max_val=1.0)
    pupil1_graph.pos = (380,130)
    pupil1_graph.update_rate = 5
    pupil1_graph.label = "id1 conf: %0.2f"
    pupil_graphs = pupil0_graph,pupil1_graph

    if session_settings.get('eye1_process_alive',False):
        launch_eye_process(1,delay=0.6)
    if session_settings.get('eye0_process_alive',True):
        launch_eye_process(0,delay=0.3)

    ipc_pub.notify({'subject':'world_process.started'})
    logger.warning('Process started.')

    # Event loop
    while not glfw.glfwWindowShouldClose(main_window):
        # Get an image from the grabber
        try:
            frame = g_pool.capture.get_frame()
        except CameraCaptureError:
            logger.error("Capture from camera failed. Starting Fake Capture.")
            settings = g_pool.capture.settings
            g_pool.capture.close()
            g_pool.capture = autoCreateCapture(None, timebase=g_pool.timebase)
            g_pool.capture.init_gui(g_pool.sidebar)
            g_pool.capture.settings = settings
            ipc_pub.notify({'subject':'recording.should_stop'})
            continue
        except EndofVideoFileError:
            logger.warning("Video file is done. Stopping")
            break

        #update performace graphs
        t = frame.timestamp
        dt,ts = t-ts,t
        try:
            fps_graph.add(1./dt)
        except ZeroDivisionError:
            pass
        cpu_graph.update()


        #a dictionary that allows plugins to post and read events
        events = {}
        #report time between now and the last loop interation
        events['dt'] = get_dt()

        recent_pupil_data = []
        recent_gaze_data = []
        new_notifications = []

        while pupil_sub.new_data:
            t,p = pupil_sub.recv()
            pupil_graphs[p['id']].add(p['confidence'])
            recent_pupil_data.append(p)
            new_gaze_data = g_pool.active_gaze_mapping_plugin.on_pupil_datum(p)
            for g in new_gaze_data:
                gaze_pub.send('gaze',g)
            recent_gaze_data += new_gaze_data
        while notify_sub.new_data:
            t,n = notify_sub.recv()
            new_notifications.append(n)


        events['pupil_positions'] = recent_pupil_data
        events['gaze_positions'] = recent_gaze_data

        # notify each plugin if there are new notifications:
        for n in new_notifications:
            handle_notifications(n)
            for p in g_pool.plugins:
                p.on_notify(n)

        # allow each Plugin to do its work.
        for p in g_pool.plugins:
            p.update(frame,events)

        #check if a plugin need to be destroyed
        g_pool.plugins.clean()

        #send new events to ipc:
        del events['pupil_positions'] #already on the wire
        del events['gaze_positions']  #send earlier in this loop
        del events['dt']  #no need to send this
        for topic,data in events.iteritems():
            for d in data:
                ipc_pub.send(topic, d)

        # render camera image
        glfw.glfwMakeContextCurrent(main_window)
        if g_pool.iconified:
            pass
        else:
            g_pool.image_tex.update_from_frame(frame)
            glFlush()
        make_coord_system_norm_based()
        g_pool.image_tex.draw()
        make_coord_system_pixel_based((frame.height,frame.width,3))
        # render visual feedback from loaded plugins
        for p in g_pool.plugins:
            p.gl_display()

        if not g_pool.iconified:
            graph.push_view()
            fps_graph.draw()
            cpu_graph.draw()
            pupil0_graph.draw()
            pupil1_graph.draw()
            graph.pop_view()
            g_pool.gui.update()
            glfw.glfwSwapBuffers(main_window)
        glfw.glfwPollEvents()

    glfw.glfwRestoreWindow(main_window) #need to do this for windows os
    session_settings['loaded_plugins'] = g_pool.plugins.get_initializers()
    session_settings['gui_scale'] = g_pool.gui.scale
    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['eye0_process_alive'] = eyes_are_alive[0].value
    session_settings['eye1_process_alive'] = eyes_are_alive[1].value
    session_settings['detection_mapping_mode'] = g_pool.detection_mapping_mode
    session_settings['audio_mode'] = audio.audio_mode
    session_settings.close()

    # de-init all running plugins
    for p in g_pool.plugins:
        p.alive = False
    g_pool.plugins.clean()
    g_pool.gui.terminate()
    glfw.glfwDestroyWindow(main_window)
    glfw.glfwTerminate()
    g_pool.capture.close()

    #shut down eye processes:
    stop_eye_process(0)
    stop_eye_process(1)

    logger.info("Process shutting down.")
    ipc_pub.notify({'subject':'world_process.stopped'})

    #shut down launcher
    n = {'subject':'launcher_process.should_stop'}
    ipc_pub.notify(n)
    zmq_ctx.destroy()
Esempio n. 14
0
def world(pupil_queue,timebase,launcher_pipe,eye_pipes,eyes_are_alive,user_dir,version,cap_src):
    """world
    Creates a window, gl context.
    Grabs images from a capture.
    Receives Pupil coordinates from eye process[es]
    Can run various plug-ins.
    """

    import logging
    # Set up root logger for this process before doing imports of logged modules.
    logger = logging.getLogger()
    logger.setLevel(logging.INFO)
    #silence noisy modules
    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    # create formatter
    formatter = logging.Formatter('%(processName)s - [%(levelname)s] %(name)s : %(message)s')
    # create file handler which logs even debug messages
    fh = logging.FileHandler(os.path.join(user_dir,'capture.log'),mode='w')
    fh.setLevel(logger.level)
    fh.setFormatter(formatter)
    # create console handler with a higher log level
    ch = logging.StreamHandler()
    ch.setLevel(logger.level+10)
    ch.setFormatter(formatter)
    # add the handlers to the logger
    logger.addHandler(fh)
    logger.addHandler(ch)


    #setup thread to recv log recrods from other processes.
    def log_loop(logging):
        import zmq
        ctx = zmq.Context()
        sub = ctx.socket(zmq.SUB)
        sub.bind('tcp://127.0.0.1:502020')
        sub.setsockopt(zmq.SUBSCRIBE, "")
        while True:
            record = sub.recv_pyobj()
            logger = logging.getLogger(record.name)
            logger.handle(record)

    import threading
    log_thread = threading.Thread(target=log_loop, args=(logging,))
    log_thread.setDaemon(True)
    log_thread.start()


    # create logger for the context of this function
    logger = logging.getLogger(__name__)


    # We defer the imports because of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    # This is not harmful but unnecessary.

    #general imports
    from time import time,sleep
    import numpy as np

    #display
    import glfw
    from pyglui import ui,graph,cygl
    from pyglui.cygl.utils import Named_Texture
    from gl_utils import basic_gl_setup,adjust_gl_view, clear_gl_screen,make_coord_system_pixel_based,make_coord_system_norm_based

    #check versions for our own depedencies as they are fast-changing
    from pyglui import __version__ as pyglui_version
    assert pyglui_version >= '0.8'

    #monitoring
    import psutil

    # helpers/utils
    from file_methods import Persistent_Dict
    from methods import normalize, denormalize, delta_t, get_system_info
    from video_capture import autoCreateCapture, FileCaptureError, EndofVideoFileError, CameraCaptureError
    from version_utils import VersionFormat
    import audio

    # Plug-ins
    from plugin import Plugin_List,import_runtime_plugins
    from calibration_routines import calibration_plugins, gaze_mapping_plugins
    from recorder import Recorder
    from show_calibration import Show_Calibration
    from display_recent_gaze import Display_Recent_Gaze
    from pupil_server import Pupil_Server
    from pupil_sync import Pupil_Sync
    from surface_tracker import Surface_Tracker
    from log_display import Log_Display
    from annotations import Annotation_Capture
    from pupil_remote import Pupil_Remote
    from log_history import Log_History
    from game_controller import GameController

    logger.info('Application Version: %s'%version)
    logger.info('System Info: %s'%get_system_info())

    #UI Platform tweaks
    if platform.system() == 'Linux':
        scroll_factor = 10.0
        window_position_default = (0,0)
    elif platform.system() == 'Windows':
        scroll_factor = 1.0
        window_position_default = (8,31)
    else:
        scroll_factor = 1.0
        window_position_default = (0,0)



    #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
    # g_pool.launcher_pipe = launcher_pipe
    g_pool.eye_pipes = eye_pipes
    g_pool.eyes_are_alive = eyes_are_alive


    #manage plugins
    runtime_plugins = import_runtime_plugins(os.path.join(g_pool.user_dir,'plugins'))
    user_launchable_plugins = [GameController, Show_Calibration,Pupil_Remote,Pupil_Server,Pupil_Sync,Surface_Tracker,Annotation_Capture,Log_History]+runtime_plugins
    system_plugins  = [Log_Display,Display_Recent_Gaze,Recorder]
    plugin_by_index =  system_plugins+user_launchable_plugins+calibration_plugins+gaze_mapping_plugins
    name_by_index = [p.__name__ for p in plugin_by_index]
    plugin_by_name = dict(zip(name_by_index,plugin_by_index))
    default_plugins = [('Log_Display',{}),('Dummy_Gaze_Mapper',{}),('Display_Recent_Gaze',{}), ('Screen_Marker_Calibration',{}),('Recorder',{})]


    # Callback functions
    def on_resize(window,w, h):
        if not g_pool.iconified:
            g_pool.gui.update_window(w,h)
            g_pool.gui.collect_menus()
            graph.adjust_size(w,h)
            adjust_gl_view(w,h)
            for p in g_pool.plugins:
                p.on_window_resize(window,w,h)

    def on_iconify(window,iconified):
        g_pool.iconified = iconified

    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_button(window,button, action, mods):
        g_pool.gui.update_button(button,action,mods)
        pos = glfw.glfwGetCursorPos(window)
        pos = normalize(pos,glfw.glfwGetWindowSize(main_window))
        pos = denormalize(pos,(frame.img.shape[1],frame.img.shape[0]) ) # Position in img pixels
        for p in g_pool.plugins:
            p.on_click(pos,button,action)

    def on_pos(window,x, y):
        hdpi_factor = float(glfw.glfwGetFramebufferSize(window)[0]/glfw.glfwGetWindowSize(window)[0])
        x,y = x*hdpi_factor,y*hdpi_factor
        g_pool.gui.update_mouse(x,y)

    def on_scroll(window,x,y):
        g_pool.gui.update_scroll(x,y*scroll_factor)


    tick = delta_t()
    def get_dt():
        return next(tick)

    # load session persistent settings
    session_settings = Persistent_Dict(os.path.join(g_pool.user_dir,'user_settings_world'))
    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':(1280,720),'frame_rate':30}
    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()
        launcher_pipe.send("Exit")
        return



    g_pool.iconified = False
    g_pool.capture = cap
    g_pool.pupil_confidence_threshold = session_settings.get('pupil_confidence_threshold',.6)
    g_pool.detection_mapping_mode = session_settings.get('detection_mapping_mode','2d')
    g_pool.active_calibration_plugin = None


    audio.audio_mode = session_settings.get('audio_mode',audio.default_audio_mode)

    def open_plugin(plugin):
        if plugin ==  "Select to load":
            return
        g_pool.plugins.add(plugin)

    def set_scale(new_scale):
        g_pool.gui.scale = new_scale
        g_pool.gui.collect_menus()

    def launch_eye_process(eye_id,blocking=False):
        if eyes_are_alive[eye_id].value:
            logger.error("Eye%s process already running."%eye_id)
            return
        launcher_pipe.send(eye_id)
        eye_pipes[eye_id].send( ('Set_Detection_Mapping_Mode',g_pool.detection_mapping_mode) )

        if blocking:
            #wait for ready message from eye to sequentialize startup
            eye_pipes[eye_id].send('Ping')
            eye_pipes[eye_id].recv()

        logger.warning('Eye %s process started.'%eye_id)

    def stop_eye_process(eye_id,blocking=False):
        if eyes_are_alive[eye_id].value:
            eye_pipes[eye_id].send('Exit')
            if blocking:
                while eyes_are_alive[eye_id].value:
                    sleep(.1)

    def start_stop_eye(eye_id,make_alive):
        if make_alive:
            launch_eye_process(eye_id)
        else:
            stop_eye_process(eye_id)

    def set_detection_mapping_mode(new_mode):
        if new_mode == '2d':
            for p in g_pool.plugins:
                if "Vector_Gaze_Mapper" in p.class_name:
                    logger.warning("The gaze mapper is not supported in 2d mode. Please recalibrate.")
                    p.alive = False
            g_pool.plugins.clean()
        for alive, pipe in zip(g_pool.eyes_are_alive,g_pool.eye_pipes):
            if alive.value:
                pipe.send( ('Set_Detection_Mapping_Mode',new_mode) )
        g_pool.detection_mapping_mode = new_mode


    #window and gl setup
    glfw.glfwInit()
    width,height = session_settings.get('window_size',(frame.width, frame.height))
    main_window = glfw.glfwCreateWindow(width,height, "World")
    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()
    g_pool.main_window = main_window



    #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=(-350,0),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.Selector('audio_mode',audio,selection=audio.audio_modes))
    general_settings.append(ui.Selector('detection_mapping_mode',g_pool,label='detection & mapping mode',setter=set_detection_mapping_mode,selection=['2d','3d']))
    general_settings.append(ui.Switch('eye0_process',label='Detect eye 0',setter=lambda alive: start_stop_eye(0,alive),getter=lambda: eyes_are_alive[0].value ))
    general_settings.append(ui.Switch('eye1_process',label='Detect eye 1',setter=lambda alive: start_stop_eye(1,alive),getter=lambda: eyes_are_alive[1].value ))
    general_settings.append(ui.Selector('Open plugin', selection = user_launchable_plugins,
                                        labels = [p.__name__.replace('_',' ') for p in user_launchable_plugins],
                                        setter= open_plugin, getter=lambda: "Select to load"))
    general_settings.append(ui.Slider('pupil_confidence_threshold', g_pool,step = .01,min=0.,max=1.,label='Minimum pupil confidence'))
    general_settings.append(ui.Info_Text('Capture Version: %s'%g_pool.version))
    g_pool.sidebar.append(general_settings)

    g_pool.calibration_menu = ui.Growing_Menu('Calibration')
    g_pool.sidebar.append(g_pool.calibration_menu)
    g_pool.gui.append(g_pool.sidebar)
    g_pool.quickbar = ui.Stretching_Menu('Quick Bar',(0,100),(120,-100))
    g_pool.gui.append(g_pool.quickbar)
    g_pool.capture.init_gui(g_pool.sidebar)

    #plugins that are loaded based on user settings from previous session
    g_pool.notifications = []
    g_pool.delayed_notifications = {}
    g_pool.plugins = Plugin_List(g_pool,plugin_by_name,session_settings.get('loaded_plugins',default_plugins))

    #We add the calibration menu selector, after a calibration has been added:
    g_pool.calibration_menu.insert(0,ui.Selector('active_calibration_plugin',getter=lambda: g_pool.active_calibration_plugin.__class__, selection = calibration_plugins,
                                        labels = [p.__name__.replace('_',' ') for p in calibration_plugins],
                                        setter= open_plugin,label='Method'))

    # 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)

    # gl_state settings
    basic_gl_setup()
    g_pool.image_tex = Named_Texture()
    g_pool.image_tex.update_from_frame(frame)
    # refresh speed settings
    glfw.glfwSwapInterval(0)

    #trigger setup of window and gl sizes
    on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

    #now the we have  aproper window we can load the last gui configuration
    g_pool.gui.configuration = session_settings.get('ui_config',{})



    #set up performace 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"

    pupil_graph = graph.Bar_Graph(max_val=1.0)
    pupil_graph.pos = (260,130)
    pupil_graph.update_rate = 5
    pupil_graph.label = "Confidence: %0.2f"


    if session_settings.get('eye1_process_alive',False):
        launch_eye_process(1,blocking=True)
    if session_settings.get('eye0_process_alive',True):
        launch_eye_process(0,blocking=False)

    # Event loop
    while not glfw.glfwWindowShouldClose(main_window):

        # Get an image from the grabber
        try:
            frame = g_pool.capture.get_frame()
        except CameraCaptureError:
            logger.error("Capture from camera failed. Starting Fake Capture.")
            settings = g_pool.capture.settings
            g_pool.capture.close()
            g_pool.capture = autoCreateCapture(None, timebase=g_pool.timebase)
            g_pool.capture.init_gui(g_pool.sidebar)
            g_pool.capture.settings = settings
            g_pool.notifications.append({'subject':'should_stop_recording'})
            continue
        except EndofVideoFileError:
            logger.warning("Video file is done. Stopping")
            break

        #update performace graphs
        t = frame.timestamp
        dt,ts = t-ts,t
        try:
            fps_graph.add(1./dt)
        except ZeroDivisionError:
            pass
        cpu_graph.update()


        #a dictionary that allows plugins to post and read events
        events = {}

        #report time between now and the last loop interation
        events['dt'] = get_dt()

        #receive and map pupil positions
        recent_pupil_positions = []
        while not g_pool.pupil_queue.empty():
            p = g_pool.pupil_queue.get()
            recent_pupil_positions.append(p)
            pupil_graph.add(p['confidence'])
        events['pupil_positions'] = recent_pupil_positions


        # publish delayed notifiactions when their time has come.
        for n in g_pool.delayed_notifications.values():
            if n['_notify_time_'] < time():
                del n['_notify_time_']
                del g_pool.delayed_notifications[n['subject']]
                g_pool.notifications.append(n)

        # notify each plugin if there are new notifications:
        while g_pool.notifications:
            n = g_pool.notifications.pop(0)
            for p in g_pool.plugins:
                p.on_notify(n)

        # allow each Plugin to do its work.
        for p in g_pool.plugins:
            p.update(frame,events)

        #check if a plugin need to be destroyed
        g_pool.plugins.clean()

        # render camera image
        glfw.glfwMakeContextCurrent(main_window)
        if g_pool.iconified:
            pass
        else:
            g_pool.image_tex.update_from_frame(frame)

        make_coord_system_norm_based()
        g_pool.image_tex.draw()
        make_coord_system_pixel_based((frame.height,frame.width,3))
        # render visual feedback from loaded plugins
        for p in g_pool.plugins:
            p.gl_display()

        if not g_pool.iconified:
            graph.push_view()
            fps_graph.draw()
            cpu_graph.draw()
            pupil_graph.draw()
            graph.pop_view()
            g_pool.gui.update()
            glfw.glfwSwapBuffers(main_window)
        glfw.glfwPollEvents()

    glfw.glfwRestoreWindow(main_window) #need to do this for windows os
    session_settings['loaded_plugins'] = g_pool.plugins.get_initializers()
    session_settings['pupil_confidence_threshold'] = g_pool.pupil_confidence_threshold
    session_settings['gui_scale'] = g_pool.gui.scale
    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['eye0_process_alive'] = eyes_are_alive[0].value
    session_settings['eye1_process_alive'] = eyes_are_alive[1].value
    session_settings['detection_mapping_mode'] = g_pool.detection_mapping_mode
    session_settings['audio_mode'] = audio.audio_mode
    session_settings.close()

    # de-init all running plugins
    for p in g_pool.plugins:
        p.alive = False
    g_pool.plugins.clean()
    g_pool.gui.terminate()
    glfw.glfwDestroyWindow(main_window)
    glfw.glfwTerminate()
    g_pool.capture.close()

    #shut down eye processes:
    stop_eye_process(0,blocking = True)
    stop_eye_process(1,blocking = True)

    #shut down laucher
    launcher_pipe.send("Exit")

    logger.info("Process Shutting down.")
Esempio n. 15
0
def eye(
    timebase,
    is_alive_flag,
    ipc_pub_url,
    ipc_sub_url,
    ipc_push_url,
    user_dir,
    version,
    eye_id,
    overwrite_cap_settings=None,
    hide_ui=False,
):
    """reads eye video and detects the pupil.

    Creates a window, gl context.
    Grabs images from a capture.
    Streams Pupil coordinates.

    Reacts to notifications:
        ``set_detection_mapping_mode``: Sets detection method
        ``eye_process.should_stop``: Stops the eye process
        ``recording.started``: Starts recording eye video
        ``recording.stopped``: Stops recording eye video
        ``frame_publishing.started``: Starts frame publishing
        ``frame_publishing.stopped``: Stops frame publishing
        ``start_eye_plugin``: Start plugins in eye process

    Emits notifications:
        ``eye_process.started``: Eye process started
        ``eye_process.stopped``: Eye process stopped

    Emits data:
        ``pupil.<eye id>``: Pupil data for eye with id ``<eye id>``
        ``frame.eye.<eye id>``: Eye frames with id ``<eye id>``
    """

    # We deferr the imports becasue of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    import zmq
    import zmq_tools

    zmq_ctx = zmq.Context()
    ipc_socket = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    pupil_socket = zmq_tools.Msg_Streamer(zmq_ctx, ipc_pub_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx,
                                        ipc_sub_url,
                                        topics=("notify", ))

    # logging setup
    import logging

    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    logger = logging.getLogger()
    logger.handlers = []
    logger.setLevel(logging.NOTSET)
    logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
    # create logger for the context of this function
    logger = logging.getLogger(__name__)

    if is_alive_flag.value:
        # indicates eye process that this is a duplicated startup
        logger.warning("Aborting redundant eye process startup")
        return

    with Is_Alive_Manager(is_alive_flag, ipc_socket, eye_id, logger):
        # general imports
        import traceback
        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
        from pyglui.cygl.utils import Named_Texture
        from gl_utils import basic_gl_setup, adjust_gl_view, clear_gl_screen
        from gl_utils import make_coord_system_pixel_based
        from gl_utils import make_coord_system_norm_based
        from gl_utils import is_window_visible, glViewport
        from ui_roi import UIRoi

        # monitoring
        import psutil

        # Plug-ins
        from plugin import Plugin_List

        # helpers/utils
        from uvc import get_time_monotonic
        from file_methods import Persistent_Dict
        from version_utils import VersionFormat
        from methods import normalize, denormalize, timer
        from av_writer import JPEG_Writer, MPEG_Writer
        from ndsi import H264Writer
        from video_capture import source_classes, manager_classes

        from background_helper import IPC_Logging_Task_Proxy
        from pupil_detector_plugins import available_detector_plugins
        from pupil_detector_plugins.manager import PupilDetectorManager

        IPC_Logging_Task_Proxy.push_url = ipc_push_url

        def interrupt_handler(sig, frame):
            import traceback

            trace = traceback.format_stack(f=frame)
            logger.debug(f"Caught signal {sig} in:\n" + "".join(trace))
            # NOTE: Interrupt is handled in world/service/player which are responsible for
            # shutting down the eye process properly

        signal.signal(signal.SIGINT, interrupt_handler)

        # UI Platform tweaks
        if platform.system() == "Linux":
            scroll_factor = 10.0
            window_position_default = (600, 300 * eye_id + 30)
        elif platform.system() == "Windows":
            scroll_factor = 10.0
            window_position_default = (600, 90 + 300 * eye_id)
        else:
            scroll_factor = 1.0
            window_position_default = (600, 300 * eye_id)

        icon_bar_width = 50
        window_size = None
        camera_render_size = None
        hdpi_factor = 1.0

        # g_pool holds variables for this process
        g_pool = SimpleNamespace()

        # make some constants avaiable
        g_pool.user_dir = user_dir
        g_pool.version = version
        g_pool.app = "capture"
        g_pool.eye_id = eye_id
        g_pool.process = f"eye{eye_id}"
        g_pool.timebase = timebase

        g_pool.ipc_pub = ipc_socket

        def get_timestamp():
            return get_time_monotonic() - g_pool.timebase.value

        g_pool.get_timestamp = get_timestamp
        g_pool.get_now = get_time_monotonic

        default_detector_cls, available_detectors = available_detector_plugins(
        )
        plugins = (manager_classes + source_classes + available_detectors +
                   [PupilDetectorManager])
        g_pool.plugin_by_name = {p.__name__: p for p in plugins}

        preferred_names = [
            f"Pupil Cam3 ID{eye_id}",
            f"Pupil Cam2 ID{eye_id}",
            f"Pupil Cam1 ID{eye_id}",
        ]
        if eye_id == 0:
            preferred_names += ["HD-6000"]
        default_capture_settings = (
            "UVC_Source",
            {
                "preferred_names": preferred_names,
                "frame_size": (320, 240),
                "frame_rate": 120,
            },
        )

        default_plugins = [
            # TODO: extend with plugins
            default_capture_settings,
            ("UVC_Manager", {}),
            # Detector needs to be loaded first to set `g_pool.pupil_detector`
            (default_detector_cls.__name__, {}),
            ("PupilDetectorManager", {}),
        ]

        # Callback functions
        def on_resize(window, w, h):
            nonlocal window_size
            nonlocal camera_render_size
            nonlocal hdpi_factor

            active_window = glfw.glfwGetCurrentContext()
            glfw.glfwMakeContextCurrent(window)
            hdpi_factor = glfw.getHDPIFactor(window)
            g_pool.gui.scale = g_pool.gui_user_scale * hdpi_factor
            window_size = w, h
            camera_render_size = w - int(icon_bar_width * g_pool.gui.scale), h
            g_pool.gui.update_window(w, h)
            g_pool.gui.collect_menus()
            for g in g_pool.graphs:
                g.scale = hdpi_factor
                g.adjust_window_size(w, h)
            adjust_gl_view(w, h)
            glfw.glfwMakeContextCurrent(active_window)

        def on_window_key(window, key, scancode, action, mods):
            g_pool.gui.update_key(key, scancode, action, mods)

        def on_window_char(window, char):
            g_pool.gui.update_char(char)

        def on_iconify(window, iconified):
            g_pool.iconified = iconified

        def on_window_mouse_button(window, button, action, mods):
            g_pool.gui.update_button(button, action, mods)

        def on_pos(window, x, y):
            x *= hdpi_factor
            y *= hdpi_factor
            g_pool.gui.update_mouse(x, y)

            if g_pool.u_r.active_edit_pt:
                pos = normalize((x, y), camera_render_size)
                if g_pool.flip:
                    pos = 1 - pos[0], 1 - pos[1]
                pos = denormalize(pos, g_pool.capture.frame_size)
                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)

        def on_drop(window, count, paths):
            paths = [paths[x].decode("utf-8") for x in range(count)]
            for plugin in g_pool.plugins:
                if plugin.on_drop(paths):
                    break

        # load session persistent settings
        session_settings = Persistent_Dict(
            os.path.join(g_pool.user_dir,
                         "user_settings_eye{}".format(eye_id)))
        if VersionFormat(session_settings.get("version",
                                              "0.0")) != g_pool.version:
            logger.info(
                "Session setting are from a different version of this app. I will not use those."
            )
            session_settings.clear()

        g_pool.iconified = False
        g_pool.capture = None
        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.",
        }

        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 toggle_general_settings(collapsed):
            # this is the menu toggle logic.
            # Only one menu can be open.
            # If no menu is open the menubar should collapse.
            g_pool.menubar.collapsed = collapsed
            for m in g_pool.menubar.elements:
                m.collapsed = True
            general_settings.collapsed = collapsed

        # Initialize glfw
        glfw.glfwInit()
        if hide_ui:
            glfw.glfwWindowHint(glfw.GLFW_VISIBLE, 0)  # hide window
        title = "Pupil Capture - eye {}".format(eye_id)

        width, height = session_settings.get("window_size",
                                             (640 + icon_bar_width, 480))

        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()

        # UI callback functions
        def set_scale(new_scale):
            g_pool.gui_user_scale = new_scale
            on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        # gl_state settings
        basic_gl_setup()
        g_pool.image_tex = Named_Texture()
        g_pool.image_tex.update_from_ndarray(
            np.ones((1, 1), dtype=np.uint8) + 125)

        # setup GUI
        g_pool.gui = ui.UI()
        g_pool.gui_user_scale = session_settings.get("gui_scale", 1.0)
        g_pool.menubar = ui.Scrolling_Menu("Settings",
                                           pos=(-500, 0),
                                           size=(-icon_bar_width, 0),
                                           header_pos="left")
        g_pool.iconbar = ui.Scrolling_Menu("Icons",
                                           pos=(-icon_bar_width, 0),
                                           size=(0, 0),
                                           header_pos="hidden")
        g_pool.gui.append(g_pool.menubar)
        g_pool.gui.append(g_pool.iconbar)

        general_settings = ui.Growing_Menu("General", header_pos="headline")
        general_settings.append(
            ui.Selector(
                "gui_user_scale",
                g_pool,
                setter=set_scale,
                selection=[0.8, 0.9, 1.0, 1.1, 1.2],
                label="Interface Size",
            ))

        def set_window_size():
            f_width, f_height = g_pool.capture.frame_size
            f_width *= 2
            f_height *= 2
            f_width += int(icon_bar_width * g_pool.gui.scale)
            glfw.glfwSetWindowSize(main_window, f_width, f_height)

        def uroi_on_mouse_button(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
                    # if the roi interacts we dont want
                    # the gui to interact as well
                    return
                elif action == glfw.GLFW_PRESS:
                    x, y = glfw.glfwGetCursorPos(main_window)
                    # pos = normalize(pos, glfw.glfwGetWindowSize(main_window))
                    x *= hdpi_factor
                    y *= hdpi_factor
                    pos = normalize((x, y), camera_render_size)
                    if g_pool.flip:
                        pos = 1 - pos[0], 1 - pos[1]
                    # Position in img pixels
                    pos = denormalize(
                        pos,
                        g_pool.capture.frame_size)  # Position in img pixels
                    if g_pool.u_r.mouse_over_edit_pt(pos,
                                                     g_pool.u_r.handle_size,
                                                     g_pool.u_r.handle_size):
                        # if the roi interacts we dont want
                        # the gui to interact as well
                        return

        general_settings.append(ui.Button("Reset window size",
                                          set_window_size))
        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.menubar.append(general_settings)
        icon = ui.Icon(
            "collapsed",
            general_settings,
            label=chr(0xE8B8),
            on_val=False,
            off_val=True,
            setter=toggle_general_settings,
            label_font="pupil_icons",
        )
        icon.tooltip = "General Settings"
        g_pool.iconbar.append(icon)
        toggle_general_settings(False)

        plugins_to_load = session_settings.get("loaded_plugins",
                                               default_plugins)
        if overwrite_cap_settings:
            # Ensure that overwrite_cap_settings takes preference over source plugins
            # with incorrect settings that were loaded from session settings.
            plugins_to_load.append(overwrite_cap_settings)

        g_pool.plugins = Plugin_List(g_pool, plugins_to_load)

        g_pool.writer = None

        g_pool.u_r = UIRoi(
            (g_pool.capture.frame_size[1], g_pool.capture.frame_size[0]))
        roi_user_settings = session_settings.get("roi")
        if roi_user_settings and tuple(
                roi_user_settings[-1]) == g_pool.u_r.get()[-1]:
            g_pool.u_r.set(roi_user_settings)

        # Register callbacks main_window
        glfw.glfwSetFramebufferSizeCallback(main_window, on_resize)
        glfw.glfwSetWindowIconifyCallback(main_window, on_iconify)
        glfw.glfwSetKeyCallback(main_window, on_window_key)
        glfw.glfwSetCharCallback(main_window, on_window_char)
        glfw.glfwSetMouseButtonCallback(main_window, on_window_mouse_button)
        glfw.glfwSetCursorPosCallback(main_window, on_pos)
        glfw.glfwSetScrollCallback(main_window, on_scroll)
        glfw.glfwSetDropCallback(main_window, on_drop)

        # 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 = g_pool.get_timestamp()

        cpu_graph = graph.Bar_Graph()
        cpu_graph.pos = (20, 50)
        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, 50)
        fps_graph.update_rate = 5
        fps_graph.label = "%0.0f FPS"
        g_pool.graphs = [cpu_graph, fps_graph]

        # set the last saved window size
        on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        should_publish_frames = False
        frame_publish_format = "jpeg"
        frame_publish_format_recent_warning = False

        # create a timer to control window update frequency
        window_update_timer = timer(1 / 60)

        def window_should_update():
            return next(window_update_timer)

        logger.warning("Process started.")

        frame = None

        # Event loop
        while not glfw.glfwWindowShouldClose(main_window):

            if notify_sub.new_data:
                t, notification = notify_sub.recv()
                subject = notification["subject"]
                if subject.startswith("eye_process.should_stop"):
                    if notification["eye_id"] == eye_id:
                        break
                elif subject == "recording.started":
                    if notification["record_eye"] and g_pool.capture.online:
                        record_path = notification["rec_path"]
                        raw_mode = notification["compression"]
                        start_time_synced = notification["start_time_synced"]
                        logger.info(
                            "Will save eye video to: {}".format(record_path))
                        video_path = os.path.join(record_path,
                                                  "eye{}.mp4".format(eye_id))
                        if raw_mode and frame and g_pool.capture.jpeg_support:
                            g_pool.writer = JPEG_Writer(
                                video_path, start_time_synced)
                        elif hasattr(g_pool.capture._recent_frame,
                                     "h264_buffer"):
                            g_pool.writer = H264Writer(
                                video_path,
                                g_pool.capture.frame_size[0],
                                g_pool.capture.frame_size[1],
                                g_pool.capture.frame_rate,
                            )
                        else:
                            g_pool.writer = MPEG_Writer(
                                video_path, start_time_synced)
                elif subject == "recording.stopped":
                    if g_pool.writer:
                        logger.info("Done recording.")
                        try:
                            g_pool.writer.release()
                        except RuntimeError:
                            logger.error("No eye video recorded")
                        g_pool.writer = None
                elif subject.startswith("meta.should_doc"):
                    ipc_socket.notify({
                        "subject": "meta.doc",
                        "actor": "eye{}".format(eye_id),
                        "doc": eye.__doc__,
                    })
                elif subject.startswith("frame_publishing.started"):
                    should_publish_frames = True
                    frame_publish_format = notification.get("format", "jpeg")
                elif subject.startswith("frame_publishing.stopped"):
                    should_publish_frames = False
                    frame_publish_format = "jpeg"
                elif (subject.startswith("start_eye_plugin")
                      and notification["target"] == g_pool.process):
                    try:
                        g_pool.plugins.add(
                            g_pool.plugin_by_name[notification["name"]],
                            notification.get("args", {}),
                        )
                    except KeyError as err:
                        logger.error(f"Attempt to load unknown plugin: {err}")

                for plugin in g_pool.plugins:
                    plugin.on_notify(notification)

            event = {}
            for plugin in g_pool.plugins:
                plugin.recent_events(event)

            frame = event.get("frame")
            if frame:
                f_width, f_height = g_pool.capture.frame_size
                if (g_pool.u_r.array_shape[0], g_pool.u_r.array_shape[1]) != (
                        f_height,
                        f_width,
                ):
                    g_pool.pupil_detector.on_resolution_change(
                        (g_pool.u_r.array_shape[1], g_pool.u_r.array_shape[0]),
                        g_pool.capture.frame_size,
                    )
                    g_pool.u_r = UIRoi((f_height, f_width))
                if should_publish_frames:
                    try:
                        if frame_publish_format == "jpeg":
                            data = frame.jpeg_buffer
                        elif frame_publish_format == "yuv":
                            data = frame.yuv_buffer
                        elif frame_publish_format == "bgr":
                            data = frame.bgr
                        elif frame_publish_format == "gray":
                            data = frame.gray
                        assert data is not None
                    except (AttributeError, AssertionError, NameError):
                        if not frame_publish_format_recent_warning:
                            frame_publish_format_recent_warning = True
                            logger.warning(
                                '{}s are not compatible with format "{}"'.
                                format(type(frame), frame_publish_format))
                    else:
                        frame_publish_format_recent_warning = False
                        pupil_socket.send({
                            "topic":
                            "frame.eye.{}".format(eye_id),
                            "width":
                            frame.width,
                            "height":
                            frame.height,
                            "index":
                            frame.index,
                            "timestamp":
                            frame.timestamp,
                            "format":
                            frame_publish_format,
                            "__raw_data__": [data],
                        })

                t = frame.timestamp
                dt, ts = t - ts, t
                try:
                    fps_graph.add(1.0 / dt)
                except ZeroDivisionError:
                    pass

                if g_pool.writer:
                    g_pool.writer.write_video_frame(frame)

                result = event.get("pupil_detection_result", None)
                if result is not None:
                    pupil_socket.send(result)

            cpu_graph.update()

            # GL drawing
            if window_should_update():
                if is_window_visible(main_window):
                    glfw.glfwMakeContextCurrent(main_window)
                    clear_gl_screen()

                    glViewport(0, 0, *camera_render_size)
                    for p in g_pool.plugins:
                        p.gl_display()

                    glViewport(0, 0, *camera_render_size)
                    # render the ROI
                    g_pool.u_r.draw(g_pool.gui.scale)
                    if g_pool.display_mode == "roi":
                        g_pool.u_r.draw_points(g_pool.gui.scale)

                    glViewport(0, 0, *window_size)
                    # render graphs
                    fps_graph.draw()
                    cpu_graph.draw()

                    # render GUI
                    try:
                        clipboard = glfw.glfwGetClipboardString(
                            main_window).decode()
                    except AttributeError:  # clipboard is None, might happen on startup
                        clipboard = ""
                    g_pool.gui.update_clipboard(clipboard)
                    user_input = g_pool.gui.update()
                    if user_input.clipboard != clipboard:
                        # only write to clipboard if content changed
                        glfw.glfwSetClipboardString(
                            main_window, user_input.clipboard.encode())

                    for button, action, mods in user_input.buttons:
                        x, y = glfw.glfwGetCursorPos(main_window)
                        pos = x * hdpi_factor, y * hdpi_factor
                        pos = normalize(pos, camera_render_size)
                        # Position in img pixels
                        pos = denormalize(pos, g_pool.capture.frame_size)

                        for plugin in g_pool.plugins:
                            if plugin.on_click(pos, button, action):
                                break

                    for key, scancode, action, mods in user_input.keys:
                        for plugin in g_pool.plugins:
                            if plugin.on_key(key, scancode, action, mods):
                                break

                    for char_ in user_input.chars:
                        for plugin in g_pool.plugins:
                            if plugin.on_char(char_):
                                break

                    # update screen
                    glfw.glfwSwapBuffers(main_window)
                glfw.glfwPollEvents()

        # END while running

        # in case eye recording was still runnnig: Save&close
        if g_pool.writer:
            logger.info("Done recording eye.")
            g_pool.writer.release()
            g_pool.writer = None

        session_settings["loaded_plugins"] = g_pool.plugins.get_initializers()
        # save session persistent settings
        session_settings["gui_scale"] = g_pool.gui_user_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["version"] = str(g_pool.version)

        if not hide_ui:
            glfw.glfwRestoreWindow(
                main_window)  # need to do this for windows os
            session_settings["window_position"] = glfw.glfwGetWindowPos(
                main_window)
            session_window_size = glfw.glfwGetWindowSize(main_window)
            if 0 not in session_window_size:
                session_settings["window_size"] = session_window_size

        session_settings.close()

        for plugin in g_pool.plugins:
            plugin.alive = False
        g_pool.plugins.clean()

        glfw.glfwDestroyWindow(main_window)
        g_pool.gui.terminate()
        glfw.glfwTerminate()
        logger.info("Process shutting down.")
Esempio n. 16
0
def world(timebase, eyes_are_alive, ipc_pub_url, ipc_sub_url, ipc_push_url,
          user_dir, version):
    """Reads world video and runs plugins.

    Creates a window, gl context.
    Grabs images from a capture.
    Maps pupil to gaze data
    Can run various plug-ins.

    Reacts to notifications:
        ``set_detection_mapping_mode``
        ``eye_process.started``
        ``start_plugin``

    Emits notifications:
        ``eye_process.should_start``
        ``eye_process.should_stop``
        ``set_detection_mapping_mode``
        ``world_process.started``
        ``world_process.stopped``
        ``recording.should_stop``: Emits on camera failure
        ``launcher_process.should_stop``

    Emits data:
        ``gaze``: Gaze data from current gaze mapping plugin.``
        ``*``: any other plugin generated data in the events
               that it not [dt,pupil,gaze].
    """

    # We defer the imports because of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    # This is not harmful but unnecessary.

    # general imports
    from time import sleep
    import logging

    # networking
    import zmq
    import zmq_tools

    # zmq ipc setup
    zmq_ctx = zmq.Context()
    ipc_pub = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx,
                                        ipc_sub_url,
                                        topics=('notify', ))

    # log setup
    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    logger = logging.getLogger()
    logger.handlers = []
    # logger.setLevel(logging.DEBUG)
    logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
    # create logger for the context of this function
    logger = logging.getLogger(__name__)

    def launch_eye_process(eye_id, delay=0):
        n = {
            'subject': 'eye_process.should_start.{}'.format(eye_id),
            'eye_id': eye_id,
            'delay': delay
        }
        ipc_pub.notify(n)

    def stop_eye_process(eye_id):
        n = {
            'subject': 'eye_process.should_stop.{}'.format(eye_id),
            'eye_id': eye_id,
            'delay': 0.2
        }
        ipc_pub.notify(n)

    def start_stop_eye(eye_id, make_alive):
        if make_alive:
            launch_eye_process(eye_id)
        else:
            stop_eye_process(eye_id)

    def set_detection_mapping_mode(new_mode):
        n = {'subject': 'set_detection_mapping_mode', 'mode': new_mode}
        ipc_pub.notify(n)

    try:

        # display
        import glfw
        from version_utils import VersionFormat
        from pyglui import ui, cygl, __version__ as pyglui_version
        assert VersionFormat(pyglui_version) >= VersionFormat(
            '1.9'), 'pyglui out of date, please upgrade to newest version'
        from pyglui.cygl.utils import Named_Texture
        import gl_utils

        # helpers/utils
        from file_methods import Persistent_Dict
        from methods import normalize, denormalize, delta_t, get_system_info, timer
        from uvc import get_time_monotonic
        logger.info('Application Version: {}'.format(version))
        logger.info('System Info: {}'.format(get_system_info()))

        import audio

        # trigger pupil detector cpp build:
        import pupil_detectors
        del pupil_detectors

        # Plug-ins
        from plugin import Plugin, System_Plugin_Base, Plugin_List, import_runtime_plugins
        from plugin_manager import Plugin_Manager
        from calibration_routines import calibration_plugins, gaze_mapping_plugins, Calibration_Plugin, Gaze_Mapping_Plugin
        from fixation_detector import Fixation_Detector
        from recorder import Recorder
        from display_recent_gaze import Display_Recent_Gaze
        from time_sync import Time_Sync
        from pupil_remote import Pupil_Remote
        from pupil_groups import Pupil_Groups
        from surface_tracker import Surface_Tracker
        from log_display import Log_Display
        from annotations import Annotation_Capture
        from log_history import Log_History
        from frame_publisher import Frame_Publisher
        from blink_detection import Blink_Detection
        from video_capture import source_classes, manager_classes, Base_Manager, Base_Source
        from pupil_data_relay import Pupil_Data_Relay
        from remote_recorder import Remote_Recorder
        from audio_capture import Audio_Capture
        from accuracy_visualizer import Accuracy_Visualizer
        # from saccade_detector import Saccade_Detector
        from system_graphs import System_Graphs
        from camera_intrinsics_estimation import Camera_Intrinsics_Estimation
        from hololens_relay import Hololens_Relay

        # UI Platform tweaks
        if platform.system() == 'Linux':
            scroll_factor = 10.0
            window_position_default = (30, 30)
        elif platform.system() == 'Windows':
            scroll_factor = 10.0
            window_position_default = (8, 31)
        else:
            scroll_factor = 1.0
            window_position_default = (0, 0)

        icon_bar_width = 50
        window_size = None
        camera_render_size = None
        hdpi_factor = 1.0

        # g_pool holds variables for this process they are accesible to all plugins
        g_pool = Global_Container()
        g_pool.app = 'capture'
        g_pool.process = 'world'
        g_pool.user_dir = user_dir
        g_pool.version = version
        g_pool.timebase = timebase
        g_pool.zmq_ctx = zmq_ctx
        g_pool.ipc_pub = ipc_pub
        g_pool.ipc_pub_url = ipc_pub_url
        g_pool.ipc_sub_url = ipc_sub_url
        g_pool.ipc_push_url = ipc_push_url
        g_pool.eyes_are_alive = eyes_are_alive

        def get_timestamp():
            return get_time_monotonic() - g_pool.timebase.value

        g_pool.get_timestamp = get_timestamp
        g_pool.get_now = get_time_monotonic

        # manage plugins
        runtime_plugins = import_runtime_plugins(
            os.path.join(g_pool.user_dir, 'plugins'))
        user_plugins = [
            Audio_Capture, Pupil_Groups, Frame_Publisher, Pupil_Remote,
            Time_Sync, Surface_Tracker, Annotation_Capture, Log_History,
            Fixation_Detector, Blink_Detection, Remote_Recorder,
            Accuracy_Visualizer, Camera_Intrinsics_Estimation, Hololens_Relay
        ]
        system_plugins = [
            Log_Display, Display_Recent_Gaze, Recorder, Pupil_Data_Relay,
            Plugin_Manager, System_Graphs
        ] + manager_classes + source_classes
        plugins = system_plugins + user_plugins + runtime_plugins + calibration_plugins + gaze_mapping_plugins
        user_plugins += [
            p for p in runtime_plugins
            if not isinstance(p, (Base_Manager, Base_Source,
                                  System_Plugin_Base, Calibration_Plugin,
                                  Gaze_Mapping_Plugin))
        ]
        g_pool.plugin_by_name = {p.__name__: p for p in plugins}

        default_capture_settings = {
            'preferred_names': [
                "Pupil Cam1 ID2", "Logitech Camera", "(046d:081d)", "C510",
                "B525", "C525", "C615", "C920", "C930e"
            ],
            'frame_size': (1280, 720),
            'frame_rate':
            30
        }

        default_plugins = [("UVC_Source", default_capture_settings),
                           ('Pupil_Data_Relay', {}), ('UVC_Manager', {}),
                           ('Log_Display', {}), ('Dummy_Gaze_Mapper', {}),
                           ('Display_Recent_Gaze', {}),
                           ('Screen_Marker_Calibration', {}), ('Recorder', {}),
                           ('Pupil_Remote', {}), ('Plugin_Manager', {}),
                           ('System_Graphs', {})]

        # Callback functions
        def on_resize(window, w, h):
            nonlocal window_size
            nonlocal camera_render_size
            nonlocal hdpi_factor
            hdpi_factor = float(
                glfw.glfwGetFramebufferSize(window)[0] /
                glfw.glfwGetWindowSize(window)[0])
            g_pool.gui.scale = g_pool.gui_user_scale * hdpi_factor
            window_size = w, h
            camera_render_size = w - int(icon_bar_width * g_pool.gui.scale), h
            g_pool.gui.update_window(*window_size)
            g_pool.gui.collect_menus()
            for p in g_pool.plugins:
                p.on_window_resize(window, *camera_render_size)

        def on_window_key(window, key, scancode, action, mods):
            g_pool.gui.update_key(key, scancode, action, mods)

        def on_window_char(window, char):
            g_pool.gui.update_char(char)

        def on_window_mouse_button(window, button, action, mods):
            g_pool.gui.update_button(button, action, mods)

        def on_pos(window, x, y):
            x, y = x * hdpi_factor, y * hdpi_factor
            g_pool.gui.update_mouse(x, y)
            pos = x, y
            pos = normalize(pos, camera_render_size)
            # Position in img pixels
            pos = denormalize(pos, g_pool.capture.frame_size)
            for p in g_pool.plugins:
                p.on_pos(pos)

        def on_scroll(window, x, y):
            g_pool.gui.update_scroll(x, y * scroll_factor)

        def on_drop(window, count, paths):
            paths = [paths[x].decode('utf-8') for x in range(count)]
            for p in g_pool.plugins:
                p.on_drop(paths)

        tick = delta_t()

        def get_dt():
            return next(tick)

        # load session persistent settings
        session_settings = Persistent_Dict(
            os.path.join(g_pool.user_dir, 'user_settings_world'))
        if VersionFormat(session_settings.get("version",
                                              '0.0')) != g_pool.version:
            logger.info(
                "Session setting are from a different version of this app. I will not use those."
            )
            session_settings.clear()

        g_pool.detection_mapping_mode = session_settings.get(
            'detection_mapping_mode', '3d')
        g_pool.active_calibration_plugin = None
        g_pool.active_gaze_mapping_plugin = None
        g_pool.capture = None

        audio.audio_mode = session_settings.get('audio_mode',
                                                audio.default_audio_mode)

        def handle_notifications(n):
            subject = n['subject']
            if subject == 'set_detection_mapping_mode':
                if n['mode'] == '2d':
                    if ("Vector_Gaze_Mapper"
                            in g_pool.active_gaze_mapping_plugin.class_name):
                        logger.warning(
                            "The gaze mapper is not supported in 2d mode. Please recalibrate."
                        )
                        g_pool.plugins.add(
                            g_pool.plugin_by_name['Dummy_Gaze_Mapper'])
                g_pool.detection_mapping_mode = n['mode']
            elif subject == 'start_plugin':
                g_pool.plugins.add(g_pool.plugin_by_name[n['name']],
                                   args=n.get('args', {}))
            elif subject == 'stop_plugin':
                for p in g_pool.plugins:
                    if p.class_name == n['name']:
                        p.alive = False
                        g_pool.plugins.clean()
            elif subject == 'eye_process.started':
                n = {
                    'subject': 'set_detection_mapping_mode',
                    'mode': g_pool.detection_mapping_mode
                }
                ipc_pub.notify(n)
            elif subject.startswith('meta.should_doc'):
                ipc_pub.notify({
                    'subject': 'meta.doc',
                    'actor': g_pool.app,
                    'doc': world.__doc__
                })
                for p in g_pool.plugins:
                    if (p.on_notify.__doc__
                            and p.__class__.on_notify != Plugin.on_notify):
                        ipc_pub.notify({
                            'subject': 'meta.doc',
                            'actor': p.class_name,
                            'doc': p.on_notify.__doc__
                        })

        # window and gl setup
        glfw.glfwInit()
        width, height = session_settings.get('window_size',
                                             (1280 + icon_bar_width, 720))
        main_window = glfw.glfwCreateWindow(width, height,
                                            "Pupil Capture - World")
        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()
        g_pool.main_window = main_window

        def set_scale(new_scale):
            g_pool.gui_user_scale = new_scale
            window_size = camera_render_size[0] + \
                int(icon_bar_width * g_pool.gui_user_scale * hdpi_factor), \
                glfw.glfwGetFramebufferSize(main_window)[1]
            logger.warning(icon_bar_width * g_pool.gui_user_scale *
                           hdpi_factor)
            glfw.glfwSetWindowSize(main_window, *window_size)

        def reset_restart():
            logger.warning("Resetting all settings and restarting Capture.")
            glfw.glfwSetWindowShouldClose(main_window, True)
            ipc_pub.notify({'subject': 'clear_settings_process.should_start'})
            ipc_pub.notify({
                'subject': 'world_process.should_start',
                'delay': 2.
            })

        def toggle_general_settings(collapsed):
            # this is the menu toggle logic.
            # Only one menu can be open.
            # If no menu is open the menubar should collapse.
            g_pool.menubar.collapsed = collapsed
            for m in g_pool.menubar.elements:
                m.collapsed = True
            general_settings.collapsed = collapsed

        # setup GUI
        g_pool.gui = ui.UI()
        g_pool.gui_user_scale = session_settings.get('gui_scale', 1.)
        g_pool.menubar = ui.Scrolling_Menu("Settings",
                                           pos=(-400, 0),
                                           size=(-icon_bar_width, 0),
                                           header_pos='left')
        g_pool.iconbar = ui.Scrolling_Menu("Icons",
                                           pos=(-icon_bar_width, 0),
                                           size=(0, 0),
                                           header_pos='hidden')
        g_pool.quickbar = ui.Stretching_Menu('Quick Bar', (0, 100),
                                             (120, -100))
        g_pool.gui.append(g_pool.menubar)
        g_pool.gui.append(g_pool.iconbar)
        g_pool.gui.append(g_pool.quickbar)

        general_settings = ui.Growing_Menu('General', header_pos='headline')
        general_settings.append(
            ui.Selector('gui_user_scale',
                        g_pool,
                        setter=set_scale,
                        selection=[.6, .8, 1., 1.2, 1.4],
                        label='Interface size'))

        def set_window_size():
            f_width, f_height = g_pool.capture.frame_size
            f_width += int(icon_bar_width * g_pool.gui.scale)
            glfw.glfwSetWindowSize(main_window, f_width, f_height)

        general_settings.append(ui.Button('Reset window size',
                                          set_window_size))
        general_settings.append(
            ui.Selector('audio_mode', audio, selection=audio.audio_modes))
        general_settings.append(
            ui.Selector('detection_mapping_mode',
                        g_pool,
                        label='detection & mapping mode',
                        setter=set_detection_mapping_mode,
                        selection=['2d', '3d']))
        general_settings.append(
            ui.Switch('eye0_process',
                      label='Detect eye 0',
                      setter=lambda alive: start_stop_eye(0, alive),
                      getter=lambda: eyes_are_alive[0].value))
        general_settings.append(
            ui.Switch('eye1_process',
                      label='Detect eye 1',
                      setter=lambda alive: start_stop_eye(1, alive),
                      getter=lambda: eyes_are_alive[1].value))

        general_settings.append(
            ui.Info_Text('Capture Version: {}'.format(g_pool.version)))
        general_settings.append(
            ui.Button('Restart with default settings', reset_restart))

        g_pool.menubar.append(general_settings)
        icon = ui.Icon('collapsed',
                       general_settings,
                       label=chr(0xe8b8),
                       on_val=False,
                       off_val=True,
                       setter=toggle_general_settings,
                       label_font='pupil_icons')
        icon.tooltip = 'General Settings'
        g_pool.iconbar.append(icon)

        user_plugin_separator = ui.Separator()
        user_plugin_separator.order = 0.35
        g_pool.iconbar.append(user_plugin_separator)

        # plugins that are loaded based on user settings from previous session
        g_pool.plugins = Plugin_List(
            g_pool, session_settings.get('loaded_plugins', default_plugins))

        # Register callbacks main_window
        glfw.glfwSetFramebufferSizeCallback(main_window, on_resize)
        glfw.glfwSetKeyCallback(main_window, on_window_key)
        glfw.glfwSetCharCallback(main_window, on_window_char)
        glfw.glfwSetMouseButtonCallback(main_window, on_window_mouse_button)
        glfw.glfwSetCursorPosCallback(main_window, on_pos)
        glfw.glfwSetScrollCallback(main_window, on_scroll)
        glfw.glfwSetDropCallback(main_window, on_drop)

        # gl_state settings
        gl_utils.basic_gl_setup()
        g_pool.image_tex = Named_Texture()

        toggle_general_settings(False)

        # now the we have  aproper window we can load the last gui configuration
        g_pool.gui.configuration = session_settings.get('ui_config', {})

        # create a timer to control window update frequency
        window_update_timer = timer(1 / 60)

        def window_should_update():
            return next(window_update_timer)

        # trigger setup of window and gl sizes
        on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        if session_settings.get('eye1_process_alive', False):
            launch_eye_process(1, delay=0.6)
        if session_settings.get('eye0_process_alive', True):
            launch_eye_process(0, delay=0.3)

        ipc_pub.notify({'subject': 'world_process.started'})
        logger.warning('Process started.')

        # Event loop
        while not glfw.glfwWindowShouldClose(main_window):

            # fetch newest notifications
            new_notifications = []
            while notify_sub.new_data:
                t, n = notify_sub.recv()
                new_notifications.append(n)

            # notify each plugin if there are new notifications:
            for n in new_notifications:
                handle_notifications(n)
                for p in g_pool.plugins:
                    p.on_notify(n)

            #a dictionary that allows plugins to post and read events
            events = {}
            # report time between now and the last loop interation
            events['dt'] = get_dt()

            # allow each Plugin to do its work.
            for p in g_pool.plugins:
                p.recent_events(events)

            # check if a plugin need to be destroyed
            g_pool.plugins.clean()

            # send new events to ipc:
            del events['pupil_positions']  # already on the wire
            del events['gaze_positions']  # sent earlier
            if 'frame' in events:
                del events['frame']  # send explicity with frame publisher
            if 'depth_frame' in events:
                del events['depth_frame']
            if 'audio_packets' in events:
                del events['audio_packets']
            del events['dt']  # no need to send this
            for topic, data in events.items():
                assert (isinstance(data, (list, tuple)))
                for d in data:
                    ipc_pub.send(topic, d)

            glfw.glfwMakeContextCurrent(main_window)
            # render visual feedback from loaded plugins
            if window_should_update() and gl_utils.is_window_visible(
                    main_window):

                gl_utils.glViewport(0, 0, *camera_render_size)
                for p in g_pool.plugins:
                    p.gl_display()

                gl_utils.glViewport(0, 0, *window_size)
                unused_elements = g_pool.gui.update()
                for button, action, mods in unused_elements.buttons:
                    x, y = glfw.glfwGetCursorPos(main_window)
                    pos = x * hdpi_factor, y * hdpi_factor
                    pos = normalize(pos, camera_render_size)
                    # Position in img pixels
                    pos = denormalize(pos, g_pool.capture.frame_size)
                    for p in g_pool.plugins:
                        p.on_click(pos, button, action)

                for key, scancode, action, mods in unused_elements.keys:
                    for p in g_pool.plugins:
                        p.on_key(key, scancode, action, mods)

                for char_ in unused_elements.chars:
                    for p in g_pool.plugins:
                        p.on_char(char_)

                glfw.glfwSwapBuffers(main_window)
            glfw.glfwPollEvents()

        glfw.glfwRestoreWindow(main_window)  # need to do this for windows os
        session_settings['loaded_plugins'] = g_pool.plugins.get_initializers()
        session_settings['gui_scale'] = g_pool.gui_user_scale
        session_settings['ui_config'] = g_pool.gui.configuration
        session_settings['window_size'] = glfw.glfwGetWindowSize(main_window)
        session_settings['window_position'] = glfw.glfwGetWindowPos(
            main_window)
        session_settings['version'] = str(g_pool.version)
        session_settings['eye0_process_alive'] = eyes_are_alive[0].value
        session_settings['eye1_process_alive'] = eyes_are_alive[1].value
        session_settings[
            'detection_mapping_mode'] = g_pool.detection_mapping_mode
        session_settings['audio_mode'] = audio.audio_mode
        session_settings.close()

        # de-init all running plugins
        for p in g_pool.plugins:
            p.alive = False
        g_pool.plugins.clean()

        g_pool.gui.terminate()
        glfw.glfwDestroyWindow(main_window)
        glfw.glfwTerminate()

    except:
        import traceback
        trace = traceback.format_exc()
        logger.error('Process Capture crashed with trace:\n{}'.format(trace))

    finally:
        # shut down eye processes:
        stop_eye_process(0)
        stop_eye_process(1)

        logger.info("Process shutting down.")
        ipc_pub.notify({'subject': 'world_process.stopped'})
        sleep(1.0)
Esempio n. 17
0
def world(pupil_queue, timebase, lauchner_pipe, eye_pipes, eyes_are_alive, user_dir, version, cap_src):
    """world
    Creates a window, gl context.
    Grabs images from a capture.
    Receives Pupil coordinates from eye process[es]
    Can run various plug-ins.
    """

    import logging

    # Set up root logger for this process before doing imports of logged modules.
    logger = logging.getLogger()
    logger.setLevel(logging.INFO)
    # create file handler which logs even debug messages
    fh = logging.FileHandler(os.path.join(user_dir, "world.log"), mode="w")
    fh.setLevel(logger.level)
    # 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("World Process: %(asctime)s - %(name)s - %(levelname)s - %(message)s")
    fh.setFormatter(formatter)
    formatter = logging.Formatter("WORLD 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)
    logging.getLogger("libav").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.
    # This is not harmfull but unnessasary.

    # general imports
    from time import time
    import numpy as np

    # display
    import glfw
    from pyglui import ui, graph, cygl
    from pyglui.cygl.utils import Named_Texture
    from gl_utils import (
        basic_gl_setup,
        adjust_gl_view,
        clear_gl_screen,
        make_coord_system_pixel_based,
        make_coord_system_norm_based,
    )

    # check versions for our own depedencies as they are fast-changing
    from pyglui import __version__ as pyglui_version

    assert pyglui_version >= "0.7"

    # monitoring
    import psutil

    # helpers/utils
    from file_methods import Persistent_Dict
    from methods import normalize, denormalize, delta_t
    from video_capture import autoCreateCapture, FileCaptureError, EndofVideoFileError, CameraCaptureError
    from version_utils import VersionFormat

    # Plug-ins
    from plugin import Plugin_List, import_runtime_plugins
    from calibration_routines import calibration_plugins, gaze_mapping_plugins
    from recorder import Recorder
    from show_calibration import Show_Calibration
    from display_recent_gaze import Display_Recent_Gaze
    from pupil_server import Pupil_Server
    from pupil_sync import Pupil_Sync
    from marker_detector import Marker_Detector
    from log_display import Log_Display
    from annotations import Annotation_Capture

    # create logger for the context of this function

    # UI Platform tweaks
    if platform.system() == "Linux":
        scroll_factor = 10.0
        window_position_default = (0, 0)
    elif platform.system() == "Windows":
        scroll_factor = 1.0
        window_position_default = (8, 31)
    else:
        scroll_factor = 1.0
        window_position_default = (0, 0)

    # 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
    # g_pool.lauchner_pipe = lauchner_pipe
    g_pool.eye_pipes = eye_pipes
    g_pool.eyes_are_alive = eyes_are_alive

    # manage plugins
    runtime_plugins = import_runtime_plugins(os.path.join(g_pool.user_dir, "plugins"))
    user_launchable_plugins = [
        Show_Calibration,
        Pupil_Server,
        Pupil_Sync,
        Marker_Detector,
        Annotation_Capture,
    ] + runtime_plugins
    system_plugins = [Log_Display, Display_Recent_Gaze, Recorder]
    plugin_by_index = system_plugins + user_launchable_plugins + calibration_plugins + gaze_mapping_plugins
    name_by_index = [p.__name__ for p in plugin_by_index]
    plugin_by_name = dict(zip(name_by_index, plugin_by_index))
    default_plugins = [
        ("Log_Display", {}),
        ("Dummy_Gaze_Mapper", {}),
        ("Display_Recent_Gaze", {}),
        ("Screen_Marker_Calibration", {}),
        ("Recorder", {}),
    ]

    # Callback functions
    def on_resize(window, w, h):
        if not g_pool.iconified:
            g_pool.gui.update_window(w, h)
            g_pool.gui.collect_menus()
            graph.adjust_size(w, h)
            adjust_gl_view(w, h)
            for p in g_pool.plugins:
                p.on_window_resize(window, w, h)

    def on_iconify(window, iconified):
        g_pool.iconified = iconified

    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_button(window, button, action, mods):
        g_pool.gui.update_button(button, action, mods)
        pos = glfw.glfwGetCursorPos(window)
        pos = normalize(pos, glfw.glfwGetWindowSize(main_window))
        pos = denormalize(pos, (frame.img.shape[1], frame.img.shape[0]))  # Position in img pixels
        for p in g_pool.plugins:
            p.on_click(pos, button, action)

    def on_pos(window, x, y):
        hdpi_factor = float(glfw.glfwGetFramebufferSize(window)[0] / glfw.glfwGetWindowSize(window)[0])
        x, y = x * hdpi_factor, y * hdpi_factor
        g_pool.gui.update_mouse(x, y)

    def on_scroll(window, x, y):
        g_pool.gui.update_scroll(x, y * scroll_factor)

    tick = delta_t()

    def get_dt():
        return next(tick)

    # load session persistent settings
    session_settings = Persistent_Dict(os.path.join(g_pool.user_dir, "user_settings_world"))
    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": (1280, 720), "frame_rate": 30}
    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()
        lauchner_pipe.send("Exit")
        return

    g_pool.iconified = False
    g_pool.capture = cap
    g_pool.pupil_confidence_threshold = session_settings.get("pupil_confidence_threshold", 0.6)
    g_pool.detection_mapping_mode = session_settings.get("detection_mapping_mode", "2d")
    g_pool.active_calibration_plugin = None

    def open_plugin(plugin):
        if plugin == "Select to load":
            return
        g_pool.plugins.add(plugin)

    def set_scale(new_scale):
        g_pool.gui.scale = new_scale
        g_pool.gui.collect_menus()

    def launch_eye_process(eye_id, blocking=False):
        if eyes_are_alive[eye_id].value:
            logger.error("Eye%s process already running." % eye_id)
            return
        lauchner_pipe.send(eye_id)
        eye_pipes[eye_id].send(("Set_Detection_Mapping_Mode", g_pool.detection_mapping_mode))

        if blocking:
            # wait for ready message from eye to sequentialize startup
            eye_pipes[eye_id].send("Ping")
            eye_pipes[eye_id].recv()

        logger.warning("Eye %s process started." % eye_id)

    def stop_eye_process(eye_id, blocking=False):
        if eyes_are_alive[eye_id].value:
            eye_pipes[eye_id].send("Exit")
            if blocking:
                raise NotImplementedError()

    def start_stop_eye(eye_id, make_alive):
        if make_alive:
            launch_eye_process(eye_id)
        else:
            stop_eye_process(eye_id)

    def set_detection_mapping_mode(new_mode):
        if new_mode == "2d":
            for p in g_pool.plugins:
                if "Vector_Gaze_Mapper" in p.class_name:
                    logger.warning("The gaze mapper is not supported in 2d mode. Please recalibrate.")
                    p.alive = False
            g_pool.plugins.clean()
        for alive, pipe in zip(g_pool.eyes_are_alive, g_pool.eye_pipes):
            if alive.value:
                pipe.send(("Set_Detection_Mapping_Mode", new_mode))
        g_pool.detection_mapping_mode = new_mode

    # window and gl setup
    glfw.glfwInit()
    width, height = session_settings.get("window_size", (frame.width, frame.height))
    main_window = glfw.glfwCreateWindow(width, height, "World")
    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()
    g_pool.main_window = main_window

    # 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=(-350, 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=0.05, min=1.0, 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.Selector(
            "detection_mapping_mode",
            g_pool,
            label="detection & mapping mode",
            setter=set_detection_mapping_mode,
            selection=["2d", "3d"],
        )
    )
    general_settings.append(
        ui.Switch(
            "eye0_process",
            label="detect eye 0",
            setter=lambda alive: start_stop_eye(0, alive),
            getter=lambda: eyes_are_alive[0].value,
        )
    )
    general_settings.append(
        ui.Switch(
            "eye1_process",
            label="detect eye 1",
            setter=lambda alive: start_stop_eye(1, alive),
            getter=lambda: eyes_are_alive[1].value,
        )
    )
    general_settings.append(
        ui.Selector(
            "Open plugin",
            selection=user_launchable_plugins,
            labels=[p.__name__.replace("_", " ") for p in user_launchable_plugins],
            setter=open_plugin,
            getter=lambda: "Select to load",
        )
    )
    general_settings.append(
        ui.Slider("pupil_confidence_threshold", g_pool, step=0.01, min=0.0, max=1.0, label="Minimum pupil confidence")
    )
    general_settings.append(ui.Info_Text("Capture Version: %s" % g_pool.version))
    g_pool.sidebar.append(general_settings)

    g_pool.calibration_menu = ui.Growing_Menu("Calibration")
    g_pool.sidebar.append(g_pool.calibration_menu)
    g_pool.gui.append(g_pool.sidebar)
    g_pool.quickbar = ui.Stretching_Menu("Quick Bar", (0, 100), (120, -100))
    g_pool.gui.append(g_pool.quickbar)
    g_pool.capture.init_gui(g_pool.sidebar)

    # plugins that are loaded based on user settings from previous session
    g_pool.notifications = []
    g_pool.delayed_notifications = {}
    g_pool.plugins = Plugin_List(g_pool, plugin_by_name, session_settings.get("loaded_plugins", default_plugins))

    # We add the calibration menu selector, after a calibration has been added:
    g_pool.calibration_menu.insert(
        0,
        ui.Selector(
            "active_calibration_plugin",
            getter=lambda: g_pool.active_calibration_plugin.__class__,
            selection=calibration_plugins,
            labels=[p.__name__.replace("_", " ") for p in calibration_plugins],
            setter=open_plugin,
            label="Method",
        ),
    )

    # 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)

    # gl_state settings
    basic_gl_setup()
    g_pool.image_tex = Named_Texture()
    g_pool.image_tex.update_from_frame(frame)
    # refresh speed settings
    glfw.glfwSwapInterval(0)

    # trigger setup of window and gl sizes
    on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

    # now the we have  aproper window we can load the last gui configuration
    g_pool.gui.configuration = session_settings.get("ui_config", {})

    # set up performace 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"

    pupil_graph = graph.Bar_Graph(max_val=1.0)
    pupil_graph.pos = (260, 130)
    pupil_graph.update_rate = 5
    pupil_graph.label = "Confidence: %0.2f"

    if session_settings.get("eye1_process_alive", False):
        launch_eye_process(1, blocking=True)
    if session_settings.get("eye0_process_alive", True):
        launch_eye_process(0, blocking=False)

    # Event loop
    while not glfw.glfwWindowShouldClose(main_window):

        # 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")
            break

        # update performace graphs
        t = frame.timestamp
        dt, ts = t - ts, t
        try:
            fps_graph.add(1.0 / dt)
        except ZeroDivisionError:
            pass
        cpu_graph.update()

        # a dictionary that allows plugins to post and read events
        events = {}

        # report time between now and the last loop interation
        events["dt"] = get_dt()

        # receive and map pupil positions
        recent_pupil_positions = []
        while not g_pool.pupil_queue.empty():
            p = g_pool.pupil_queue.get()
            recent_pupil_positions.append(p)
            pupil_graph.add(p["confidence"])
        events["pupil_positions"] = recent_pupil_positions

        # publish delayed notifiactions when their time has come.
        for n in g_pool.delayed_notifications.values():
            if n["_notify_time_"] < time():
                del n["_notify_time_"]
                del g_pool.delayed_notifications[n["subject"]]
                g_pool.notifications.append(n)

        # notify each plugin if there are new notifications:
        while g_pool.notifications:
            n = g_pool.notifications.pop(0)
            for p in g_pool.plugins:
                p.on_notify(n)

        # allow each Plugin to do its work.
        for p in g_pool.plugins:
            p.update(frame, events)

        # check if a plugin need to be destroyed
        g_pool.plugins.clean()

        # render camera image
        glfw.glfwMakeContextCurrent(main_window)
        if g_pool.iconified:
            pass
        else:
            g_pool.image_tex.update_from_frame(frame)

        make_coord_system_norm_based()
        g_pool.image_tex.draw()
        make_coord_system_pixel_based((frame.height, frame.width, 3))
        # render visual feedback from loaded plugins
        for p in g_pool.plugins:
            p.gl_display()

        if not g_pool.iconified:
            graph.push_view()
            fps_graph.draw()
            cpu_graph.draw()
            pupil_graph.draw()
            graph.pop_view()
            g_pool.gui.update()
            glfw.glfwSwapBuffers(main_window)
        glfw.glfwPollEvents()

    glfw.glfwRestoreWindow(main_window)  # need to do this for windows os
    session_settings["loaded_plugins"] = g_pool.plugins.get_initializers()
    session_settings["pupil_confidence_threshold"] = g_pool.pupil_confidence_threshold
    session_settings["gui_scale"] = g_pool.gui.scale
    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["eye0_process_alive"] = eyes_are_alive[0].value
    session_settings["eye1_process_alive"] = eyes_are_alive[1].value
    session_settings["detection_mapping_mode"] = g_pool.detection_mapping_mode
    session_settings.close()

    # de-init all running plugins
    for p in g_pool.plugins:
        p.alive = False
    g_pool.plugins.clean()
    g_pool.gui.terminate()
    glfw.glfwDestroyWindow(main_window)
    glfw.glfwTerminate()
    cap.close()

    # shut down eye processes:
    stop_eye_process(0)
    stop_eye_process(1)

    # shut down laucher
    lauchner_pipe.send("Exit")

    logger.debug("world process done")
Esempio n. 18
0
File: eye.py Progetto: sleip87/pupil
def eye(timebase, is_alive_flag, ipc_pub_url, ipc_sub_url, ipc_push_url,
        user_dir, version, eye_id, overwrite_cap_settings=None):
    """reads eye video and detects the pupil.

    Creates a window, gl context.
    Grabs images from a capture.
    Streams Pupil coordinates.

    Reacts to notifications:
       ``set_detection_mapping_mode``: Sets detection method
       ``eye_process.should_stop``: Stops the eye process
       ``recording.started``: Starts recording eye video
       ``recording.stopped``: Stops recording eye video
       ``frame_publishing.started``: Starts frame publishing
       ``frame_publishing.stopped``: Stops frame publishing

    Emits notifications:
        ``eye_process.started``: Eye process started
        ``eye_process.stopped``: Eye process stopped

    Emits data:
        ``pupil.<eye id>``: Pupil data for eye with id ``<eye id>``
        ``frame.eye.<eye id>``: Eye frames with id ``<eye id>``
    """

    # We deferr the imports becasue of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    import zmq
    import zmq_tools
    zmq_ctx = zmq.Context()
    ipc_socket = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    pupil_socket = zmq_tools.Msg_Streamer(zmq_ctx, ipc_pub_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx, ipc_sub_url, topics=("notify",))

    with Is_Alive_Manager(is_alive_flag, ipc_socket, eye_id):

        # logging setup
        import logging
        logging.getLogger("OpenGL").setLevel(logging.ERROR)
        logger = logging.getLogger()
        logger.handlers = []
        logger.setLevel(logging.INFO)
        logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
        # create logger for the context of this function
        logger = logging.getLogger(__name__)

        # 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
        from pyglui.cygl.utils import Named_Texture
        from gl_utils import basic_gl_setup, adjust_gl_view, clear_gl_screen
        from gl_utils import make_coord_system_pixel_based
        from gl_utils import make_coord_system_norm_based
        from gl_utils import is_window_visible
        from ui_roi import UIRoi
        # monitoring
        import psutil

        # helpers/utils
        from uvc import get_time_monotonic
        from file_methods import Persistent_Dict
        from version_utils import VersionFormat
        from methods import normalize, denormalize, timer
        from av_writer import JPEG_Writer, AV_Writer
        from ndsi import H264Writer
        from video_capture import source_classes
        from video_capture import manager_classes

        # 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 = 10.0
            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.process = 'eye{}'.format(eye_id)
        g_pool.timebase = timebase

        g_pool.ipc_pub = ipc_socket

        def get_timestamp():
            return get_time_monotonic() - g_pool.timebase.value
        g_pool.get_timestamp = get_timestamp
        g_pool.get_now = get_time_monotonic

        # Callback functions
        def on_resize(window, w, h):
            if is_window_visible(window):
                active_window = glfw.glfwGetCurrentContext()
                glfw.glfwMakeContextCurrent(window)
                hdpi_factor = float(glfw.glfwGetFramebufferSize(window)[0] / glfw.glfwGetWindowSize(window)[0])
                g_pool.gui.scale = g_pool.gui_user_scale * hdpi_factor
                g_pool.gui.update_window(w, h)
                g_pool.gui.collect_menus()
                for g in g_pool.graphs:
                    g.scale = hdpi_factor
                    g.adjust_window_size(w, h)
                adjust_gl_view(w, h)
                glfw.glfwMakeContextCurrent(active_window)

        def on_window_key(window, key, scancode, action, mods):
            g_pool.gui.update_key(key, scancode, action, mods)

        def on_window_char(window, char):
            g_pool.gui.update_char(char)

        def on_iconify(window, iconified):
            g_pool.iconified = iconified

        def on_window_mouse_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
                    # if the roi interacts we dont want
                    # the gui to interact as well
                    return
                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]
                    # Position in img pixels
                    pos = denormalize(pos,g_pool.capture.frame_size) # 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):
                        # if the roi interacts we dont want
                        # the gui to interact as well
                        return

            g_pool.gui.update_button(button, action, mods)

        def on_pos(window, x, y):
            hdpi_factor = 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,g_pool.capture.frame_size )
                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)

        def on_drop(window, count, paths):
            paths = [paths[x].decode('utf-8') for x in range(count)]
            g_pool.capture_manager.on_drop(paths)
            g_pool.capture.on_drop(paths)

        # load session persistent settings
        session_settings = Persistent_Dict(os.path.join(g_pool.user_dir, 'user_settings_eye{}'.format(eye_id)))
        if VersionFormat(session_settings.get("version", '0.0')) != g_pool.version:
            logger.info("Session setting are from a different version of this app. I will not use those.")
            session_settings.clear()


        g_pool.iconified = False
        g_pool.capture = None
        g_pool.capture_manager = None
        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."}


        capture_manager_settings = session_settings.get(
            'capture_manager_settings', ('UVC_Manager',{}))

        manager_class_name, manager_settings = capture_manager_settings
        manager_class_by_name = {c.__name__:c for c in manager_classes}
        g_pool.capture_manager = manager_class_by_name[manager_class_name](g_pool,**manager_settings)


        if eye_id == 0:
            cap_src = ["Pupil Cam1 ID0","HD-6000","Integrated Camera","HD USB Camera","USB 2.0 Camera"]
        else:
            cap_src = ["Pupil Cam1 ID1","HD-6000","Integrated Camera"]

        # Initialize capture
        default_settings = ('UVC_Source',{
                            'preferred_names'  : cap_src,
                            'frame_size': (640,480),
                            'frame_rate': 90
                            })

        capture_source_settings = overwrite_cap_settings or session_settings.get('capture_settings', default_settings)
        source_class_name, source_settings = capture_source_settings
        source_class_by_name = {c.__name__:c for c in source_classes}
        g_pool.capture = source_class_by_name[source_class_name](g_pool,**source_settings)
        assert g_pool.capture

        g_pool.u_r = UIRoi((g_pool.capture.frame_size[1],g_pool.capture.frame_size[0]))
        roi_user_settings = session_settings.get('roi')
        if roi_user_settings and tuple(roi_user_settings[-1]) == g_pool.u_r.get()[-1]:
            g_pool.u_r.set(roi_user_settings)

        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)

        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 = "Pupil Capture - eye {}".format(eye_id)
        width, height = session_settings.get(
            'window_size', g_pool.capture.frame_size)
        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()

        # UI callback functions
        def set_scale(new_scale):
            g_pool.gui_user_scale = new_scale
            on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        # gl_state settings
        basic_gl_setup()
        g_pool.image_tex = Named_Texture()
        g_pool.image_tex.update_from_ndarray(np.ones((1,1),dtype=np.uint8)+125)

        # setup GUI
        g_pool.gui = ui.UI()
        g_pool.gui_user_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.Selector('gui_user_scale', g_pool,
                                          setter=set_scale,
                                          selection=[.8, .9, 1., 1.1, 1.2],
                                          label='Interface Size'))
        general_settings.append(ui.Button('Reset window size',lambda: glfw.glfwSetWindowSize(main_window,*g_pool.capture.frame_size)) )
        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.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)

        g_pool.capture_selector_menu = ui.Growing_Menu('Capture Selection')
        g_pool.capture_source_menu = ui.Growing_Menu('Capture Source')
        g_pool.capture_source_menu.collapsed = True
        g_pool.capture.init_gui()

        g_pool.sidebar.append(general_settings)
        g_pool.sidebar.append(g_pool.capture_selector_menu)
        g_pool.sidebar.append(g_pool.capture_source_menu)

        g_pool.pupil_detector.init_gui(g_pool.sidebar)

        g_pool.capture_manager.init_gui()
        g_pool.writer = None

        def replace_source(source_class_name,source_settings):
            g_pool.capture.cleanup()
            g_pool.capture = source_class_by_name[source_class_name](g_pool,**source_settings)
            g_pool.capture.init_gui()
            if g_pool.writer:
                logger.info("Done recording.")
                g_pool.writer.release()
                g_pool.writer = None

        g_pool.replace_source = replace_source # for ndsi capture

        def replace_manager(manager_class):
            g_pool.capture_manager.cleanup()
            g_pool.capture_manager = manager_class(g_pool)
            g_pool.capture_manager.init_gui()

        #We add the capture selection menu, after a manager has been added:
        g_pool.capture_selector_menu.insert(0,ui.Selector(
                                                'capture_manager',g_pool,
                                                setter    = replace_manager,
                                                getter    = lambda: g_pool.capture_manager.__class__,
                                                selection = manager_classes,
                                                labels    = [b.gui_name for b in manager_classes],
                                                label     = 'Manager'
                                            ))


        # Register callbacks main_window
        glfw.glfwSetFramebufferSizeCallback(main_window, on_resize)
        glfw.glfwSetWindowIconifyCallback(main_window, on_iconify)
        glfw.glfwSetKeyCallback(main_window, on_window_key)
        glfw.glfwSetCharCallback(main_window, on_window_char)
        glfw.glfwSetMouseButtonCallback(main_window, on_window_mouse_button)
        glfw.glfwSetCursorPosCallback(main_window, on_pos)
        glfw.glfwSetScrollCallback(main_window, on_scroll)
        glfw.glfwSetDropCallback(main_window, on_drop)

        # 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 = g_pool.get_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"
        g_pool.graphs = [cpu_graph, fps_graph]

        # set the last saved window size
        on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        should_publish_frames = False
        frame_publish_format = 'jpeg'

        # create a timer to control window update frequency
        window_update_timer = timer(1 / 60)

        def window_should_update():
            return next(window_update_timer)

        logger.warning('Process started.')

        frame = None

        # Event loop
        while not glfw.glfwWindowShouldClose(main_window):

            if notify_sub.new_data:
                t, notification = notify_sub.recv()
                subject = notification['subject']
                if subject.startswith('eye_process.should_stop'):
                    if notification['eye_id'] == eye_id:
                        break
                elif subject == 'set_detection_mapping_mode':
                    if notification['mode'] == '3d':
                        if not isinstance(g_pool.pupil_detector, Detector_3D):
                            set_detector(Detector_3D)
                        detector_selector.read_only = True
                    else:
                        if not isinstance(g_pool.pupil_detector, Detector_2D):
                            set_detector(Detector_2D)
                        detector_selector.read_only = False
                elif subject == 'recording.started':
                    if notification['record_eye'] and g_pool.capture.online:
                        record_path = notification['rec_path']
                        raw_mode = notification['compression']
                        logger.info("Will save eye video to: {}".format(record_path))
                        video_path = os.path.join(record_path, "eye{}.mp4".format(eye_id))
                        if raw_mode and frame and g_pool.capture.jpeg_support:
                            g_pool.writer = JPEG_Writer(video_path, g_pool.capture.frame_rate)
                        elif hasattr(g_pool.capture._recent_frame, 'h264_buffer'):
                            g_pool.writer = H264Writer(video_path,
                                                       g_pool.capture.frame_size[0],
                                                       g_pool.capture.frame_size[1],
                                                       g_pool.capture.frame_rate)
                        else:
                            g_pool.writer = AV_Writer(video_path, g_pool.capture.frame_rate)
                elif subject == 'recording.stopped':
                    if g_pool.writer:
                        logger.info("Done recording.")
                        g_pool.writer.release()
                        g_pool.writer = None
                elif subject.startswith('meta.should_doc'):
                    ipc_socket.notify({
                        'subject': 'meta.doc',
                        'actor': 'eye{}'.format(eye_id),
                        'doc': eye.__doc__
                    })
                elif subject.startswith('frame_publishing.started'):
                    should_publish_frames = True
                    frame_publish_format = notification.get('format', 'jpeg')
                elif subject.startswith('frame_publishing.stopped'):
                    should_publish_frames = False
                    frame_publish_format = 'jpeg'
                elif subject.startswith('start_eye_capture') and notification['target'] == g_pool.process:
                    replace_source(notification['name'],notification['args'])

                g_pool.capture.on_notify(notification)

            # Get an image from the grabber
            event = {}
            g_pool.capture.recent_events(event)
            frame = event.get('frame')
            g_pool.capture_manager.recent_events(event)
            if frame:
                f_width, f_height = g_pool.capture.frame_size
                if (g_pool.u_r.array_shape[0], g_pool.u_r.array_shape[1]) != (f_height, f_width):
                    g_pool.pupil_detector.on_resolution_change((g_pool.u_r.array_shape[1], g_pool.u_r.array_shape[0]), g_pool.capture.frame_size)
                    g_pool.u_r = UIRoi((f_height, f_width))
                if should_publish_frames:
                    try:
                        if frame_publish_format == "jpeg":
                            data = frame.jpeg_buffer
                        elif frame_publish_format == "yuv":
                            data = frame.yuv_buffer
                        elif frame_publish_format == "bgr":
                            data = frame.bgr
                        elif frame_publish_format == "gray":
                            data = frame.gray
                        else:
                            raise AttributeError()
                    except AttributeError:
                        pass
                    else:
                        pupil_socket.send('frame.eye.%s'%eye_id,{
                            'width': frame.width,
                            'height': frame.height,
                            'index': frame.index,
                            'timestamp': frame.timestamp,
                            'format': frame_publish_format,
                            '__raw_data__': [data]
                        })

                t = frame.timestamp
                dt, ts = t - ts, t
                try:
                    fps_graph.add(1./dt)
                except ZeroDivisionError:
                    pass

                if g_pool.writer:
                    g_pool.writer.write_video_frame(frame)

                # 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
                pupil_socket.send('pupil.%s'%eye_id,result)

            cpu_graph.update()

            # GL drawing
            if window_should_update():
                if is_window_visible(main_window):
                    glfw.glfwMakeContextCurrent(main_window)
                    clear_gl_screen()

                    if frame:
                        # 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()
                    f_width, f_height = g_pool.capture.frame_size
                    make_coord_system_pixel_based((f_height, f_width, 3), g_pool.flip)
                    if frame:
                        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 'ellipse' in result:
                                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
                                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
                    fps_graph.draw()
                    cpu_graph.draw()

                    # render GUI
                    g_pool.gui.update()

                    # render the ROI
                    g_pool.u_r.draw(g_pool.gui.scale)
                    if g_pool.display_mode == 'roi':
                        g_pool.u_r.draw_points(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 g_pool.writer:
            logger.info("Done recording eye.")
            g_pool.writer = None

        glfw.glfwRestoreWindow(main_window)  # need to do this for windows os
        # save session persistent settings
        session_settings['gui_scale'] = g_pool.gui_user_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.class_name, g_pool.capture.get_init_dict()
        session_settings['capture_manager_settings'] = g_pool.capture_manager.class_name, g_pool.capture_manager.get_init_dict()
        session_settings['window_size'] = glfw.glfwGetWindowSize(main_window)
        session_settings['window_position'] = glfw.glfwGetWindowPos(main_window)
        session_settings['version'] = str(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.capture.deinit_gui()
        g_pool.pupil_detector.cleanup()
        g_pool.gui.terminate()
        glfw.glfwDestroyWindow(main_window)
        glfw.glfwTerminate()
        g_pool.capture_manager.cleanup()
        g_pool.capture.cleanup()
        logger.info("Process shutting down.")
Esempio n. 19
0
def world(timebase, eyes_are_alive, ipc_pub_url, ipc_sub_url,
          ipc_push_url, user_dir, version):
    """Reads world video and runs plugins.

    Creates a window, gl context.
    Grabs images from a capture.
    Maps pupil to gaze data
    Can run various plug-ins.

    Reacts to notifications:
        ``set_detection_mapping_mode``
        ``eye_process.started``
        ``start_plugin``

    Emits notifications:
        ``eye_process.should_start``
        ``eye_process.should_stop``
        ``set_detection_mapping_mode``
        ``world_process.started``
        ``world_process.stopped``
        ``recording.should_stop``: Emits on camera failure
        ``launcher_process.should_stop``

    Emits data:
        ``gaze``: Gaze data from current gaze mapping plugin.``
        ``*``: any other plugin generated data in the events
               that it not [dt,pupil,gaze].
    """

    # We defer the imports because of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    # This is not harmful but unnecessary.

    # general imports
    import logging

    # networking
    import zmq
    import zmq_tools

    # zmq ipc setup
    zmq_ctx = zmq.Context()
    ipc_pub = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx, ipc_sub_url, topics=('notify',))

    # log setup
    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    logger = logging.getLogger()
    logger.handlers = []
    logger.setLevel(logging.INFO)
    logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
    # create logger for the context of this function
    logger = logging.getLogger(__name__)

    # display
    import glfw
    from pyglui import ui, graph, cygl, __version__ as pyglui_version
    assert pyglui_version >= '1.7'
    from pyglui.cygl.utils import Named_Texture
    import gl_utils

    # monitoring
    import psutil

    # helpers/utils
    from version_utils import VersionFormat
    from file_methods import Persistent_Dict
    from methods import normalize, denormalize, delta_t, get_system_info, timer
    from uvc import get_time_monotonic
    logger.info('Application Version: {}'.format(version))
    logger.info('System Info: {}'.format(get_system_info()))

    import audio

    # trigger pupil detector cpp build:
    import pupil_detectors
    del pupil_detectors

    # Plug-ins
    from plugin import Plugin, Plugin_List, import_runtime_plugins
    from calibration_routines import calibration_plugins, gaze_mapping_plugins, Calibration_Plugin
    from fixation_detector import Fixation_Detector
    from recorder import Recorder
    from display_recent_gaze import Display_Recent_Gaze
    from time_sync import Time_Sync
    from pupil_remote import Pupil_Remote
    from pupil_groups import Pupil_Groups
    from surface_tracker import Surface_Tracker
    from log_display import Log_Display
    from annotations import Annotation_Capture
    from log_history import Log_History
    from frame_publisher import Frame_Publisher
    from blink_detection import Blink_Detection
    from video_capture import source_classes, manager_classes, Base_Manager
    from pupil_data_relay import Pupil_Data_Relay
    from remote_recorder import Remote_Recorder
    from audio_capture import Audio_Capture
    from accuracy_visualizer import Accuracy_Visualizer

    # UI Platform tweaks
    if platform.system() == 'Linux':
        scroll_factor = 10.0
        window_position_default = (0, 0)
    elif platform.system() == 'Windows':
        scroll_factor = 10.0
        window_position_default = (8, 31)
    else:
        scroll_factor = 1.0
        window_position_default = (0, 0)

    # g_pool holds variables for this process they are accesible to all plugins
    g_pool = Global_Container()
    g_pool.app = 'capture'
    g_pool.process = 'world'
    g_pool.user_dir = user_dir
    g_pool.version = version
    g_pool.timebase = timebase
    g_pool.zmq_ctx = zmq_ctx
    g_pool.ipc_pub = ipc_pub
    g_pool.ipc_pub_url = ipc_pub_url
    g_pool.ipc_sub_url = ipc_sub_url
    g_pool.ipc_push_url = ipc_push_url
    g_pool.eyes_are_alive = eyes_are_alive

    def get_timestamp():
        return get_time_monotonic() - g_pool.timebase.value
    g_pool.get_timestamp = get_timestamp
    g_pool.get_now = get_time_monotonic

    # manage plugins
    runtime_plugins = import_runtime_plugins(os.path.join(g_pool.user_dir, 'plugins'))
    calibration_plugins += [p for p in runtime_plugins if issubclass(p, Calibration_Plugin)]
    runtime_plugins = [p for p in runtime_plugins if not issubclass(p, Calibration_Plugin)]
    manager_classes += [p for p in runtime_plugins if issubclass(p, Base_Manager)]
    runtime_plugins = [p for p in runtime_plugins if not issubclass(p, Base_Manager)]
    user_launchable_plugins = [Audio_Capture, Pupil_Groups, Frame_Publisher, Pupil_Remote, Time_Sync, Surface_Tracker,
                               Annotation_Capture, Log_History, Fixation_Detector,
                               Blink_Detection, Remote_Recorder, Accuracy_Visualizer] + runtime_plugins
    system_plugins = [Log_Display, Display_Recent_Gaze, Recorder, Pupil_Data_Relay]
    plugin_by_index = (system_plugins + user_launchable_plugins + calibration_plugins
                       + gaze_mapping_plugins + manager_classes + source_classes)
    name_by_index = [p.__name__ for p in plugin_by_index]
    plugin_by_name = dict(zip(name_by_index, plugin_by_index))

    default_capture_settings = {
        'preferred_names': ["Pupil Cam1 ID2", "Logitech Camera", "(046d:081d)",
                            "C510", "B525", "C525", "C615", "C920", "C930e"],
        'frame_size': (1280, 720),
        'frame_rate': 30
    }

    default_plugins = [("UVC_Source", default_capture_settings),
                       ('Pupil_Data_Relay', {}),
                       ('UVC_Manager', {}),
                       ('Log_Display', {}),
                       ('Dummy_Gaze_Mapper', {}),
                       ('Display_Recent_Gaze', {}),
                       ('Screen_Marker_Calibration', {}),
                       ('Recorder', {}),
                       ('Pupil_Remote', {})]

    # Callback functions
    def on_resize(window, w, h):
        if gl_utils.is_window_visible(window):
            hdpi_factor = float(glfw.glfwGetFramebufferSize(window)[0] / glfw.glfwGetWindowSize(window)[0])
            g_pool.gui.scale = g_pool.gui_user_scale * hdpi_factor
            g_pool.gui.update_window(w, h)
            g_pool.gui.collect_menus()
            for g in g_pool.graphs:
                g.scale = hdpi_factor
                g.adjust_window_size(w, h)
            gl_utils.adjust_gl_view(w, h)
            for p in g_pool.plugins:
                p.on_window_resize(window, w, h)

    def on_iconify(window, iconified):
        g_pool.iconified = iconified

    def on_window_key(window, key, scancode, action, mods):
        g_pool.gui.update_key(key, scancode, action, mods)

    def on_window_char(window, char):
        g_pool.gui.update_char(char)

    def on_window_mouse_button(window, button, action, mods):
        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])
        x, y = x * hdpi_factor, y * hdpi_factor
        g_pool.gui.update_mouse(x, y)

    def on_scroll(window, x, y):
        g_pool.gui.update_scroll(x, y * scroll_factor)

    def on_drop(window, count, paths):
        paths = [paths[x].decode('utf-8') for x in range(count)]
        for p in g_pool.plugins:
            p.on_drop(paths)

    tick = delta_t()

    def get_dt():
        return next(tick)

    # load session persistent settings
    session_settings = Persistent_Dict(os.path.join(g_pool.user_dir, 'user_settings_world'))
    if VersionFormat(session_settings.get("version", '0.0')) != g_pool.version:
        logger.info("Session setting are from a different version of this app. I will not use those.")
        session_settings.clear()

    g_pool.iconified = False
    g_pool.detection_mapping_mode = session_settings.get('detection_mapping_mode', '3d')
    g_pool.active_calibration_plugin = None
    g_pool.active_gaze_mapping_plugin = None
    g_pool.capture_manager = None

    audio.audio_mode = session_settings.get('audio_mode', audio.default_audio_mode)

    def open_plugin(plugin):
        if plugin == "Select to load":
            return
        g_pool.plugins.add(plugin)

    def launch_eye_process(eye_id, delay=0):
        n = {'subject': 'eye_process.should_start.{}'.format(eye_id),
             'eye_id': eye_id, 'delay': delay}
        ipc_pub.notify(n)

    def stop_eye_process(eye_id):
        n = {'subject': 'eye_process.should_stop.{}'.format(eye_id), 'eye_id': eye_id,'delay':0.2}
        ipc_pub.notify(n)

    def start_stop_eye(eye_id, make_alive):
        if make_alive:
            launch_eye_process(eye_id)
        else:
            stop_eye_process(eye_id)

    def set_detection_mapping_mode(new_mode):
        n = {'subject': 'set_detection_mapping_mode', 'mode': new_mode}
        ipc_pub.notify(n)

    def handle_notifications(n):
        subject = n['subject']
        if subject == 'set_detection_mapping_mode':
            if n['mode'] == '2d':
                if ("Vector_Gaze_Mapper" in
                        g_pool.active_gaze_mapping_plugin.class_name):
                    logger.warning("The gaze mapper is not supported in 2d mode. Please recalibrate.")
                    g_pool.plugins.add(plugin_by_name['Dummy_Gaze_Mapper'])
            g_pool.detection_mapping_mode = n['mode']
        elif subject == 'start_plugin':
            g_pool.plugins.add(plugin_by_name[n['name']], args=n.get('args', {}))
        elif subject == 'stop_plugin':
            for p in g_pool.plugins:
                if p.class_name == n['name']:
                    p.alive = False
                    g_pool.plugins.clean()
        elif subject == 'eye_process.started':
            n = {'subject': 'set_detection_mapping_mode',
                 'mode': g_pool.detection_mapping_mode}
            ipc_pub.notify(n)
        elif subject.startswith('meta.should_doc'):
            ipc_pub.notify({'subject': 'meta.doc',
                            'actor': g_pool.app,
                            'doc': world.__doc__})
            for p in g_pool.plugins:
                if (p.on_notify.__doc__
                        and p.__class__.on_notify != Plugin.on_notify):
                    ipc_pub.notify({'subject': 'meta.doc',
                                    'actor': p.class_name,
                                    'doc': p.on_notify.__doc__})

    # window and gl setup
    glfw.glfwInit()
    width, height = session_settings.get('window_size', (1280, 720))
    main_window = glfw.glfwCreateWindow(width, height, "Pupil Capture - World")
    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()
    g_pool.main_window = main_window

    def set_scale(new_scale):
        g_pool.gui_user_scale = new_scale
        on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

    def reset_restart():
        logger.warning("Resetting all settings and restarting Capture.")
        glfw.glfwSetWindowShouldClose(main_window, True)
        ipc_pub.notify({'subject': 'reset_restart_process.should_start'})

    # setup GUI
    g_pool.gui = ui.UI()
    g_pool.gui_user_scale = session_settings.get('gui_scale', 1.)
    g_pool.sidebar = ui.Scrolling_Menu("Settings", pos=(-350, 0), size=(0, 0), header_pos='left')
    general_settings = ui.Growing_Menu('General')
    general_settings.append(ui.Button('Reset to default settings',reset_restart))
    general_settings.append(ui.Selector('gui_user_scale', g_pool, setter=set_scale, selection=[.8, .9, 1., 1.1, 1.2], label='Interface size'))
    general_settings.append(ui.Button('Reset window size', lambda: glfw.glfwSetWindowSize(main_window,g_pool.capture.frame_size[0],g_pool.capture.frame_size[1])) )
    general_settings.append(ui.Selector('audio_mode', audio, selection=audio.audio_modes))
    general_settings.append(ui.Selector('detection_mapping_mode',
                                        g_pool,
                                        label='detection & mapping mode',
                                        setter=set_detection_mapping_mode,
                                        selection=['2d','3d']
                                    ))
    general_settings.append(ui.Switch('eye0_process',
                                        label='Detect eye 0',
                                        setter=lambda alive: start_stop_eye(0,alive),
                                        getter=lambda: eyes_are_alive[0].value
                                    ))
    general_settings.append(ui.Switch('eye1_process',
                                        label='Detect eye 1',
                                        setter=lambda alive: start_stop_eye(1,alive),
                                        getter=lambda: eyes_are_alive[1].value
                                    ))
    selector_label = "Select to load"
    labels = [p.__name__.replace('_', ' ') for p in user_launchable_plugins]
    user_launchable_plugins.insert(0, selector_label)
    labels.insert(0, selector_label)
    general_settings.append(ui.Selector('Open plugin',
                                        selection=user_launchable_plugins,
                                        labels=labels,
                                        setter=open_plugin,
                                        getter=lambda: selector_label))

    general_settings.append(ui.Info_Text('Capture Version: {}'.format(g_pool.version)))

    g_pool.quickbar = ui.Stretching_Menu('Quick Bar', (0, 100), (120, -100))

    g_pool.capture_source_menu = ui.Growing_Menu('Capture Source')
    g_pool.capture_source_menu.collapsed = True

    g_pool.calibration_menu = ui.Growing_Menu('Calibration')
    g_pool.calibration_menu.collapsed = True
    g_pool.capture_selector_menu = ui.Growing_Menu('Capture Selection')

    g_pool.sidebar.append(general_settings)
    g_pool.sidebar.append(g_pool.capture_selector_menu)
    g_pool.sidebar.append(g_pool.capture_source_menu)
    g_pool.sidebar.append(g_pool.calibration_menu)

    g_pool.gui.append(g_pool.sidebar)
    g_pool.gui.append(g_pool.quickbar)

    # plugins that are loaded based on user settings from previous session
    g_pool.plugins = Plugin_List(g_pool, plugin_by_name, session_settings.get('loaded_plugins', default_plugins))

    #We add the calibration menu selector, after a calibration has been added:
    g_pool.calibration_menu.insert(0,ui.Selector(
                        'active_calibration_plugin',
                        getter=lambda: g_pool.active_calibration_plugin.__class__,
                        selection = calibration_plugins,
                        labels = [p.__name__.replace('_',' ') for p in calibration_plugins],
                        setter= open_plugin,label='Method'
                                ))

    #We add the capture selection menu, after a manager has been added:
    g_pool.capture_selector_menu.insert(0,ui.Selector(
                            'capture_manager',
                            setter    = open_plugin,
                            getter    = lambda: g_pool.capture_manager.__class__,
                            selection = manager_classes,
                            labels    = [b.gui_name for b in manager_classes],
                            label     = 'Manager'
                        ))

    # Register callbacks main_window
    glfw.glfwSetFramebufferSizeCallback(main_window, on_resize)
    glfw.glfwSetWindowIconifyCallback(main_window, on_iconify)
    glfw.glfwSetKeyCallback(main_window, on_window_key)
    glfw.glfwSetCharCallback(main_window, on_window_char)
    glfw.glfwSetMouseButtonCallback(main_window, on_window_mouse_button)
    glfw.glfwSetCursorPosCallback(main_window, on_pos)
    glfw.glfwSetScrollCallback(main_window, on_scroll)
    glfw.glfwSetDropCallback(main_window, on_drop)

    # gl_state settings
    gl_utils.basic_gl_setup()
    g_pool.image_tex = Named_Texture()

    # now the we have  aproper window we can load the last gui configuration
    g_pool.gui.configuration = session_settings.get('ui_config', {})

    # create a timer to control window update frequency
    window_update_timer = timer(1 / 60)
    def window_should_update():
        return next(window_update_timer)

    # set up performace graphs:
    pid = os.getpid()
    ps = psutil.Process(pid)
    ts = g_pool.get_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"

    pupil0_graph = graph.Bar_Graph(max_val=1.0)
    pupil0_graph.pos = (260, 130)
    pupil0_graph.update_rate = 5
    pupil0_graph.label = "id0 conf: %0.2f"
    pupil1_graph = graph.Bar_Graph(max_val=1.0)
    pupil1_graph.pos = (380, 130)
    pupil1_graph.update_rate = 5
    pupil1_graph.label = "id1 conf: %0.2f"
    pupil_graphs = pupil0_graph, pupil1_graph
    g_pool.graphs = [cpu_graph, fps_graph, pupil0_graph, pupil1_graph]

    # trigger setup of window and gl sizes
    on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

    if session_settings.get('eye1_process_alive', False):
        launch_eye_process(1, delay=0.6)
    if session_settings.get('eye0_process_alive', True):
        launch_eye_process(0, delay=0.3)

    ipc_pub.notify({'subject': 'world_process.started'})
    logger.warning('Process started.')

    # Event loop
    while not glfw.glfwWindowShouldClose(main_window):

        # fetch newest notifications
        new_notifications = []
        while notify_sub.new_data:
            t, n = notify_sub.recv()
            new_notifications.append(n)

        # notify each plugin if there are new notifications:
        for n in new_notifications:
            handle_notifications(n)
            for p in g_pool.plugins:
                p.on_notify(n)


        #a dictionary that allows plugins to post and read events
        events = {}
        # report time between now and the last loop interation
        events['dt'] = get_dt()

        # allow each Plugin to do its work.
        for p in g_pool.plugins:
            p.recent_events(events)

        # check if a plugin need to be destroyed
        g_pool.plugins.clean()

        # update performace graphs
        if 'frame' in events:
            t = events["frame"].timestamp
            dt, ts = t-ts, t
            try:
                fps_graph.add(1./dt)
            except ZeroDivisionError:
                pass
        for p in events["pupil_positions"]:
            pupil_graphs[p['id']].add(p['confidence'])
        cpu_graph.update()

        # send new events to ipc:
        del events['pupil_positions']  # already on the wire
        del events['gaze_positions']  # sent earlier
        if 'frame' in events:
            del events['frame']  # send explicity with frame publisher
        if 'depth_frame' in events:
            del events['depth_frame']
        if 'audio_packets' in events:
            del events['audio_packets']
        del events['dt']  # no need to send this
        for topic, data in events.items():
            assert(isinstance(data, (list, tuple)))
            for d in data:
                ipc_pub.send(topic, d)

        glfw.glfwMakeContextCurrent(main_window)
        # render visual feedback from loaded plugins
        if window_should_update() and gl_utils.is_window_visible(main_window):
            for p in g_pool.plugins:
                p.gl_display()

            for g in g_pool.graphs:
                g.draw()

            unused_elements = g_pool.gui.update()
            for button, action, mods in unused_elements.buttons:
                pos = glfw.glfwGetCursorPos(main_window)
                pos = normalize(pos, glfw.glfwGetWindowSize(main_window))
                # Position in img pixels
                pos = denormalize(pos, g_pool.capture.frame_size)
                for p in g_pool.plugins:
                    p.on_click(pos, button, action)

            for key, scancode, action, mods in unused_elements.keys:
                for p in g_pool.plugins:
                    p.on_key(key, scancode, action, mods)

            for char_ in unused_elements.chars:
                for p in g_pool.plugins:
                    p.on_char(char_)

            glfw.glfwSwapBuffers(main_window)
        glfw.glfwPollEvents()

    glfw.glfwRestoreWindow(main_window)  # need to do this for windows os
    session_settings['loaded_plugins'] = g_pool.plugins.get_initializers()
    session_settings['gui_scale'] = g_pool.gui_user_scale
    session_settings['ui_config'] = g_pool.gui.configuration
    session_settings['window_size'] = glfw.glfwGetWindowSize(main_window)
    session_settings['window_position'] = glfw.glfwGetWindowPos(main_window)
    session_settings['version'] = str(g_pool.version)
    session_settings['eye0_process_alive'] = eyes_are_alive[0].value
    session_settings['eye1_process_alive'] = eyes_are_alive[1].value
    session_settings['detection_mapping_mode'] = g_pool.detection_mapping_mode
    session_settings['audio_mode'] = audio.audio_mode
    session_settings.close()

    # de-init all running plugins
    for p in g_pool.plugins:
        p.alive = False
    g_pool.plugins.clean()

    g_pool.gui.terminate()
    glfw.glfwDestroyWindow(main_window)
    glfw.glfwTerminate()


    # shut down eye processes:
    stop_eye_process(0)
    stop_eye_process(1)

    logger.info("Process shutting down.")
    ipc_pub.notify({'subject': 'world_process.stopped'})
Esempio n. 20
0
def world(timebase, eyes_are_alive, ipc_pub_url, ipc_sub_url, ipc_push_url,
          user_dir, version):
    """Reads world video and runs plugins.

    Creates a window, gl context.
    Grabs images from a capture.
    Maps pupil to gaze data
    Can run various plug-ins.

    Reacts to notifications:
        ``set_detection_mapping_mode``
        ``eye_process.started``
        ``start_plugin``

    Emits notifications:
        ``eye_process.should_start``
        ``eye_process.should_stop``
        ``set_detection_mapping_mode``
        ``world_process.started``
        ``world_process.stopped``
        ``recording.should_stop``: Emits on camera failure
        ``launcher_process.should_stop``

    Emits data:
        ``gaze``: Gaze data from current gaze mapping plugin.``
        ``*``: any other plugin generated data in the events that it not [dt,pupil,gaze].
    """

    # We defer the imports because of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    # This is not harmful but unnecessary.

    #general imports
    from time import time, sleep
    import numpy as np
    import logging

    #networking
    import zmq
    import zmq_tools

    #zmq ipc setup
    zmq_ctx = zmq.Context()
    ipc_pub = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    gaze_pub = zmq_tools.Msg_Streamer(zmq_ctx, ipc_pub_url)
    pupil_sub = zmq_tools.Msg_Receiver(zmq_ctx,
                                       ipc_sub_url,
                                       topics=('pupil', ))
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx,
                                        ipc_sub_url,
                                        topics=('notify', ))

    #log setup
    logging.getLogger("OpenGL").setLevel(logging.ERROR)
    logger = logging.getLogger()
    logger.handlers = []
    logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
    # create logger for the context of this function
    logger = logging.getLogger(__name__)

    #display
    import glfw
    from pyglui import ui, graph, cygl, __version__ as pyglui_version
    assert pyglui_version >= '1.0'
    from pyglui.cygl.utils import Named_Texture
    from gl_utils import basic_gl_setup, adjust_gl_view, clear_gl_screen, make_coord_system_pixel_based, make_coord_system_norm_based, glFlush, is_window_visible

    #monitoring
    import psutil

    # helpers/utils
    from version_utils import VersionFormat
    from file_methods import Persistent_Dict
    from methods import normalize, denormalize, delta_t, get_system_info
    from uvc import get_time_monotonic
    logger.info('Application Version: %s' % version)
    logger.info('System Info: %s' % get_system_info())

    # video sources
    from video_capture import InitialisationError, StreamError, Fake_Source, EndofVideoFileError, source_classes, manager_classes
    source_by_name = {src.class_name(): src for src in source_classes}
    import audio

    #trigger pupil detector cpp build:
    import pupil_detectors
    del pupil_detectors

    # Plug-ins
    from plugin import Plugin, Plugin_List, import_runtime_plugins
    from calibration_routines import calibration_plugins, gaze_mapping_plugins
    from fixation_detector import Fixation_Detector_3D
    from recorder import Recorder
    from show_calibration import Show_Calibration
    from display_recent_gaze import Display_Recent_Gaze
    from time_sync import Time_Sync
    from pupil_remote import Pupil_Remote
    from pupil_groups import Pupil_Groups
    from surface_tracker import Surface_Tracker
    from log_display import Log_Display
    from annotations import Annotation_Capture
    from log_history import Log_History
    from frame_publisher import Frame_Publisher

    #UI Platform tweaks
    if platform.system() == 'Linux':
        scroll_factor = 10.0
        window_position_default = (0, 0)
    elif platform.system() == 'Windows':
        scroll_factor = 1.0
        window_position_default = (8, 31)
    else:
        scroll_factor = 1.0
        window_position_default = (0, 0)

    #g_pool holds variables for this process they are accesible to all plugins
    g_pool = Global_Container()
    g_pool.app = 'capture'
    g_pool.user_dir = user_dir
    g_pool.version = version
    g_pool.timebase = timebase
    g_pool.zmq_ctx = zmq_ctx
    g_pool.ipc_pub = ipc_pub
    g_pool.ipc_pub_url = ipc_pub_url
    g_pool.ipc_sub_url = ipc_sub_url
    g_pool.ipc_push_url = ipc_push_url
    g_pool.eyes_are_alive = eyes_are_alive

    def get_timestamp():
        return get_time_monotonic() - g_pool.timebase.value

    g_pool.get_timestamp = get_timestamp
    g_pool.get_now = get_time_monotonic

    #manage plugins
    runtime_plugins = import_runtime_plugins(
        os.path.join(g_pool.user_dir, 'plugins'))
    user_launchable_plugins = [
        Pupil_Groups, Frame_Publisher, Show_Calibration, Pupil_Remote,
        Time_Sync, Surface_Tracker, Annotation_Capture, Log_History,
        Fixation_Detector_3D
    ] + runtime_plugins
    system_plugins = [Log_Display, Display_Recent_Gaze, Recorder]
    plugin_by_index = system_plugins + user_launchable_plugins + calibration_plugins + gaze_mapping_plugins + manager_classes
    name_by_index = [p.__name__ for p in plugin_by_index]
    plugin_by_name = dict(zip(name_by_index, plugin_by_index))
    default_plugins = [('UVC_Manager', {}), ('Log_Display', {}),
                       ('Dummy_Gaze_Mapper', {}), ('Display_Recent_Gaze', {}),
                       ('Screen_Marker_Calibration', {}), ('Recorder', {}),
                       ('Pupil_Remote', {}), ('Fixation_Detector_3D', {})]

    # Callback functions
    def on_resize(window, w, h):
        if is_window_visible(window):
            g_pool.gui.update_window(w, h)
            g_pool.gui.collect_menus()
            graph.adjust_size(w, h)
            adjust_gl_view(w, h)
            for p in g_pool.plugins:
                p.on_window_resize(window, w, h)

    def on_iconify(window, iconified):
        g_pool.iconified = iconified

    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_button(window, button, action, mods):
        g_pool.gui.update_button(button, action, mods)
        pos = glfw.glfwGetCursorPos(window)
        pos = normalize(pos, glfw.glfwGetWindowSize(main_window))
        pos = denormalize(
            pos,
            (frame.img.shape[1], frame.img.shape[0]))  # Position in img pixels
        for p in g_pool.plugins:
            p.on_click(pos, button, action)

    def on_pos(window, x, y):
        hdpi_factor = float(
            glfw.glfwGetFramebufferSize(window)[0] /
            glfw.glfwGetWindowSize(window)[0])
        x, y = x * hdpi_factor, y * hdpi_factor
        g_pool.gui.update_mouse(x, y)

    def on_scroll(window, x, y):
        g_pool.gui.update_scroll(x, y * scroll_factor)

    tick = delta_t()

    def get_dt():
        return next(tick)

    g_pool.on_frame_size_change = lambda new_size: None

    # load session persistent settings
    session_settings = Persistent_Dict(
        os.path.join(g_pool.user_dir, 'user_settings_world'))
    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
    default_settings = {
        'source_class_name':
        'UVC_Source',
        'preferred_names': [
            "Pupil Cam1 ID2", "Logitech Camera", "(046d:081d)", "C510", "B525",
            "C525", "C615", "C920", "C930e"
        ],
        'frame_size': (1280, 720),
        'frame_rate':
        30
    }
    settings = session_settings.get('capture_settings', default_settings)
    try:
        cap = source_by_name[settings['source_class_name']](g_pool, **settings)
    except (KeyError, InitialisationError) as e:
        if isinstance(e, KeyError):
            logger.warning(
                'Incompatible capture setting encountered. Falling back to fake source.'
            )
        cap = Fake_Source(g_pool, **settings)

    g_pool.iconified = False
    g_pool.detection_mapping_mode = session_settings.get(
        'detection_mapping_mode', '3d')
    g_pool.active_calibration_plugin = None
    g_pool.active_gaze_mapping_plugin = None
    g_pool.capture = cap
    g_pool.capture_manager = None

    audio.audio_mode = session_settings.get('audio_mode',
                                            audio.default_audio_mode)

    def open_plugin(plugin):
        if plugin == "Select to load":
            return
        g_pool.plugins.add(plugin)

    def set_scale(new_scale):
        g_pool.gui.scale = new_scale
        g_pool.gui.collect_menus()

    def launch_eye_process(eye_id, delay=0):
        n = {
            'subject': 'eye_process.should_start.%s' % eye_id,
            'eye_id': eye_id,
            'delay': delay
        }
        ipc_pub.notify(n)

    def stop_eye_process(eye_id):
        n = {'subject': 'eye_process.should_stop', 'eye_id': eye_id}
        ipc_pub.notify(n)

    def start_stop_eye(eye_id, make_alive):
        if make_alive:
            launch_eye_process(eye_id)
        else:
            stop_eye_process(eye_id)

    def set_detection_mapping_mode(new_mode):
        n = {'subject': 'set_detection_mapping_mode', 'mode': new_mode}
        ipc_pub.notify(n)

    def handle_notifications(n):
        subject = n['subject']
        if subject == 'set_detection_mapping_mode':
            if n['mode'] == '2d':
                if "Vector_Gaze_Mapper" in g_pool.active_gaze_mapping_plugin.class_name:
                    logger.warning(
                        "The gaze mapper is not supported in 2d mode. Please recalibrate."
                    )
                    g_pool.plugins.add(plugin_by_name['Dummy_Gaze_Mapper'])
            g_pool.detection_mapping_mode = n['mode']
        elif subject == 'start_plugin':
            g_pool.plugins.add(plugin_by_name[n['name']],
                               args=n.get('args', {}))
        elif subject == 'eye_process.started':
            n = {
                'subject': 'set_detection_mapping_mode',
                'mode': g_pool.detection_mapping_mode
            }
            ipc_pub.notify(n)
        elif subject.startswith('meta.should_doc'):
            ipc_pub.notify({
                'subject': 'meta.doc',
                'actor': g_pool.app,
                'doc': world.__doc__
            })
            for p in g_pool.plugins:
                if p.on_notify.__doc__ and p.__class__.on_notify != Plugin.on_notify:
                    ipc_pub.notify({
                        'subject': 'meta.doc',
                        'actor': p.class_name,
                        'doc': p.on_notify.__doc__
                    })

    #window and gl setup
    glfw.glfwInit()
    width, height = session_settings.get('window_size', cap.frame_size)
    main_window = glfw.glfwCreateWindow(width, height, "World")
    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()
    g_pool.main_window = main_window

    #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=(-350, 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.Selector('audio_mode', audio, selection=audio.audio_modes))
    general_settings.append(
        ui.Selector('detection_mapping_mode',
                    g_pool,
                    label='detection & mapping mode',
                    setter=set_detection_mapping_mode,
                    selection=['2d', '3d']))
    general_settings.append(
        ui.Switch('eye0_process',
                  label='Detect eye 0',
                  setter=lambda alive: start_stop_eye(0, alive),
                  getter=lambda: eyes_are_alive[0].value))
    general_settings.append(
        ui.Switch('eye1_process',
                  label='Detect eye 1',
                  setter=lambda alive: start_stop_eye(1, alive),
                  getter=lambda: eyes_are_alive[1].value))

    selector_label = "Select to load"
    labels = [p.__name__.replace('_', ' ') for p in user_launchable_plugins]
    user_launchable_plugins.insert(0, selector_label)
    labels.insert(0, selector_label)
    general_settings.append(
        ui.Selector('Open plugin',
                    selection=user_launchable_plugins,
                    labels=labels,
                    setter=open_plugin,
                    getter=lambda: selector_label))

    general_settings.append(
        ui.Info_Text('Capture Version: %s' % g_pool.version))

    g_pool.quickbar = ui.Stretching_Menu('Quick Bar', (0, 100), (120, -100))

    g_pool.capture_source_menu = ui.Growing_Menu('Capture Source')
    g_pool.capture.init_gui()

    g_pool.calibration_menu = ui.Growing_Menu('Calibration')
    g_pool.capture_selector_menu = ui.Growing_Menu('Capture Selection')

    g_pool.sidebar.append(general_settings)
    g_pool.sidebar.append(g_pool.capture_selector_menu)
    g_pool.sidebar.append(g_pool.capture_source_menu)
    g_pool.sidebar.append(g_pool.calibration_menu)

    g_pool.gui.append(g_pool.sidebar)
    g_pool.gui.append(g_pool.quickbar)

    #plugins that are loaded based on user settings from previous session
    g_pool.plugins = Plugin_List(
        g_pool, plugin_by_name,
        session_settings.get('loaded_plugins', default_plugins))

    #We add the calibration menu selector, after a calibration has been added:
    g_pool.calibration_menu.insert(
        0,
        ui.Selector(
            'active_calibration_plugin',
            getter=lambda: g_pool.active_calibration_plugin.__class__,
            selection=calibration_plugins,
            labels=[p.__name__.replace('_', ' ') for p in calibration_plugins],
            setter=open_plugin,
            label='Method'))

    #We add the capture selection menu, after a manager has been added:
    g_pool.capture_selector_menu.insert(
        0,
        ui.Selector('capture_manager',
                    setter=open_plugin,
                    getter=lambda: g_pool.capture_manager.__class__,
                    selection=manager_classes,
                    labels=[b.gui_name for b in manager_classes],
                    label='Manager'))

    # 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)

    # gl_state settings
    basic_gl_setup()
    g_pool.image_tex = Named_Texture()
    # refresh speed settings
    glfw.glfwSwapInterval(0)

    #trigger setup of window and gl sizes
    on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

    #now the we have  aproper window we can load the last gui configuration
    g_pool.gui.configuration = session_settings.get('ui_config', {})

    #set up performace graphs:
    pid = os.getpid()
    ps = psutil.Process(pid)
    ts = g_pool.get_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"

    pupil0_graph = graph.Bar_Graph(max_val=1.0)
    pupil0_graph.pos = (260, 130)
    pupil0_graph.update_rate = 5
    pupil0_graph.label = "id0 conf: %0.2f"
    pupil1_graph = graph.Bar_Graph(max_val=1.0)
    pupil1_graph.pos = (380, 130)
    pupil1_graph.update_rate = 5
    pupil1_graph.label = "id1 conf: %0.2f"
    pupil_graphs = pupil0_graph, pupil1_graph

    if session_settings.get('eye1_process_alive', False):
        launch_eye_process(1, delay=0.6)
    if session_settings.get('eye0_process_alive', True):
        launch_eye_process(0, delay=0.3)

    ipc_pub.notify({'subject': 'world_process.started'})
    logger.warning('Process started.')

    # Event loop
    while not glfw.glfwWindowShouldClose(main_window):

        # fetch newest notifications
        new_notifications = []
        while notify_sub.new_data:
            t, n = notify_sub.recv()
            new_notifications.append(n)

        # notify each plugin if there are new notifications:
        for n in new_notifications:
            handle_notifications(n)
            g_pool.capture.on_notify(n)
            for p in g_pool.plugins:
                p.on_notify(n)

        # Get an image from the grabber
        try:
            frame = g_pool.capture.get_frame()
        except StreamError as e:
            prev_settings = g_pool.capture.settings
            g_pool.capture.deinit_gui()
            g_pool.capture.cleanup()
            g_pool.capture = None
            prev_settings[
                'info_text'] = "'%s' disconnected." % prev_settings['name']
            g_pool.capture = Fake_Source(g_pool, **prev_settings)
            g_pool.capture.init_gui()
            ipc_pub.notify({'subject': 'recording.should_stop'})
            logger.error("Error getting frame. Falling back to Fake source.")
            logger.debug("Caught error: %s" % e)
            sleep(.2)
            continue
        except EndofVideoFileError:
            logger.warning("Video file is done. Rewinding")
            g_pool.capture.seek_to_frame(0)
            continue

        #update performace graphs
        t = frame.timestamp
        dt, ts = t - ts, t
        try:
            fps_graph.add(1. / dt)
        except ZeroDivisionError:
            pass
        cpu_graph.update()

        #a dictionary that allows plugins to post and read events
        events = {}
        #report time between now and the last loop interation
        events['dt'] = get_dt()

        recent_pupil_data = []
        recent_gaze_data = []

        while pupil_sub.new_data:
            t, p = pupil_sub.recv()
            pupil_graphs[p['id']].add(p['confidence'])
            recent_pupil_data.append(p)
            new_gaze_data = g_pool.active_gaze_mapping_plugin.on_pupil_datum(p)
            for g in new_gaze_data:
                gaze_pub.send('gaze', g)
            recent_gaze_data += new_gaze_data

        events['pupil_positions'] = recent_pupil_data
        events['gaze_positions'] = recent_gaze_data

        # allow each Plugin to do its work.
        for p in g_pool.plugins:
            p.update(frame, events)

        #check if a plugin need to be destroyed
        g_pool.plugins.clean()

        #send new events to ipc:
        del events['pupil_positions']  #already on the wire
        del events['gaze_positions']  #send earlier in this loop
        del events['dt']  #no need to send this
        for topic, data in events.iteritems():
            assert (isinstance(data, (list, tuple)))
            for d in data:
                ipc_pub.send(topic, d)

        # render camera image
        glfw.glfwMakeContextCurrent(main_window)
        if is_window_visible(main_window):
            g_pool.image_tex.update_from_frame(frame)
            glFlush()
        make_coord_system_norm_based()
        g_pool.image_tex.draw()
        make_coord_system_pixel_based((frame.height, frame.width, 3))
        # render visual feedback from loaded plugins

        if is_window_visible(main_window):
            g_pool.capture.gl_display()
            for p in g_pool.plugins:
                p.gl_display()

            graph.push_view()
            fps_graph.draw()
            cpu_graph.draw()
            pupil0_graph.draw()
            pupil1_graph.draw()
            graph.pop_view()
            g_pool.gui.update()
            glfw.glfwSwapBuffers(main_window)
        glfw.glfwPollEvents()

    glfw.glfwRestoreWindow(main_window)  #need to do this for windows os
    session_settings['loaded_plugins'] = g_pool.plugins.get_initializers()
    session_settings['gui_scale'] = g_pool.gui.scale
    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['eye0_process_alive'] = eyes_are_alive[0].value
    session_settings['eye1_process_alive'] = eyes_are_alive[1].value
    session_settings['detection_mapping_mode'] = g_pool.detection_mapping_mode
    session_settings['audio_mode'] = audio.audio_mode
    session_settings.close()

    # de-init all running plugins
    for p in g_pool.plugins:
        p.alive = False
    g_pool.plugins.clean()
    g_pool.gui.terminate()
    glfw.glfwDestroyWindow(main_window)
    glfw.glfwTerminate()

    g_pool.capture.deinit_gui()
    g_pool.capture.cleanup()

    #shut down eye processes:
    stop_eye_process(0)
    stop_eye_process(1)

    logger.info("Process shutting down.")
    ipc_pub.notify({'subject': 'world_process.stopped'})

    #shut down launcher
    n = {'subject': 'launcher_process.should_stop'}
    ipc_pub.notify(n)
    zmq_ctx.destroy()
Esempio n. 21
0
def eye(timebase, is_alive_flag, ipc_pub_url, ipc_sub_url, ipc_push_url,
        user_dir, version, eye_id, glint_queue, glint_vector_queue, overwrite_cap_settings=None):
    """reads eye video and detects the pupil.

    Creates a window, gl context.
    Grabs images from a capture.
    Streams Pupil coordinates.

    Reacts to notifications:
       ``set_detection_mapping_mode``: Sets detection method
       ``eye_process.should_stop``: Stops the eye process
       ``recording.started``: Starts recording eye video
       ``recording.stopped``: Stops recording eye video
       ``frame_publishing.started``: Starts frame publishing
       ``frame_publishing.stopped``: Stops frame publishing

    Emits notifications:
        ``eye_process.started``: Eye process started
        ``eye_process.stopped``: Eye process stopped

    Emits data:
        ``pupil.<eye id>``: Pupil data for eye with id ``<eye id>``
        ``frame.eye.<eye id>``: Eye frames with id ``<eye id>``
    """

    # We deferr the imports becasue of multiprocessing.
    # Otherwise the world process each process also loads the other imports.
    import zmq
    import zmq_tools
    zmq_ctx = zmq.Context()
    ipc_socket = zmq_tools.Msg_Dispatcher(zmq_ctx, ipc_push_url)
    pupil_socket = zmq_tools.Msg_Streamer(zmq_ctx, ipc_pub_url)
    notify_sub = zmq_tools.Msg_Receiver(zmq_ctx, ipc_sub_url, topics=("notify",))

    with Is_Alive_Manager(is_alive_flag, ipc_socket, eye_id):

        # logging setup
        import logging
        logging.getLogger("OpenGL").setLevel(logging.ERROR)
        logger = logging.getLogger()
        logger.handlers = []
        logger.setLevel(logging.INFO)
        logger.addHandler(zmq_tools.ZMQ_handler(zmq_ctx, ipc_push_url))
        # create logger for the context of this function
        logger = logging.getLogger(__name__)

        # 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
        from pyglui.cygl.utils import Named_Texture
        from gl_utils import basic_gl_setup, adjust_gl_view, clear_gl_screen
        from gl_utils import make_coord_system_pixel_based
        from gl_utils import make_coord_system_norm_based
        from gl_utils import is_window_visible
        from ui_roi import UIRoi
        # monitoring
        import psutil
        import math
        from time import time
        import json


        # helpers/utils
        from file_methods import Persistent_Dict, load_object

        # helpers/utils
        from uvc import get_time_monotonic
        from file_methods import Persistent_Dict
        from version_utils import VersionFormat
        from methods import normalize, denormalize, timer
        from av_writer import JPEG_Writer, AV_Writer
        from ndsi import H264Writer
        from video_capture import source_classes
        from video_capture import manager_classes

        # 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 = 10.0
            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.process = 'eye{}'.format(eye_id)
        g_pool.timebase = timebase
        g_pool.glints = glint_queue
        g_pool.glint_pupil_vectors = glint_vector_queue

        glint_detector = Glint_Detector(g_pool)
        g_pool.ipc_pub = ipc_socket

        def get_timestamp():
            return get_time_monotonic() - g_pool.timebase.value
        g_pool.get_timestamp = get_timestamp
        g_pool.get_now = get_time_monotonic

        # Callback functions
        def on_resize(window, w, h):
            if is_window_visible(window):
                active_window = glfw.glfwGetCurrentContext()
                glfw.glfwMakeContextCurrent(window)
                hdpi_factor = float(glfw.glfwGetFramebufferSize(window)[0] / glfw.glfwGetWindowSize(window)[0])
                g_pool.gui.scale = g_pool.gui_user_scale * hdpi_factor
                g_pool.gui.update_window(w, h)
                g_pool.gui.collect_menus()
                for g in g_pool.graphs:
                    g.scale = hdpi_factor
                    g.adjust_window_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
                    # if the roi interacts we dont want
                    # the gui to interact as well
                    return
                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]
                    # Position in img pixels
                    pos = denormalize(pos,g_pool.capture.frame_size) # 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):
                        # if the roi interacts we dont want
                        # the gui to interact as well
                        return

            g_pool.gui.update_button(button, action, mods)

        def on_pos(window, x, y):
            hdpi_factor = 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,g_pool.capture.frame_size )
                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{}'.format(eye_id)))
        if VersionFormat(session_settings.get("version", '0.0')) != g_pool.version:
            logger.info("Session setting are from a different version of this app. I will not use those.")
            session_settings.clear()


        g_pool.iconified = False
        g_pool.capture = None
        g_pool.capture_manager = None
        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."}


        capture_manager_settings = session_settings.get(
            'capture_manager_settings', ('UVC_Manager',{}))

        manager_class_name, manager_settings = capture_manager_settings
        manager_class_by_name = {c.__name__:c for c in manager_classes}
        g_pool.capture_manager = manager_class_by_name[manager_class_name](g_pool,**manager_settings)


        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)
        g_pool.pupil_settings = "default"

        if eye_id == 0:
            cap_src = ["Pupil Cam1 ID0","HD-6000","Integrated Camera","HD USB Camera","USB 2.0 Camera"]
        else:
            cap_src = ["Pupil Cam1 ID1","HD-6000","Integrated Camera"]

        # Initialize capture
        default_settings = ('UVC_Source',{
                            'preferred_names'  : cap_src,
                            'frame_size': (640,480),
                            'frame_rate': 90
                            })

        capture_source_settings = overwrite_cap_settings or session_settings.get('capture_settings', default_settings)
        source_class_name, source_settings = capture_source_settings
        source_class_by_name = {c.__name__:c for c in source_classes}
        g_pool.capture = source_class_by_name[source_class_name](g_pool,**source_settings)
        assert g_pool.capture

        g_pool.u_r = UIRoi((g_pool.capture.frame_size[1],g_pool.capture.frame_size[0]))
        roi_user_settings = session_settings.get('roi')
        if roi_user_settings and roi_user_settings[-1] == g_pool.u_r.get()[-1]:
            g_pool.u_r.set(roi_user_settings)


        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)

        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)

        def convert_keys_to_string(dictionary):
            """Recursively converts dictionary keys to strings."""
            if not isinstance(dictionary, dict):
                return dictionary
            return dict((str(k.decode('utf8')), convert_keys_to_string(v))
                for k, v in dictionary.items())

        def set_pupil_settings(new_settings):
            g_pool.pupil_settings = new_settings

            if not new_settings == "default":
                try:
                    path = os.path.join(g_pool.user_dir,'pupil_settings_' + new_settings + '.json')
                    with open(path, 'r') as fp:
                        json_str = fp.read()
                        pupil_settings_new = json.loads(json_str)
                except:
                    logger.error("Settings don't exist")
                #pupil_settings_new = convert_keys_to_string(pupil_settings_new)
                pupil_settings_new['2D_Settings'] = dict(pupil_settings_new)
                pupil_settings = g_pool.pupil_detector.get_settings()
                controls = g_pool.capture.uvc_capture.controls
                controls_dict = dict([(c.display_name,c) for c in controls])
                try:
                    g_pool.capture.frame_rate = pupil_settings_new['frame_rate']
                    g_pool.capture.frame_size = pupil_settings_new['frame_size']
                except:
                    logger.info("no frame rate and frame size in camera settings")
                for key in controls_dict:
                    print(key)
                    try:
                        controls_dict[key].value = pupil_settings_new[key]
                    except:
                        logger.info("no key with the name '%s' in camera settings" %key)
                for key in pupil_settings.keys():
                    print(key)
                    try:
                        if type(pupil_settings[key]) == dict:
                            for sec_key in pupil_settings[key].keys():
                                pupil_settings[key][sec_key] = pupil_settings_new[key][sec_key]
                        else:
                            pupil_settings[key] = pupil_settings_new[key]
                    except:
                        logger.info("no key with the name '%s' in pupil settings" %key)
        # Initialize glfw
        glfw.glfwInit()
        title = "Pupil Capture - eye {}".format(eye_id)
        width, height = session_settings.get(
            'window_size', g_pool.capture.frame_size)
        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()

        # UI callback functions
        def set_scale(new_scale):
            g_pool.gui_user_scale = new_scale
            on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        # gl_state settings
        basic_gl_setup()
        g_pool.image_tex = Named_Texture()
        g_pool.image_tex.update_from_ndarray(np.ones((1,1),dtype=np.uint8)+125)

        # setup GUI
        g_pool.gui = ui.UI()
        g_pool.gui_user_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.Selector('pupil_settings',g_pool,setter=set_pupil_settings,selection=['default','indoors','outdoors_sunny', 'outdoors_cloudy', 'vanilla'], labels=['Default', 'Indoors', 'Outdoors Sunny', 'Outdoors Cloudy', 'Vanilla'], label="Pupil settings") )
        general_settings.append(ui.Selector('gui_user_scale', g_pool,
                                          setter=set_scale,
                                          selection=[.8, .9, 1., 1.1, 1.2],
                                          label='Interface Size'))
        general_settings.append(ui.Button('Reset window size',lambda: glfw.glfwSetWindowSize(main_window,*g_pool.capture.frame_size)) )
        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.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)

        g_pool.capture_selector_menu = ui.Growing_Menu('Capture Selection')
        g_pool.capture_source_menu = ui.Growing_Menu('Capture Source')
        g_pool.capture_source_menu.collapsed = True
        g_pool.capture.init_gui()

        g_pool.sidebar.append(general_settings)
        g_pool.sidebar.append(g_pool.capture_selector_menu)
        g_pool.sidebar.append(g_pool.capture_source_menu)

        g_pool.pupil_detector.init_gui(g_pool.sidebar)

        g_pool.capture_manager.init_gui()
        g_pool.writer = None

        def replace_source(source_class_name,source_settings):
            g_pool.capture.cleanup()
            g_pool.capture = source_class_by_name[source_class_name](g_pool,**source_settings)
            g_pool.capture.init_gui()
            if g_pool.writer:
                logger.info("Done recording.")
                g_pool.writer.release()
                g_pool.writer = None

        g_pool.replace_source = replace_source # for ndsi capture

        def replace_manager(manager_class):
            g_pool.capture_manager.cleanup()
            g_pool.capture_manager = manager_class(g_pool)
            g_pool.capture_manager.init_gui()

        #We add the capture selection menu, after a manager has been added:
        g_pool.capture_selector_menu.insert(0,ui.Selector(
                                                'capture_manager',g_pool,
                                                setter    = replace_manager,
                                                getter    = lambda: g_pool.capture_manager.__class__,
                                                selection = manager_classes,
                                                labels    = [b.gui_name for b in manager_classes],
                                                label     = 'Manager'
                                            ))


        # 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)

        # 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 = g_pool.get_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"
        g_pool.graphs = [cpu_graph, fps_graph]

        # set the last saved window size
        on_resize(main_window, *glfw.glfwGetFramebufferSize(main_window))

        should_publish_frames = False
        frame_publish_format = 'jpeg'

        # create a timer to control window update frequency
        window_update_timer = timer(1 / 60)

        def window_should_update():
            return next(window_update_timer)

        logger.warning('Process started.')

        frame = None

        # Event loop
        while not glfw.glfwWindowShouldClose(main_window):

            if notify_sub.new_data:
                t, notification = notify_sub.recv()
                subject = notification['subject']
                if subject == 'eye_process.should_stop':
                    if notification['eye_id'] == eye_id:
                        break
                elif subject == 'set_detection_mapping_mode':
                    if notification['mode'] == '3d':
                        if not isinstance(g_pool.pupil_detector, Detector_3D):
                            set_detector(Detector_3D)
                        detector_selector.read_only = True
                    else:
                        if not isinstance(g_pool.pupil_detector, Detector_2D):
                            set_detector(Detector_2D)
                        detector_selector.read_only = False
                elif subject == 'recording.started':
                    if notification['record_eye'] and g_pool.capture.online:
                        record_path = notification['rec_path']
                        raw_mode = notification['compression']
                        logger.info("Will save eye video to: {}".format(record_path))
                        video_path = os.path.join(record_path, "eye{}.mp4".format(eye_id))
                        if raw_mode and frame and g_pool.capture.jpeg_support:
                            g_pool.writer = JPEG_Writer(video_path, g_pool.capture.frame_rate)
                        elif hasattr(g_pool.capture._recent_frame, 'h264_buffer'):
                            g_pool.writer = H264Writer(video_path,
                                                       g_pool.capture.frame_size[0],
                                                       g_pool.capture.frame_size[1],
                                                       g_pool.capture.frame_rate)
                        else:
                            g_pool.writer = AV_Writer(video_path, g_pool.capture.frame_rate)
                elif subject == 'recording.stopped':
                    if g_pool.writer:
                        logger.info("Done recording.")
                        g_pool.writer.release()
                        g_pool.writer = None
                elif subject.startswith('meta.should_doc'):
                    ipc_socket.notify({
                        'subject': 'meta.doc',
                        'actor': 'eye{}'.format(eye_id),
                        'doc': eye.__doc__
                    })
                elif subject.startswith('frame_publishing.started'):
                    should_publish_frames = True
                    frame_publish_format = notification.get('format', 'jpeg')
                elif subject.startswith('frame_publishing.stopped'):
                    should_publish_frames = False
                    frame_publish_format = 'jpeg'
                elif subject.startswith('start_eye_capture') and notification['target'] == g_pool.process:
                    replace_source(notification['name'],notification['args'])

                g_pool.capture.on_notify(notification)

            # Get an image from the grabber
            event = {}
            g_pool.capture.recent_events(event)
            frame = event.get('frame')
            g_pool.capture_manager.recent_events(event)
            if frame:
                f_width, f_height = g_pool.capture.frame_size
                if (g_pool.u_r.array_shape[0], g_pool.u_r.array_shape[1]) != (f_height, f_width):
                    g_pool.u_r = UIRoi((f_height, f_width))
                if should_publish_frames and frame.jpeg_buffer:
                    if   frame_publish_format == "jpeg":
                        data = frame.jpeg_buffer
                    elif frame_publish_format == "yuv":
                        data = frame.yuv_buffer
                    elif frame_publish_format == "bgr":
                        data = frame.bgr
                    elif frame_publish_format == "gray":
                        data = frame.gray
                    pupil_socket.send('frame.eye.%s'%eye_id,{
                        'width': frame.width,
                        'height': frame.width,
                        'index': frame.index,
                        'timestamp': frame.timestamp,
                        'format': frame_publish_format,
                        '__raw_data__': [data]
                    })

                t = frame.timestamp
                tUnix = time()
                dt, ts = t - ts, t
                try:
                    fps_graph.add(1./dt)
                except ZeroDivisionError:
                    pass

                if g_pool.writer:
                    g_pool.writer.write_video_frame(frame)

                # pupil ellipse detection
                result, roi = g_pool.pupil_detector.detect(frame, g_pool.u_r, g_pool.display_mode == 'algorithm')
                result['id'] = eye_id
                result['unix_ts'] = tUnix

                #glint detection
                #glints = [[0,0,0,0,0,0], [0,0,0,0,0,1]] #glint_detector.glint(frame, eye_id, u_roi=g_pool.u_r, pupil=result, roi=roi)
                #result['glints'] = glints

                #g_pool.glints.put(glints)


                #save glint-pupil vector results
                #if glints[0][3]:
                #    glint_pupil_vector = {'timestamp': glints[0][0], 'x': result['norm_pos'][0]-glints[0][3], 'y': result['norm_pos'][1]-glints[0][4], 'pupil_confidence': result['confidence'], 'glint_found': True, 'id': eye_id, 'x2': result['norm_pos'][0]-glints[1][3], 'y2': result['norm_pos'][1]-glints[1][4]}
                #else:
                #     glint_pupil_vector = {'timestamp': glints[0][0], 'x': result['norm_pos'][0]-glints[0][3], 'y': result['norm_pos'][1]-glints[0][4], 'pupil_confidence': result['confidence'], 'glint_found': False, 'id': eye_id, 'x2': result['norm_pos'][0]-glints[1][3], 'y2': result['norm_pos'][1]-glints[1][4]}
                #g_pool.glint_pupil_vectors.put(glint_pupil_vector)

                # stream the result
                pupil_socket.send('pupil.%s'%eye_id,result)

            cpu_graph.update()




            # GL drawing
            if window_should_update():
                if is_window_visible(main_window):
                    glfw.glfwMakeContextCurrent(main_window)
                    clear_gl_screen()

                    if frame:
                        # 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()

                    #if frame:
                    #    glints = np.array(result['glints'])
                    #    if len(glints)>0 and glints[0][3]:
                    #        if glints[1][3]:
                    #            cygl_draw_points(glints[:,1:3], size=20,color=cygl_rgba(0.,0.,1.,.5),sharpness=1.)
                    #        elif result['confidence'] > 0.75:
                    #            cygl_draw_points(glints[:,1:3], size=20,color=cygl_rgba(0.,0.,1.,.5),sharpness=1.)

                    f_width, f_height = g_pool.capture.frame_size
                    make_coord_system_pixel_based((f_height, f_width, 3), g_pool.flip)
                    if frame:
                        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 'ellipse' in result:
                                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
                                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
                    fps_graph.draw()
                    cpu_graph.draw()

                    # render GUI
                    g_pool.gui.update()

                    # render the ROI
                    g_pool.u_r.draw(g_pool.gui.scale)
                    if g_pool.display_mode == 'roi':
                        g_pool.u_r.draw_points(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 g_pool.writer:
            logger.info("Done recording eye.")
            g_pool.writer = None

        glfw.glfwRestoreWindow(main_window)  # need to do this for windows os
        # save session persistent settings
        session_settings['gui_scale'] = g_pool.gui_user_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.class_name, g_pool.capture.get_init_dict()
        session_settings['capture_manager_settings'] = g_pool.capture_manager.class_name, g_pool.capture_manager.get_init_dict()
        session_settings['window_size'] = glfw.glfwGetWindowSize(main_window)
        session_settings['window_position'] = glfw.glfwGetWindowPos(main_window)
        session_settings['version'] = str(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.capture.deinit_gui()
        g_pool.pupil_detector.cleanup()
        glint_detector.cleanup()
        g_pool.gui.terminate()
        glfw.glfwDestroyWindow(main_window)
        glfw.glfwTerminate()
        g_pool.capture_manager.cleanup()
        g_pool.capture.cleanup()
        logger.info("Process shutting down.")