def run(self):
# initializer timer
glfw.glfwSetTime(0)
t = 0.0
while not glfw.glfwWindowShouldClose(self.win) and not self.exitNow:
# update every x seconds
currT = glfw.glfwGetTime()
if currT - t > 0.01:
# update time
t = currT
# clear
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# render
pMatrix = glutils.perspective(100.0, self.aspect, 0.1, 100.0)
# modelview matrix
mvMatrix = glutils.lookAt(self.camera.eye, self.camera.center,
self.camera.up)
# draw non-transparent object first
self.box.render(pMatrix, mvMatrix)
# render
self.psys.render(pMatrix, mvMatrix, self.camera)
# step
self.step()
glfw.glfwSwapBuffers(self.win)
# Poll for and process events
glfw.glfwPollEvents()
# end
glfw.glfwTerminate()
def run(self):
# initializer timer
glfw.glfwSetTime(0)
t = 0.0
while not glfw.glfwWindowShouldClose(self.win) and not self.exitNow:
# update every x seconds
currT = glfw.glfwGetTime()
if currT - t > 0.01:
# update time
t = currT
# clear
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# render
pMatrix = glutils.perspective(100.0, self.aspect, 0.1, 100.0)
# modelview matrix
mvMatrix = glutils.lookAt(self.camera.eye, self.camera.center,
self.camera.up)
# draw non-transparent object first
self.box.render(pMatrix, mvMatrix)
# render
self.psys.render(pMatrix, mvMatrix, self.camera)
# step
self.step()
glfw.glfwSwapBuffers(self.win)
# Poll for and process events
glfw.glfwPollEvents()
# end
glfw.glfwTerminate()
def run(self):
# initializer timer
glfw.glfwSetTime(0)
t = 0.0
while not glfw.glfwWindowShouldClose(self.win) and not self.exitNow:
# update every x seconds
currT = glfw.glfwGetTime()
if currT - t > 0.1:
# update time
t = currT
# clear
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# build projection matrix
pMatrix = glutils.perspective(45.0, self.aspect, 0.1, 100.0)
mvMatrix = glutils.lookAt([0.0, 0.0, -2.0], [0.0, 0.0, 0.0],
[0.0, 1.0, 0.0])
# render
self.scene.render(pMatrix, mvMatrix)
# step
self.scene.step()
glfw.glfwSwapBuffers(self.win)
# Poll for and process events
glfw.glfwPollEvents()
# end
glfw.glfwTerminate()
def main():
glfw.init()
glfw.window_hint(glfw.CONTEXT_VERSION_MAJOR, 3)
glfw.window_hint(glfw.CONTEXT_VERSION_MINOR, 3)
glfw.window_hint(glfw.OPENGL_PROFILE, glfw.OPENGL_CORE_PROFILE)
window = glfw.create_window(WIN_WIDTH, WIN_HEIGHT, "Hello OpenGL", None,
None)
if window == 0:
print("failed to create window")
glfw.glfwTerminate()
glfw.make_context_current(window)
glfw.set_framebuffer_size_callback(window, framebuffer_size_callback)
vertexShader = gl.glCreateShader(gl.GL_VERTEX_SHADER)
gl.glShaderSource(vertexShader, vertexShaderSource)
gl.glCompileShader(vertexShader)
fragmentShader = gl.glCreateShader(gl.GL_FRAGMENT_SHADER)
gl.glShaderSource(fragmentShader, fragmentShaderSource)
gl.glCompileShader(fragmentShader)
shaderProgram = gl.glCreateProgram()
gl.glAttachShader(shaderProgram, vertexShader)
gl.glAttachShader(shaderProgram, fragmentShader)
gl.glLinkProgram(shaderProgram)
gl.glDeleteShader(vertexShader)
gl.glDeleteShader(fragmentShader)
VAO = gl.glGenVertexArrays(1)
VBO = gl.glGenBuffers(1)
gl.glBindVertexArray(VAO)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, VBO)
gl.glBufferData(gl.GL_ARRAY_BUFFER, sys.getsizeof(vertices), vertices,
gl.GL_STATIC_DRAW)
gl.glVertexAttribPointer(gl.glGetAttribLocation(shaderProgram, 'aPos'), 3,
gl.GL_FLOAT, gl.GL_FALSE, 12, None)
gl.glEnableVertexAttribArray(0)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, 0)
gl.glBindVertexArray(0)
while not glfw.window_should_close(window):
processInput(window)
gl.glClearColor(0.2, 0.3, 0.3, 1.0)
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glUseProgram(shaderProgram)
gl.glBindVertexArray(VAO)
gl.glDrawArrays(gl.GL_TRIANGLES, 0, 3)
gl.glBindVertexArray(0)
glfw.swap_buffers(window)
glfw.poll_events()
glfw.terminate()
def run(self):
# start loop
while not glfw.glfwWindowShouldClose(self.win) and not self.exitNow:
# render
self.renderer.draw()
# swap buffers
glfw.glfwSwapBuffers(self.win)
# wait for events
glfw.glfwWaitEvents()
# end
glfw.glfwTerminate()
def run(self):
# start loop
while not glfw.glfwWindowShouldClose(self.win) and not self.exitNow:
# render
self.renderer.draw()
# swap buffers
glfw.glfwSwapBuffers(self.win)
# wait for events
glfw.glfwWaitEvents()
# end
glfw.glfwTerminate()
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
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
def run(self):
glfw.glfwSetTime(0)
t = 0.0
while not glfw.glfwWindowShouldClose(self.win) and not self.exitNow:
currT = glfw.glfwGetTime()
#每隔0.1s绘一次图
if currT - t > 0.1:
t = currT
#清除深度和颜色缓冲区
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
#计算投影矩阵，45度视场，近/远裁剪平面的距离为0.1/100.0
pMatrix = glutils.perspective(45.0, self.aspect, 0.1, 100.0)
#设置模型视图矩阵，眼睛位置设置在(0,0,-2)，用一个向上的矢量(0,1,0)看向原点(0,0,0)
mvMatirx = glutils.lookAt([0.0, 0.0, -2.0], [0.0, 0.0, 0.0],
[0.0, 1.0, 0.0])
self.scene.render(pMatrix, mvMatirx)
self.scene.step()
#交换前后缓冲区， 显示更新的三维图像（双缓冲，更加流畅的视觉效果）
glfw.glfwSwapBuffers(self.win)
#调用检查所有UI事件，将控制返回给while循环
glfw.glfwPollEvents()
glfw.glfwTerminate()
def run(self):
while 1:
shouldClose = glfw.glfwWindowShouldClose(self.glfwWindow)
if shouldClose:
if self.okToExit():
break
else:
glfw.glfwSetWindowShouldClose(self.glfwWindow, 0)
if self._drawNeeded:
if self._isFull:
glfw.glfwMakeContextCurrent(self.glfwFullscreenWindow)
else:
glfw.glfwMakeContextCurrent(self.glfwWindow)
self.__draw()
if self._isFull:
glfw.glfwSwapBuffers(self.glfwFullscreenWindow)
else:
glfw.glfwSwapBuffers(self.glfwWindow)
self._drawNeeded = False
glfw.glfwPollEvents()
self.__idle()
glfw.glfwTerminate()
def main():
# Initialize the library
if not glfw.glfwInit():
return
# Create a windowed mode window and its OpenGL context
window = glfw.glfwCreateWindow(640, 480, "Hello World", None, None)
if not window:
glfw.glfwTerminate()
return
# Make the window's context current
glfw.glfwMakeContextCurrent(window)
# Loop until the user closes the window
while not glfw.glfwWindowShouldClose(window):
# Render here, e.g. using pyOpenGL
# Swap front and back buffers
glfw.glfwSwapBuffers(window)
# Poll for and process events
glfw.glfwPollEvents()
glfw.glfwTerminate()
def main():
# verify input
if len(sys.argv) == 1:
# check if the standard input is a tty (not a pipe)
if sys.stdin.isatty():
print("Incorrect syntax, use:")
print(' > ' + sys.argv[0] + " image.png")
# show a default image if exists
sys.argv.append('/Users/facciolo/uiskentuie_standing_stone.png')
try:
from os import stat
stat(sys.argv[1])
except OSError:
sys.exit(1)
# otherwise use stdin as input (because it should be a pipe)
else:
sys.argv.append('-')
# pick the first image
I1 = sys.argv[1]
# globals
global D,V,DD,current_image_idx
tic()
# read the image
# Usually this is done with change_image, but this is a special case
# as we must find out the image size before creating the window
D.imageBitmapTiles,D.w,D.h,D.nch,D.v_min,D.v_max = load_image(I1)
D.filename = I1
from os import stat, path
if I1 != '-' and path.exists(I1):
D.mtime = (stat(I1).st_mtime)
V.data_min, V.data_max= D.v_min,D.v_max
V.reset_scale_bias()
toc('loadImage+data->RGBbitmap')
## image list
current_image_idx = 0
DD[current_image_idx] = D
tic()
# Initialize the library
# for some reason glfwInit changes the current dir, so I change it back!
from os import getcwd,chdir
savepath = getcwd()
if not glfw.glfwInit():
sys.exit(1)
chdir(savepath)
# TODO REMOVE : needed for the text
import OpenGL.GLUT as glut
glut.glutInit()
# Create a windowed mode window and its OpenGL context
window = glfw.glfwCreateWindow(D.w, D.h, "Vflip! (reloaded)", None, None)
if not window:
glfw.glfwTerminate()
sys.exit(1)
# Make the window's context current
glfw.glfwMakeContextCurrent(window)
# event handlers
glfw.glfwSetKeyCallback(window, keyboard_callback)
glfw.glfwSetMouseButtonCallback(window, mouseButtons_callback)
glfw.glfwSetScrollCallback(window, mouseWheel_callback)
glfw.glfwSetCursorPosCallback(window, mouseMotion_callback)
glfw.glfwSetFramebufferSizeCallback(window, resize_callback)
glfw.glfwSetWindowRefreshCallback(window,display)
# glfw.glfwSetCharCallback (window, unicode_char_callback)
toc('glfw init')
# setup texture
tic()
setupTexturesFromImageTiles(D.imageBitmapTiles,D.w,D.h,D.nch)
glFinish() # Flush and wait
toc('texture setup')
print (0,D.filename, (D.w,D.h,D.nch), (D.v_min,D.v_max))
##########
######## SETUP FRAGMENT SHADER FOR CONTRAST CHANGE
##########
# http://www.cityinabottle.org/nodebox/shader/
# http://www.seethroughskin.com/blog/?p=771
# http://python-opengl-examples.blogspot.com.es/
# http://www.lighthouse3d.com/tutorials/glsl-core-tutorial/fragment-shader/
global program, SHADERS, SHADER_PROGRAMS
for s in SHADERS.keys():
SHADER_PROGRAMS[s] = compileProgram(
compileShader(SHADERS[s], GL_FRAGMENT_SHADER),
);
glLinkProgram( SHADER_PROGRAMS[s] )
program = SHADER_PROGRAMS['rgba']
#global program
# try to activate/enable shader program
# handle errors wisely
try:
glUseProgram(program)
except OpenGL.error.GLError:
print(glGetProgramInfoLog(program))
raise
# set the values of the shader uniform variables (global)
shader_a= glGetUniformLocation(program, "shader_a")
glUniform1f(shader_a,V.scale_param)
shader_b= glGetUniformLocation(program, "shader_b")
glUniform1f(shader_b,V.bias_param)
shader_c= glGetUniformLocation(program, "shader_c")
glUniform1i(shader_c,V.inv_param)
# # first display
# display(window)
## glFlush()
# Loop until the user closes the window
while not glfw.glfwWindowShouldClose(window):
# Render here
if V.redisp:
# Try to resize the window if needed
# this process the window resize requests generated by the application
# the user window resize requests requests go directly to resize_callback
if V.resize and not (D.w,D.h) == glfw.glfwGetFramebufferSize(window) and not V.window_has_been_resized_by_the_user:
glfw.glfwSetWindowSize(window,D.w,D.h)
# I know it's not been the user so I reset the variable to 0
V.window_has_been_resized_by_the_user=0
V.resize = 0
if V.TOGGLE_FIT_TO_WINDOW_SIZE: V.update_zoom_position_to_fit_window()
V.redisp = display(window)
# Swap front and back buffers
glfw.glfwSwapBuffers(window)
V.mute_wheel=0
V.mute_sweep=0
V.mute_keyboard=0
# Poll for and process events
#glfw.glfwPollEvents()
glfw.glfwWaitEvents()
glfw.glfwTerminate()
import sys
import glfw
import OpenGL.GL as gl
def on_key(window, key, scancode, action, mods):
if key == glfw.GLFW_KEY_ESCAPE and action == glfw.GLFW_PRESS:
glfw.glfwSetWindowShouldClose(window,1)
# Initialize the library
if not glfw.glfwInit():
sys.exit()
# Create a windowed mode window and its OpenGL context
window = glfw.glfwCreateWindow(640, 480, "Hello World", None, None)
if not window:
glfw.glfwTerminate()
sys.exit()
# Make the window's context current
glfw.glfwMakeContextCurrent(window)
# Install a key handler
glfw.glfwSetKeyCallback(window, on_key)
# Loop until the user closes the window
while not glfw.glfwWindowShouldClose(window):
# Render here
width, height = glfw.glfwGetFramebufferSize(window)
ratio = width / float(height)
gl.glViewport(0, 0, width, height)
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
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()
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")
def main():
# initialize glfw
if not glfw.glfwInit():
return
window = glfw.glfwCreateWindow(SCREEN_WIDTH, SCREEN_HEIGHT,
"My OpenGL window", None, None)
if not window:
glfw.glfwTerminate()
return
glfw.glfwMakeContextCurrent(window)
vertex_shader = """
#version 330
in layout(location = 0) vec3 position;
in layout(location = 1) vec3 colors;
in layout(location = 2) vec2 textureCoords;
out vec2 newTexture;
uniform float xDiff;
vec3 newPosition;
vec2 tmpTexture;
void main()
{
newPosition.xyz = position.xyz;
tmpTexture.xy = textureCoords.xy;
if (xDiff == 1.0){
tmpTexture.y = 1.0 - tmpTexture.y;
newTexture = vec2(tmpTexture);
}else{
tmpTexture.y = tmpTexture.y;
//newTexture = textureCoords;
}
newTexture = vec2(tmpTexture);
gl_Position = vec4(newPosition, 1.0f);
}
"""
fragment_shader = """
#version 330
in vec2 newTexture;
out vec4 outColor;
uniform sampler2D samplerTexture;
void main()
{
outColor = texture(samplerTexture, newTexture);
}
"""
setup_resource()
global shader
shader = OpenGL.GL.shaders.compileProgram(
OpenGL.GL.shaders.compileShader(vertex_shader, GL_VERTEX_SHADER),
OpenGL.GL.shaders.compileShader(fragment_shader, GL_FRAGMENT_SHADER))
status = glCheckFramebufferStatus(GL_FRAMEBUFFER)
if status != GL_FRAMEBUFFER_COMPLETE:
print('error {}'.format(status))
VBO = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, VBO)
glBufferData(GL_ARRAY_BUFFER, vex.itemsize * len(vex), vex, GL_STATIC_DRAW)
#position
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, vex.itemsize * 8,
ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
#color
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, vex.itemsize * 8,
ctypes.c_void_p(12))
glEnableVertexAttribArray(1)
#texture
glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, vex.itemsize * 8,
ctypes.c_void_p(24))
glEnableVertexAttribArray(2)
glEnable(GL_TEXTURE_2D)
glUseProgram(shader)
glClearColor(0.2, 0.3, 0.2, 1.0)
glEnable(GL_DEPTH_TEST)
#glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
while not glfw.glfwWindowShouldClose(window):
glfw.glfwPollEvents()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# EBO = glGenBuffers(1)
# glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, EBO)
# glBufferData(GL_ELEMENT_ARRAY_BUFFER, main_indices.itemsize * len(main_indices), main_indices, GL_STATIC_DRAW)
#
# glDrawElements(GL_TRIANGLES, len(main_indices), GL_UNSIGNED_INT, None)
#
fbo_render()
glfw.glfwSwapBuffers(window)
glfw.glfwTerminate()
def cleanUp(self):
### shutdown glfw and CEGUI
PyCEGUIOpenGLRenderer.OpenGLRenderer.destroySystem()
glfw.glfwTerminate()
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.")
def main():
# initialize glfw
if not glfw.glfwInit():
return
window = glfw.glfwCreateWindow(800, 600, "My OpenGL window", None, None)
if not window:
glfw.glfwTerminate()
return
glfw.glfwMakeContextCurrent(window)
# positions colors texture coords
quad = [
-0.5, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.5, -0.5, 0.0, 0.0, 1.0,
0.0, 1.0, 0.0, 0.5, 0.5, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, -0.5, 0.5, 0.0,
1.0, 1.0, 1.0, 0.0, 1.0
]
quad = numpy.array(quad, dtype=numpy.float32)
indices = [0, 1, 2, 2, 3, 0]
indices = numpy.array(indices, dtype=numpy.uint32)
print(quad.itemsize * len(quad))
print(indices.itemsize * len(indices))
print(quad.itemsize * 8)
vertex_shader = """
#version 330
in layout(location = 0) vec3 position;
in layout(location = 1) vec3 color;
in layout(location = 2) vec2 inTexCoords;
out vec3 newColor;
out vec2 outTexCoords;
void main()
{
gl_Position = vec4(position, 1.0f);
newColor = color;
outTexCoords = inTexCoords;
}
"""
fragment_shader = """
#version 330
in vec3 newColor;
in vec2 outTexCoords;
out vec4 outColor;
uniform sampler2D samplerTex;
void main()
{
outColor = texture(samplerTex, outTexCoords) * vec4(newColor, 1.0f);
}
"""
shader = OpenGL.GL.shaders.compileProgram(
OpenGL.GL.shaders.compileShader(vertex_shader, GL_VERTEX_SHADER),
OpenGL.GL.shaders.compileShader(fragment_shader, GL_FRAGMENT_SHADER))
VBO = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, VBO)
glBufferData(GL_ARRAY_BUFFER, quad.itemsize * len(quad), quad,
GL_STATIC_DRAW)
EBO = glGenBuffers(1)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, EBO)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.itemsize * len(indices),
indices, GL_STATIC_DRAW)
#position = glGetAttribLocation(shader, "position")
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, quad.itemsize * 8,
ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
#color = glGetAttribLocation(shader, "color")
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, quad.itemsize * 8,
ctypes.c_void_p(12))
glEnableVertexAttribArray(1)
#texture_coords = glGetAttribLocation(shader, "inTexCoords")
glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, quad.itemsize * 8,
ctypes.c_void_p(24))
glEnableVertexAttribArray(2)
texture = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, texture)
#texture wrapping params
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
#texture filtering params
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
# image = Image.open("res/smiley.png")
image = Image.open("res/egg.png")
#img_data = numpy.array(list(image.getdata()), numpy.uint8)
img_data = image.transpose(Image.FLIP_TOP_BOTTOM).convert("RGBA").tobytes()
# img_data= flipped_image.convert("RGBA").tobytes()
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, image.width, image.height, 0,
GL_RGBA, GL_UNSIGNED_BYTE, img_data)
#print(image.width, image.height)
glUseProgram(shader)
glClearColor(0.2, 0.3, 0.2, 1.0)
while not glfw.glfwWindowShouldClose(window):
glfw.glfwPollEvents()
glClear(GL_COLOR_BUFFER_BIT)
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, None)
glfw.glfwSwapBuffers(window)
glfw.glfwTerminate()
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.")
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()
def main():
# initialize glfw
if not glfw.glfwInit():
return
window = glfw.glfwCreateWindow(800, 600, "My OpenGL window", None, None)
if not window:
glfw.glfwTerminate()
return
glfw.glfwMakeContextCurrent(window)
# positions colors
cube = [
-0.5, -0.5, 0.5, 1.0, 0.0, 0.0, 0.5, -0.5, 0.5, 0.0, 1.0, 0.0, 0.5,
0.5, 0.5, 0.0, 0.0, 1.0, -0.5, 0.5, 0.5, 1.0, 1.0, 1.0, -0.5, -0.5,
-0.5, 1.0, 0.0, 0.0, 0.5, -0.5, -0.5, 0.0, 1.0, 0.0, 0.5, 0.5, -0.5,
0.0, 0.0, 1.0, -0.5, 0.5, -0.5, 1.0, 1.0, 1.0
]
cube = numpy.array(cube, dtype=numpy.float32)
indices = [
0, 1, 2, 2, 3, 0, 4, 5, 6, 6, 7, 4, 4, 5, 1, 1, 0, 4, 6, 7, 3, 3, 2, 6,
5, 6, 2, 2, 1, 5, 7, 4, 0, 0, 3, 7
]
indices = numpy.array(indices, dtype=numpy.uint32)
vertex_shader = """
#version 330
in vec3 position;
in vec3 color;
uniform mat4 transform;
out vec3 newColor;
void main()
{
gl_Position = transform * vec4(position, 1.0f);
newColor = color;
}
"""
fragment_shader = """
#version 330
in vec3 newColor;
out vec4 outColor;
void main()
{
outColor = vec4(newColor, 1.0f);
}
"""
shader = OpenGL.GL.shaders.compileProgram(
OpenGL.GL.shaders.compileShader(vertex_shader, GL_VERTEX_SHADER),
OpenGL.GL.shaders.compileShader(fragment_shader, GL_FRAGMENT_SHADER))
VBO = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, VBO)
glBufferData(GL_ARRAY_BUFFER, 192, cube, GL_STATIC_DRAW)
EBO = glGenBuffers(1)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, EBO)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, 144, indices, GL_STATIC_DRAW)
position = glGetAttribLocation(shader, "position")
glVertexAttribPointer(position, 3, GL_FLOAT, GL_FALSE, 24,
ctypes.c_void_p(0))
glEnableVertexAttribArray(position)
color = glGetAttribLocation(shader, "color")
glVertexAttribPointer(color, 3, GL_FLOAT, GL_FALSE, 24,
ctypes.c_void_p(12))
glEnableVertexAttribArray(color)
glUseProgram(shader)
glClearColor(0.2, 0.3, 0.2, 1.0)
glEnable(GL_DEPTH_TEST)
#glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
while not glfw.glfwWindowShouldClose(window):
glfw.glfwPollEvents()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
rot_x = pyrr.Matrix44.from_x_rotation(0.5 * glfw.glfwGetTime())
rot_y = pyrr.Matrix44.from_y_rotation(0.8 * glfw.glfwGetTime())
# 向顶点shader中传入mvp 矩阵，控制顶点变换
transformLoc = glGetUniformLocation(shader, "transform")
glUniformMatrix4fv(transformLoc, 1, GL_FALSE, rot_x * rot_y)
glDrawElements(GL_TRIANGLES, 36, GL_UNSIGNED_INT, None)
glfw.glfwSwapBuffers(window)
glfw.glfwTerminate()
def main():
# initialize glfw
if not glfw.glfwInit():
return
w_width, w_height = 800, 600
#glfw.window_hint(glfw.RESIZABLE, GL_FALSE)
window = glfw.glfwCreateWindow(w_width, w_height, "My OpenGL window", None,
None)
if not window:
glfw.glfwTerminate()
return
glfw.glfwMakeContextCurrent(window)
# glfw.set_window_size_callback(window, window_resize)
# positions colors texture coords
cube = [
-0.5, -0.5, 0.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.5, -0.5, 0.5, 0.0, 1.0,
0.0, 1.0, 0.0, 0.5, 0.5, 0.5, 0.0, 0.0, 1.0, 1.0, 1.0, -0.5, 0.5, 0.5,
1.0, 1.0, 1.0, 0.0, 1.0, -0.5, -0.5, -0.5, 1.0, 0.0, 0.0, 0.0, 0.0,
0.5, -0.5, -0.5, 0.0, 1.0, 0.0, 1.0, 0.0, 0.5, 0.5, -0.5, 0.0, 0.0,
1.0, 1.0, 1.0, -0.5, 0.5, -0.5, 1.0, 1.0, 1.0, 0.0, 1.0, 0.5, -0.5,
-0.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.5, -0.5, 0.0, 1.0, 0.0, 1.0, 0.0,
0.5, 0.5, 0.5, 0.0, 0.0, 1.0, 1.0, 1.0, 0.5, -0.5, 0.5, 1.0, 1.0, 1.0,
0.0, 1.0, -0.5, 0.5, -0.5, 1.0, 0.0, 0.0, 0.0, 0.0, -0.5, -0.5, -0.5,
0.0, 1.0, 0.0, 1.0, 0.0, -0.5, -0.5, 0.5, 0.0, 0.0, 1.0, 1.0, 1.0,
-0.5, 0.5, 0.5, 1.0, 1.0, 1.0, 0.0, 1.0, -0.5, -0.5, -0.5, 1.0, 0.0,
0.0, 0.0, 0.0, 0.5, -0.5, -0.5, 0.0, 1.0, 0.0, 1.0, 0.0, 0.5, -0.5,
0.5, 0.0, 0.0, 1.0, 1.0, 1.0, -0.5, -0.5, 0.5, 1.0, 1.0, 1.0, 0.0, 1.0,
0.5, 0.5, -0.5, 1.0, 0.0, 0.0, 0.0, 0.0, -0.5, 0.5, -0.5, 0.0, 1.0,
0.0, 1.0, 0.0, -0.5, 0.5, 0.5, 0.0, 0.0, 1.0, 1.0, 1.0, 0.5, 0.5, 0.5,
1.0, 1.0, 1.0, 0.0, 1.0
]
cube = numpy.array(cube, dtype=numpy.float32)
indices = [
0, 1, 2, 2, 3, 0, 4, 5, 6, 6, 7, 4, 8, 9, 10, 10, 11, 8, 12, 13, 14,
14, 15, 12, 16, 17, 18, 18, 19, 16, 20, 21, 22, 22, 23, 20
]
indices = numpy.array(indices, dtype=numpy.uint32)
shader = ShaderLoader.compile_shader("shaders/video_14_vert.vs",
"shaders/video_14_frag.fs")
VBO = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, VBO)
glBufferData(GL_ARRAY_BUFFER, cube.itemsize * len(cube), cube,
GL_STATIC_DRAW)
EBO = glGenBuffers(1)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, EBO)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.itemsize * len(indices),
indices, GL_STATIC_DRAW)
#position
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, cube.itemsize * 8,
ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
#color
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, cube.itemsize * 8,
ctypes.c_void_p(12))
glEnableVertexAttribArray(1)
#texture
glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, cube.itemsize * 8,
ctypes.c_void_p(24))
glEnableVertexAttribArray(2)
texture = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, texture)
# Set the texture wrapping parameters
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
# Set texture filtering parameters
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
# load image
image = Image.open("res/egg.jpg")
img_data = numpy.array(list(image.getdata()), numpy.uint8)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, image.width, image.height, 0,
GL_RGB, GL_UNSIGNED_BYTE, img_data)
glEnable(GL_TEXTURE_2D)
glUseProgram(shader)
glClearColor(0.2, 0.3, 0.2, 1.0)
glEnable(GL_DEPTH_TEST)
#glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
view = pyrr.matrix44.create_from_translation(pyrr.Vector3([0.0, 0.0,
-3.0]))
projection = pyrr.matrix44.create_perspective_projection_matrix(
45.0, w_width / w_height, 0.1, 100.0)
model = pyrr.matrix44.create_from_translation(pyrr.Vector3([0.0, 0.0,
0.0]))
view_loc = glGetUniformLocation(shader, "view")
proj_loc = glGetUniformLocation(shader, "projection")
model_loc = glGetUniformLocation(shader, "model")
glUniformMatrix4fv(view_loc, 1, GL_FALSE, view)
glUniformMatrix4fv(proj_loc, 1, GL_FALSE, projection)
glUniformMatrix4fv(model_loc, 1, GL_FALSE, model)
while not glfw.glfwWindowShouldClose(window):
glfw.glfwPollEvents()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
rot_x = pyrr.Matrix44.from_x_rotation(0.5 * glfw.glfwGetTime())
rot_y = pyrr.Matrix44.from_y_rotation(0.8 * glfw.glfwGetTime())
transformLoc = glGetUniformLocation(shader, "transform")
glUniformMatrix4fv(transformLoc, 1, GL_FALSE, rot_x * rot_y)
glDrawElements(GL_TRIANGLES, len(indices), GL_UNSIGNED_INT, None)
glfw.glfwSwapBuffers(window)
glfw.glfwTerminate()
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")
def main():
# initialize glfw
if not glfw.glfwInit():
return
window = glfw.glfwCreateWindow(800, 600, "My OpenGL window", None, None)
if not window:
glfw.glfwTerminate()
return
glfw.glfwMakeContextCurrent(window)
# positions colors
quad = [
-0.5, -0.5, 0.0, 1.0, 0.0, 0.0, 0.5, -0.5, 0.0, 0.0, 1.0, 0.0, 0.5,
0.5, 0.0, 0.0, 0.0, 1.0, -0.5, 0.5, 0.0, 1.0, 1.0, 1.0
]
quad = numpy.array(quad, dtype=numpy.float32)
indices = [0, 1, 2, 2, 3, 0]
indices = numpy.array(indices, dtype=numpy.uint32)
vertex_shader = """
#version 330
in vec3 position;
in vec3 color;
out vec3 newColor;
void main()
{
gl_Position = vec4(position, 1.0f);
newColor = color;
}
"""
fragment_shader = """
#version 330
in vec3 newColor;
out vec4 outColor;
void main()
{
outColor = vec4(newColor, 1.0f);
}
"""
shader = OpenGL.GL.shaders.compileProgram(
OpenGL.GL.shaders.compileShader(vertex_shader, GL_VERTEX_SHADER),
OpenGL.GL.shaders.compileShader(fragment_shader, GL_FRAGMENT_SHADER))
VBO = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, VBO)
glBufferData(GL_ARRAY_BUFFER, 96, quad, GL_STATIC_DRAW)
EBO = glGenBuffers(1)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, EBO)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, 24, indices, GL_STATIC_DRAW)
position = glGetAttribLocation(shader, "position")
glVertexAttribPointer(position, 3, GL_FLOAT, GL_FALSE, 24,
ctypes.c_void_p(0))
glEnableVertexAttribArray(position)
color = glGetAttribLocation(shader, "color")
glVertexAttribPointer(color, 3, GL_FLOAT, GL_FALSE, 24,
ctypes.c_void_p(12))
glEnableVertexAttribArray(color)
glUseProgram(shader)
# 用于替换背景色，否则是黑色的背景
glClearColor(0.2, 0.3, 0.2, 1.0)
while not glfw.glfwWindowShouldClose(window):
glfw.glfwPollEvents()
glClear(GL_COLOR_BUFFER_BIT)
# 这里的6代表索引的个数，决定画三角形的多少，如果为3则只画一个三角形
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, None)
glfw.glfwSwapBuffers(window)
glfw.glfwTerminate()
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)
def __init__(self):
# Initialize glfw
if not glfw.glfwInit():
print (" Error : glfw failed to initialize")
sys.exit (glfw.EXIT_FAILURE)
ceguiGL3Renderer = True
if ceguiGL3Renderer:
glfw.glfwWindowHint(glfw.GLFW_CONTEXT_VERSION_MAJOR, 3)
glfw.glfwWindowHint(glfw.GLFW_CONTEXT_VERSION_MINOR, 2)
glfw.glfwWindowHint(glfw.GLFW_OPENGL_FORWARD_COMPAT, PyGL.GL_TRUE)
glfw.glfwWindowHint(glfw.GLFW_OPENGL_PROFILE, glfw.GLFW_OPENGL_CORE_PROFILE)
else:
glfw.glfwWindowHint(glfw.GLFW_CONTEXT_VERSION_MAJOR, 2)
glfw.glfwWindowHint(glfw.GLFW_CONTEXT_VERSION_MINOR, 1)
glfw.glfwWindowHint(glfw.GLFW_OPENGL_PROFILE, glfw.GLFW_OPENGL_ANY_PROFILE)
# our window hints
## http://www.glfw.org/docs/latest/window.html
## set our framebuffer related hints
glfw.glfwWindowHint(glfw.GLFW_DEPTH_BITS, 24)
glfw.glfwWindowHint(glfw.GLFW_STENCIL_BITS, 8)
glfw.glfwWindowHint(glfw.GLFW_FOCUSED, True)
fullScreen = False
# create window
if (not fullScreen):
glfw_window = glfw.glfwCreateWindow(1024, 768, "PyCEGUI glfw3 Demo", None, None)
else:
glfw_window = glfw.glfwCreateWindow(1024, 768, "PyCEGUI glfw3 Demo", glfw.glfwGetPrimaryMonitor(), None)
# check window created
if not glfw_window:
print (" Error : glfw failed to create a window")
glfw.glfwTerminate()
sys.exit()
self.glfw_window = glfw_window
glfw.glfwMakeContextCurrent(glfw_window)
self.showglfwInfo()
## this does nothing on linux
glfw.glfwSwapInterval(0)
glfw.glfwSetInputMode(glfw_window, glfw.GLFW_CURSOR, glfw.GLFW_CURSOR_HIDDEN)
# call backs
glfw.glfwSetKeyCallback( glfw_window, self.on_key)
glfw.glfwSetMouseButtonCallback( glfw_window, self.on_mouse)
glfw.glfwSetCursorPosCallback( glfw_window, self.on_move)
glfw.glfwSetWindowSizeCallback( glfw_window, self.on_resize)
glfw.glfwSetCharCallback( glfw_window, self.on_char_callback)
glfw.glfwSetFramebufferSizeCallback( glfw_window, self.on_framebuffer_size_callback)
# initialise our CEGUI renderer
ctx_major = glfw.glfwGetWindowAttrib(glfw_window, glfw.GLFW_CONTEXT_VERSION_MAJOR)
ctx_minor = glfw.glfwGetWindowAttrib(glfw_window, glfw.GLFW_CONTEXT_VERSION_MINOR)
forward_compat = glfw.glfwGetWindowAttrib(glfw_window, glfw.GLFW_OPENGL_FORWARD_COMPAT)
if (not ceguiGL3Renderer):
PyCEGUIOpenGLRenderer.OpenGLRenderer.bootstrapSystem()
else :
PyCEGUIOpenGLRenderer.OpenGL3Renderer.bootstrapSystem()
# initialise PyCEGUI and resources
rp = PyCEGUI.System.getSingleton().getResourceProvider()
rp.setResourceGroupDirectory("schemes", CEGUI_PATH + "schemes")
rp.setResourceGroupDirectory("imagesets", CEGUI_PATH + "imagesets")
rp.setResourceGroupDirectory("fonts", CEGUI_PATH + "fonts")
rp.setResourceGroupDirectory("layouts", CEGUI_PATH + "layouts")
rp.setResourceGroupDirectory("looknfeels", CEGUI_PATH + "looknfeel")
rp.setResourceGroupDirectory("schemas", CEGUI_PATH + "xml_schemas")
PyCEGUI.ImageManager.setImagesetDefaultResourceGroup("imagesets")
PyCEGUI.Font.setDefaultResourceGroup("fonts")
PyCEGUI.Scheme.setDefaultResourceGroup("schemes")
PyCEGUI.WidgetLookManager.setDefaultResourceGroup("looknfeels")
PyCEGUI.WindowManager.setDefaultResourceGroup("layouts")
parser = PyCEGUI.System.getSingleton().getXMLParser()
if parser.isPropertyPresent("SchemaDefaultResourceGroup"):
parser.setProperty("SchemaDefaultResourceGroup", "schemas")
# Load schemes
PyCEGUI.SchemeManager.getSingleton().createFromFile("TaharezLook.scheme")
PyCEGUI.SchemeManager.getSingleton().createFromFile("WindowsLook.scheme")
PyCEGUI.System.getSingleton().getDefaultGUIContext().getMouseCursor().setDefaultImage("TaharezLook/MouseArrow")
# set root window
root = PyCEGUI.WindowManager.getSingleton().createWindow("DefaultWindow", "background_wnd");
root.setArea( PyCEGUI.UVector2(PyCEGUI.UDim(0.0, 0),PyCEGUI.UDim(0.0, 0)) ,PyCEGUI.USize(PyCEGUI.UDim(1.0, 0),PyCEGUI.UDim(1.0, 0)))
PyCEGUI.System.getSingleton().getDefaultGUIContext().setRootWindow(root)
# load a layout
layout = PyCEGUI.WindowManager.getSingleton().loadLayoutFromFile("TextDemo.layout")
root.addChild(layout.getChild('TextDemo'))
self.edit = root.getChild('TextDemo/MultiLineGroup/editMulti')
# create label for our FPS
self.labelFPS = PyCEGUI.WindowManager.getSingleton().createWindow("TaharezLook/Label", "FPSLabel")
root.addChild(self.labelFPS)
# create hello button
button = PyCEGUI.WindowManager.getSingleton().createWindow("TaharezLook/Button", "HelloButton")
button.setArea( PyCEGUI.UVector2(PyCEGUI.UDim(.50, 0),PyCEGUI.UDim(.92, 0)) ,PyCEGUI.USize(PyCEGUI.UDim(0.3, 0),PyCEGUI.UDim(0.05, 0)))
button.setText("Hello")
root.addChild(button)
button.subscribeEvent(PyCEGUI.PushButton.EventClicked, self.OnbuttonClicked)
# init simple timing
self.previous_time = glfw.glfwGetTime()
self.current_time = self.previous_time
import sys
import glfw
import OpenGL.GL as gl
def on_key(window, key, scancode, action, mods):
if key == glfw.GLFW_KEY_ESCAPE and action == glfw.GLFW_PRESS:
glfw.glfwSetWindowShouldClose(window,1)
# Initialize the library
if not glfw.glfwInit():
sys.exit()
# Create a windowed mode window and its OpenGL context
window = glfw.glfwCreateWindow(640, 480, str.encode("Hello World"), None, None)
if not window:
glfw.glfwTerminate()
sys.exit()
# Make the window's context current
glfw.glfwMakeContextCurrent(window)
# Install a key handler
glfw.glfwSetKeyCallback(window, on_key)
# Loop until the user closes the window
while not glfw.glfwWindowShouldClose(window):
# Render here
width, height = glfw.glfwGetFramebufferSize(window)
ratio = width / float(height)
gl.glViewport(0, 0, width, height)
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
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'})
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)
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.")
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)
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")
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")
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.")
class RenderWindow:
"""GLFW Window Rendering Window Class"""
# version hints
glfw.glfwWindowHint(glfw.GLFW_CONTEXT_VERSION_MAJOR, 3)
glfw.glfwWindowHint(glfw.GLFW_CONTEXT_VERSION_MINOR, 3)
glfw.glfwWindowHint(glfw.GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE)
glfw.glfwWindowHint(glfw.GLFW_OPENGL_PROFILE, glfw.GLFW_OPENGL_CORE_PROFILE)
def __init__(self, str_vs, str_fs):
cwd = os.getcwd() # get current working directory
glfw.glfwInit() # glfw initialization
os.chdir(cwd) # restore current directory
# make a window
self.width, self.height = 640, 480
self.aspect = self.width / float(self.height)
self.win = glfw.glfwCreateWindow(self.width, self.height, b'simpleglfw')
glfw.glfwMakeContextCurrent(self.win) # current context
# initialize GL
glViewport(0, 0, self.width, self.height)
glEnable(GL_DEPTH_TEST)
glClearColor(0.5, 0.5, 0.5, 1.0)
# set window callbacks
glfw.glfwSetMouseButtonCallback(self.win, self.on_mouse_button)
glfw.glfwSetKeyCallback(self.win, self.on_keyboard)
glfw.glfwSetWindowSizeCallback(self.win, self.on_size)
self.scene = Scene(str_vs, str_fs) # create 3D
self.exit_now = False # exit flag
def on_keyboard(self, win, key, scancode, action, mods):
# print("keyboard button: ", win, key, scancode, action, mods)
if action == glfw.GLFW_PRESS:
if key == glfw.GLFW_KEY_ESCAPE: # ESC to exit
self.exit_now = True
else:
self.scene.showCircle = not self.scene.showCircle
def on_mouse_button(self, win, button, action, mods):
# print('mouse button: ', win, button, action, mods)
pass
def on_size(self, win, width, height):
self.width = width
self.height = height
self.aspect = width / float(height)
glViewport(0, 0, self.width, self.height)
def run(self):
glfw.glfwSetTime(0) # timer initialization
t = 0.0
while not glfw.glfwWindowShouldClose(self.win) and not self.exit_now:
current_t = glfw.glfwGetTime()
if current_t -t > 0.1:
t = current_t # time updated
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) # | = bitwise or
# build projection matrix
p_matrix = glutils.perspective(45.0, self.aspect, 0.1, 100.0)
mv_matrix = glutils.lookAt([0.0, 0.0, -2.0], [0.0, 0.0, 0.0], [0.0, 1.0, 0.0])
# model-view matrix: [[eye pos], [look at {origin in this case)], [direction vector]]
self.scene.render(p_matrix, mv_matrix) # render
self.scene.step() # step
glfw.glfwSwapBuffers(self.win)
glfw.glfwPollEvents()
glfw.glfwTerminate() # end
def step(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) # clear
p_matrix = glutils.perspective(45.0, self.aspect, 0.1, 100.0)
mv_matrix = glutils.lookAt([0.0, 0.0, -2.0], [0.0, 0.0, 0.0], [0.0, 1.0, 0.0])
self.scene.render(p_matrix, mv_matrix) # render
self.scene.step() # step
glfw.glfwSwapBuffers(self.win)
glfw.glfwPollEvents()
def main():
# initialize glfw
if not glfw.glfwInit():
return
w_width, w_height = 800, 600
#glfw.window_hint(glfw.RESIZABLE, GL_FALSE)
window = glfw.glfwCreateWindow(w_width, w_height, "My OpenGL window", None, None)
if not window:
glfw.glfwTerminate()
return
glfw.glfwMakeContextCurrent(window)
# glfw.set_window_size_callback(window, window_resize)
obj = ObjLoader()
obj.load_model("res/monkey/monkey_smooth.obj")
texture_offset = len(obj.vertex_index)*12
normal_offset = (texture_offset + len(obj.texture_index)*8)
shader = ShaderLoader.compile_shader("shaders/video_18_vert.vs", "shaders/video_18_frag.fs")
VBO = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, VBO)
glBufferData(GL_ARRAY_BUFFER, obj.model.itemsize * len(obj.model), obj.model, GL_STATIC_DRAW)
#positions
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, obj.model.itemsize * 3, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
#textures
glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, obj.model.itemsize * 2, ctypes.c_void_p(texture_offset))
glEnableVertexAttribArray(1)
#normals
glVertexAttribPointer(2, 3, GL_FLOAT, GL_FALSE, obj.model.itemsize * 3, ctypes.c_void_p(normal_offset))
glEnableVertexAttribArray(2)
texture = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, texture)
# Set the texture wrapping parameters
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
# Set texture filtering parameters
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
# load image
image = Image.open("res/monkey/monkey.jpg")
flipped_image = image.transpose(Image.FLIP_TOP_BOTTOM)
img_data = numpy.array(list(flipped_image.getdata()), numpy.uint8)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, image.width, image.height, 0, GL_RGB, GL_UNSIGNED_BYTE, img_data)
glEnable(GL_TEXTURE_2D)
glUseProgram(shader)
glClearColor(0.2, 0.3, 0.2, 1.0)
glEnable(GL_DEPTH_TEST)
#glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
view = pyrr.matrix44.create_from_translation(pyrr.Vector3([0.0, 0.0, -3.0]))
projection = pyrr.matrix44.create_perspective_projection_matrix(65.0, w_width / w_height, 0.1, 100.0)
model = pyrr.matrix44.create_from_translation(pyrr.Vector3([0.0, 0.0, 0.0]))
view_loc = glGetUniformLocation(shader, "view")
proj_loc = glGetUniformLocation(shader, "projection")
model_loc = glGetUniformLocation(shader, "model")
transform_loc = glGetUniformLocation(shader, "transform")
light_loc = glGetUniformLocation(shader, "light")
glUniformMatrix4fv(view_loc, 1, GL_FALSE, view)
glUniformMatrix4fv(proj_loc, 1, GL_FALSE, projection)
glUniformMatrix4fv(model_loc, 1, GL_FALSE, model)
while not glfw.glfwWindowShouldClose(window):
glfw.glfwPollEvents()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
#rot_x = pyrr.Matrix44.from_x_rotation(0.5 * glfw.get_time() )
rot_y = pyrr.Matrix44.from_y_rotation(0.8 * glfw.glfwGetTime() )
glUniformMatrix4fv(transform_loc, 1, GL_FALSE, rot_y)
glUniformMatrix4fv(light_loc, 1, GL_FALSE, rot_y)
glDrawArrays(GL_TRIANGLES, 0, len(obj.vertex_index))
glfw.glfwSwapBuffers(window)
glfw.glfwTerminate()
def main():
# initialize glfw
if not glfw.glfwInit():
return
glfw.glfwCreateWindow()
window = glfw.glfwCreateWindow(800, 600, "My OpenGL window", None, None)
if not window:
glfw.glfwTerminate()
return
glfw.glfwMakeContextCurrent(window)
# positions colors
triangle = [
-0.5, -0.5, 0.0, 1.0, 0.0, 0.0, 0.5, -0.5, 0.0, 0.0, 1.0, 0.0, 0.0,
0.5, 0.0, 0.0, 0.0, 1.0
]
triangle = numpy.array(triangle, dtype=numpy.float32)
vertex_shader = """
#version 330
in vec3 position;
in vec3 color;
out vec3 newColor;
void main()
{
gl_Position = vec4(position, 1.0f);
newColor = color;
}
"""
fragment_shader = """
#version 330
in vec3 newColor;
out vec4 outColor;
void main()
{
outColor = vec4(newColor, 1.0f);
}
"""
shader = OpenGL.GL.shaders.compileProgram(
OpenGL.GL.shaders.compileShader(vertex_shader, GL_VERTEX_SHADER),
OpenGL.GL.shaders.compileShader(fragment_shader, GL_FRAGMENT_SHADER))
VBO = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, VBO)
glBufferData(GL_ARRAY_BUFFER, 72, triangle, GL_STATIC_DRAW)
position = glGetAttribLocation(shader, "position")
glVertexAttribPointer(position, 3, GL_FLOAT, GL_FALSE, 24,
ctypes.c_void_p(0))
glEnableVertexAttribArray(position)
color = glGetAttribLocation(shader, "color")
glVertexAttribPointer(color, 3, GL_FLOAT, GL_FALSE, 24,
ctypes.c_void_p(12))
glEnableVertexAttribArray(color)
glUseProgram(shader)
glClearColor(0.2, 0.3, 0.2, 1.0)
while not glfw.glfwWindowShouldClose(window):
glfw.glfwPollEvents()
glClear(GL_COLOR_BUFFER_BIT)
glDrawArrays(GL_TRIANGLES, 0, 3)
glfw.glfwSwapBuffers(window)
glfw.glfwTerminate()
def main():
# initialize glfw
if not glfw.glfwInit():
return
w_width, w_height = 800, 600
#glfw.window_hint(glfw.RESIZABLE, GL_FALSE)
window = glfw.glfwCreateWindow(w_width, w_height, "My OpenGL window", None,
None)
if not window:
glfw.glfwTerminate()
return
glfw.glfwMakeContextCurrent(window)
# glfw.glfwSetWindowSizeCallBack(window, window_resize)
# positions colors texture coords
cube = [
-0.5, -0.5, 0.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.5, -0.5, 0.5, 0.0, 1.0,
0.0, 1.0, 0.0, 0.5, 0.5, 0.5, 0.0, 0.0, 1.0, 1.0, 1.0, -0.5, 0.5, 0.5,
1.0, 1.0, 1.0, 0.0, 1.0, -0.5, -0.5, -0.5, 1.0, 0.0, 0.0, 0.0, 0.0,
0.5, -0.5, -0.5, 0.0, 1.0, 0.0, 1.0, 0.0, 0.5, 0.5, -0.5, 0.0, 0.0,
1.0, 1.0, 1.0, -0.5, 0.5, -0.5, 1.0, 1.0, 1.0, 0.0, 1.0, 0.5, -0.5,
-0.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.5, -0.5, 0.0, 1.0, 0.0, 1.0, 0.0,
0.5, 0.5, 0.5, 0.0, 0.0, 1.0, 1.0, 1.0, 0.5, -0.5, 0.5, 1.0, 1.0, 1.0,
0.0, 1.0, -0.5, 0.5, -0.5, 1.0, 0.0, 0.0, 0.0, 0.0, -0.5, -0.5, -0.5,
0.0, 1.0, 0.0, 1.0, 0.0, -0.5, -0.5, 0.5, 0.0, 0.0, 1.0, 1.0, 1.0,
-0.5, 0.5, 0.5, 1.0, 1.0, 1.0, 0.0, 1.0, -0.5, -0.5, -0.5, 1.0, 0.0,
0.0, 0.0, 0.0, 0.5, -0.5, -0.5, 0.0, 1.0, 0.0, 1.0, 0.0, 0.5, -0.5,
0.5, 0.0, 0.0, 1.0, 1.0, 1.0, -0.5, -0.5, 0.5, 1.0, 1.0, 1.0, 0.0, 1.0,
0.5, 0.5, -0.5, 1.0, 0.0, 0.0, 0.0, 0.0, -0.5, 0.5, -0.5, 0.0, 1.0,
0.0, 1.0, 0.0, -0.5, 0.5, 0.5, 0.0, 0.0, 1.0, 1.0, 1.0, 0.5, 0.5, 0.5,
1.0, 1.0, 1.0, 0.0, 1.0
]
cube = numpy.array(cube, dtype=numpy.float32)
indices = [
0, 1, 2, 2, 3, 0, 4, 5, 6, 6, 7, 4, 8, 9, 10, 10, 11, 8, 12, 13, 14,
14, 15, 12, 16, 17, 18, 18, 19, 16, 20, 21, 22, 22, 23, 20
]
indices = numpy.array(indices, dtype=numpy.uint32)
vertex_shader = """
#version 330
in layout(location = 0) vec3 position;
in layout(location = 1) vec3 color;
in layout(location = 2) vec2 textureCoords;
uniform mat4 transform;
out vec3 newColor;
out vec2 newTexture;
void main()
{
gl_Position = transform * vec4(position, 1.0f);
newColor = color;
newTexture = textureCoords;
}
"""
fragment_shader = """
#version 330
in vec3 newColor;
in vec2 newTexture;
out vec4 outColor;
uniform sampler2D samplerTexture;
void main()
{
outColor = texture(samplerTexture, newTexture) * vec4(newColor, 1.0f);
}
"""
shader = OpenGL.GL.shaders.compileProgram(
OpenGL.GL.shaders.compileShader(vertex_shader, GL_VERTEX_SHADER),
OpenGL.GL.shaders.compileShader(fragment_shader, GL_FRAGMENT_SHADER))
VBO = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, VBO)
glBufferData(GL_ARRAY_BUFFER, cube.itemsize * len(cube), cube,
GL_STATIC_DRAW)
EBO = glGenBuffers(1)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, EBO)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.itemsize * len(indices),
indices, GL_STATIC_DRAW)
#position
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, cube.itemsize * 8,
ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
#color
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, cube.itemsize * 8,
ctypes.c_void_p(12))
glEnableVertexAttribArray(1)
#texture
glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, cube.itemsize * 8,
ctypes.c_void_p(24))
glEnableVertexAttribArray(2)
texture = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, texture)
# Set the texture wrapping parameters
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
# Set texture filtering parameters
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
# load image
# image = Image.open("res/crate.jpg")
image = Image.open("res/egg.jpg")
img_data = numpy.array(list(image.getdata()), numpy.uint8)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, image.width, image.height, 0,
GL_RGB, GL_UNSIGNED_BYTE, img_data)
glEnable(GL_TEXTURE_2D)
glUseProgram(shader)
glClearColor(0.2, 0.3, 0.2, 1.0)
glEnable(GL_DEPTH_TEST)
#glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
while not glfw.glfwWindowShouldClose(window):
glfw.glfwPollEvents()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
rot_x = pyrr.Matrix44.from_x_rotation(0.5 * glfw.glfwGetTime())
rot_y = pyrr.Matrix44.from_y_rotation(0.8 * glfw.glfwGetTime())
transformLoc = glGetUniformLocation(shader, "transform")
glUniformMatrix4fv(transformLoc, 1, GL_FALSE, rot_x * rot_y)
glDrawElements(GL_TRIANGLES, len(indices), GL_UNSIGNED_INT, None)
glfw.glfwSwapBuffers(window)
glfw.glfwTerminate()
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.")
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.")
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.")
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()
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.")