def gl_display_in_window(self):
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
clear_gl_screen()
# Set Matrix unsing gluOrtho2D to include padding for the marker of radius r
#
############################
# r #
# 0,0##################w,h #
# # # #
# # # #
#r# #r#
# # # #
# # # #
# 0,h##################w,h #
# r #
############################
hdpi_factor = glfwGetFramebufferSize(
self._window)[0] / glfwGetWindowSize(self._window)[0]
r = 110 * self.marker_scale * hdpi_factor
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
p_window_size = glfwGetWindowSize(self._window)
# compensate for radius of marker
gl.glOrtho(-r * .6, p_window_size[0] + r * .6,
p_window_size[1] + r * .7, -r * .7, -1, 1)
# Switch back to Model View Matrix
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
screen_pos = denormalize(self.display_pos, p_window_size, flip_y=True)
draw_marker(screen_pos, r, self.pattern_alpha)
#some feedback on the detection state
if self.detected and self.on_position:
cygl_draw_points([screen_pos],
size=5,
color=cygl_rgba(0., 1., 0., self.pattern_alpha),
sharpness=0.95)
else:
cygl_draw_points([screen_pos],
size=5,
color=cygl_rgba(1., 0., 0., self.pattern_alpha),
sharpness=0.95)
if self.clicks_to_close < 5:
self.glfont.set_size(int(p_window_size[0] / 30.))
self.glfont.draw_text(
p_window_size[0] / 2., p_window_size[1] / 4.,
'Touch %s more times to cancel calibration.' %
self.clicks_to_close)
glfwSwapBuffers(self._window)
glfwMakeContextCurrent(active_window)
def gl_display_in_window(self):
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
clear_gl_screen()
# Set Matrix unsing gluOrtho2D to include padding for the marker of radius r
#
############################
# r #
# 0,0##################w,h #
# # # #
# # # #
#r# #r#
# # # #
# # # #
# 0,h##################w,h #
# r #
############################
hdpi_factor = glfwGetFramebufferSize(self._window)[0]/glfwGetWindowSize(self._window)[0]
r = 110*self.marker_scale * hdpi_factor
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
p_window_size = glfwGetWindowSize(self._window)
# compensate for radius of marker
gl.glOrtho(-r*.6,p_window_size[0]+r*.6,p_window_size[1]+r*.7,-r*.7 ,-1,1)
# Switch back to Model View Matrix
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
screen_pos = denormalize(self.display_pos,p_window_size,flip_y=True)
draw_marker(screen_pos,r,self.pattern_alpha)
#some feedback on the detection state
if self.detected and self.on_position:
cygl_draw_points([screen_pos],size=5,color=cygl_rgba(0.,1.,0.,self.pattern_alpha),sharpness=0.95)
else:
cygl_draw_points([screen_pos],size=5,color=cygl_rgba(1.,0.,0.,self.pattern_alpha),sharpness=0.95)
if self.clicks_to_close <5:
self.glfont.set_size(int(p_window_size[0]/30.))
self.glfont.draw_text(p_window_size[0]/2.,p_window_size[1]/4.,'Touch %s more times to cancel calibration.'%self.clicks_to_close)
glfwSwapBuffers(self._window)
glfwMakeContextCurrent(active_window)
def gl_display(self) -> None:
if not self.has_frame or self.model.is_invalid():
return
cygl_draw_polyline(
self._all_points.values(),
color=self.outline_color,
thickness=1,
line_type=GL_LINE_LOOP,
)
# only display rest of the UI when we're in ROI mode
if self.g_pool.display_mode != "roi":
return
ui_scale = self.g_pool.gui.scale
# draw inactive
cygl_draw_points(
self._inactive_points,
size=ui_scale * self.handle_size_shadow,
color=self.handle_color_shadow,
sharpness=0.3,
)
cygl_draw_points(
self._inactive_points,
size=ui_scale * self.handle_size,
color=self.handle_color,
sharpness=0.9,
)
# draw active
if self._active_points:
cygl_draw_points(
self._active_points,
size=ui_scale * self.handle_size_shadow_active,
color=self.handle_color_shadow,
sharpness=0.3,
)
cygl_draw_points(
self._active_points,
size=ui_scale * self.handle_size_active,
color=self.handle_color_active,
sharpness=0.9,
)
def draw(self,ui_scale=1):
cygl_draw_polyline(self.rect,color=cygl_rgba(.8,.8,.8,0.9),thickness=2,line_type=GL_LINE_LOOP)
if self.active_edit_pt:
inactive_pts = self.rect[:self.active_pt_idx]+self.rect[self.active_pt_idx+1:]
active_pt = [self.rect[self.active_pt_idx]]
cygl_draw_points(inactive_pts,size=(self.handle_size+10)*ui_scale,color=self.handle_color_shadow,sharpness=0.3)
cygl_draw_points(inactive_pts,size=self.handle_size*ui_scale,color=self.handle_color,sharpness=0.9)
cygl_draw_points(active_pt,size=(self.handle_size+30)*ui_scale,color=self.handle_color_shadow,sharpness=0.3)
cygl_draw_points(active_pt,size=(self.handle_size+10)*ui_scale,color=self.handle_color_selected,sharpness=0.9)
else:
cygl_draw_points(self.rect,size=(self.handle_size+10)*ui_scale,color=self.handle_color_shadow,sharpness=0.3)
cygl_draw_points(self.rect,size=self.handle_size*ui_scale,color=self.handle_color,sharpness=0.9)
def draw_points(self, ui_scale=1):
if self.active_edit_pt:
inactive_pts = self.rect[:self.active_pt_idx] + self.rect[
self.active_pt_idx + 1:]
active_pt = [self.rect[self.active_pt_idx]]
cygl_draw_points(inactive_pts,
size=(self.handle_size + 10) * ui_scale,
color=self.handle_color_shadow,
sharpness=0.3)
cygl_draw_points(inactive_pts,
size=self.handle_size * ui_scale,
color=self.handle_color,
sharpness=0.9)
cygl_draw_points(active_pt,
size=(self.handle_size + 30) * ui_scale,
color=self.handle_color_shadow,
sharpness=0.3)
cygl_draw_points(active_pt,
size=(self.handle_size + 10) * ui_scale,
color=self.handle_color_selected,
sharpness=0.9)
else:
cygl_draw_points(self.rect,
size=(self.handle_size + 10) * ui_scale,
color=self.handle_color_shadow,
sharpness=0.3)
cygl_draw_points(self.rect,
size=self.handle_size * ui_scale,
color=self.handle_color,
sharpness=0.9)
def eye(g_pool,cap_src,cap_size,rx_from_world,eye_id=0):
"""
Creates a window, gl context.
Grabs images from a capture.
Streams Pupil coordinates into g_pool.pupil_queue
"""
# modify the root logger for this process
logger = logging.getLogger()
# remove inherited handlers
logger.handlers = []
# create file handler which logs even debug messages
fh = logging.FileHandler(os.path.join(g_pool.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)
# create logger for the context of this function
logger = logging.getLogger(__name__)
#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)
# Callback functions
def on_resize(window,w, h):
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(window)
hdpi_factor = glfwGetFramebufferSize(window)[0]/glfwGetWindowSize(window)[0]
w,h = w*hdpi_factor, h*hdpi_factor
g_pool.gui.update_window(w,h)
graph.adjust_size(w,h)
adjust_gl_view(w,h)
# for p in g_pool.plugins:
# p.on_window_resize(window,w,h)
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_button(window,button, action, mods):
if g_pool.display_mode == 'roi':
if action == GLFW_RELEASE and u_r.active_edit_pt:
u_r.active_edit_pt = False
return # if the roi interacts we dont what the gui to interact as well
elif action == GLFW_PRESS:
pos = glfwGetCursorPos(window)
pos = normalize(pos,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 u_r.mouse_over_edit_pt(pos,u_r.handle_size+40,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(glfwGetFramebufferSize(window)[0]/glfwGetWindowSize(window)[0])
g_pool.gui.update_mouse(x*hdpi_factor,y*hdpi_factor)
if u_r.active_edit_pt:
pos = normalize((x,y),glfwGetWindowSize(main_window))
if g_pool.flip:
pos = 1-pos[0],1-pos[1]
pos = denormalize(pos,(frame.width,frame.height) )
u_r.move_vertex(u_r.active_pt_idx,pos)
def on_scroll(window,x,y):
g_pool.gui.update_scroll(x,y*scroll_factor)
def on_close(window):
g_pool.quit.value = True
logger.info('Process closing from window')
# 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)
cap.frame_size = cap_size
cap.frame_rate = 90 #default
cap.settings = session_settings.get('capture_settings',{})
# Test capture
try:
frame = cap.get_frame()
except CameraCaptureError:
logger.error("Could not retrieve image from capture")
cap.close()
return
g_pool.capture = cap
g_pool.flip = session_settings.get('flip',False)
# 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.window_size = session_settings.get('window_size',1.)
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.draw_pupil = session_settings.get('draw_pupil',True)
u_r = UIRoi(frame.img.shape)
u_r.set(session_settings.get('roi',u_r.get()))
writer = None
pupil_detector = Canny_Detector(g_pool)
# 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]
window_pos = session_settings.get('window_position',window_position_default)
width,height = session_settings.get('window_size',(frame.width, frame.height))
# Initialize glfw
glfwInit()
if g_pool.binocular:
title = "Binocular eye %s"%eye_id
else:
title = 'Eye'
main_window = glfwCreateWindow(width,height, title, None, None)
glfwMakeContextCurrent(main_window)
cygl_init()
# Register callbacks main_window
glfwSetWindowSizeCallback(main_window,on_resize)
glfwSetWindowCloseCallback(main_window,on_close)
glfwSetKeyCallback(main_window,on_key)
glfwSetCharCallback(main_window,on_char)
glfwSetMouseButtonCallback(main_window,on_button)
glfwSetCursorPosCallback(main_window,on_pos)
glfwSetScrollCallback(main_window,on_scroll)
# gl_state settings
basic_gl_setup()
g_pool.image_tex = create_named_texture(frame.img.shape)
update_named_texture(g_pool.image_tex,frame.img)
# refresh speed settings
glfwSwapInterval(0)
glfwSetWindowPos(main_window,window_pos[0],window_pos[1])
#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: glfwSetWindowSize(main_window,frame.width,frame.height)) )
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") )
general_settings.append(ui.Switch('flip',g_pool,label='Flip image display'))
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)
g_pool.gui.append(ui.Hot_Key("quit",setter=on_close,getter=lambda:True,label="X",hotkey=GLFW_KEY_ESCAPE))
# let the camera add its GUI
g_pool.capture.init_gui(g_pool.sidebar)
# let detector add its GUI
pupil_detector.init_gui(g_pool.sidebar)
# load last gui configuration
g_pool.gui.configuration = session_settings.get('ui_config',{})
#set the last saved window size
on_resize(main_window, *glfwGetWindowSize(main_window))
#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"
# Event loop
while not g_pool.quit.value:
# 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()
### RECORDING of Eye Video (on demand) ###
# Setup variables and lists for recording
if rx_from_world.poll():
command,raw_mode = rx_from_world.recv()
if command is not None:
record_path = command
logger.info("Will save eye video to: %s"%record_path)
video_path = os.path.join(record_path, "eye%s.mkv"%eye_id)
timestamps_path = os.path.join(record_path, "eye%s_timestamps.npy"%eye_id)
if raw_mode:
writer = JPEG_Dumper(video_path)
else:
writer = CV_Writer(video_path,float(cap.frame_rate), cap.frame_size)
timestamps = []
else:
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 = pupil_detector.detect(frame,user_roi=u_r,visualize=g_pool.display_mode == 'algorithm')
result['id'] = eye_id
# stream the result
g_pool.pupil_queue.put(result)
# GL drawing
glfwMakeContextCurrent(main_window)
clear_gl_screen()
# switch to work in normalized coordinate space
if g_pool.display_mode == 'algorithm':
update_named_texture(g_pool.image_tex,frame.img)
elif g_pool.display_mode in ('camera_image','roi'):
update_named_texture(g_pool.image_tex,frame.gray)
else:
pass
make_coord_system_norm_based(g_pool.flip)
draw_named_texture(g_pool.image_tex)
# 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('axes'):
pts = cv2.ellipse2Poly( (int(result['center'][0]),int(result['center'][1])),
(int(result['axes'][0]/2),int(result['axes'][1]/2)),
int(result['angle']),0,360,15)
cygl_draw_polyline(pts,1,cygl_rgba(1.,0,0,.5))
cygl_draw_points([result['center']],size=20,color=cygl_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':
u_r.draw(g_pool.gui.scale)
#update screen
glfwSwapBuffers(main_window)
glfwPollEvents()
# 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))
# save session persistent settings
session_settings['gui_scale'] = g_pool.gui.scale
session_settings['roi'] = 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'] = glfwGetWindowSize(main_window)
session_settings['window_position'] = glfwGetWindowPos(main_window)
session_settings['version'] = g_pool.version
session_settings.close()
pupil_detector.cleanup()
glfwDestroyWindow(main_window)
glfwTerminate()
cap.close()
#flushing queue in case world process did not exit gracefully
while not g_pool.pupil_queue.empty():
g_pool.pupil_queue.get()
g_pool.pupil_queue.close()
logger.debug("Process done")
def draw(self, ui_scale=1):
cygl_draw_polyline(self.rect,
color=cygl_rgba(.8, .8, .8, 0.9),
thickness=2,
line_type=GL_LINE_LOOP)
if self.active_edit_pt:
inactive_pts = self.rect[:self.active_pt_idx] + self.rect[
self.active_pt_idx + 1:]
active_pt = [self.rect[self.active_pt_idx]]
cygl_draw_points(inactive_pts,
size=(self.handle_size + 10) * ui_scale,
color=self.handle_color_shadow,
sharpness=0.3)
cygl_draw_points(inactive_pts,
size=self.handle_size * ui_scale,
color=self.handle_color,
sharpness=0.9)
cygl_draw_points(active_pt,
size=(self.handle_size + 30) * ui_scale,
color=self.handle_color_shadow,
sharpness=0.3)
cygl_draw_points(active_pt,
size=(self.handle_size + 10) * ui_scale,
color=self.handle_color_selected,
sharpness=0.9)
else:
cygl_draw_points(self.rect,
size=(self.handle_size + 10) * ui_scale,
color=self.handle_color_shadow,
sharpness=0.3)
cygl_draw_points(self.rect,
size=self.handle_size * ui_scale,
color=self.handle_color,
sharpness=0.9)
def eye(g_pool, cap_src, cap_size, pipe_to_world, eye_id=0):
"""
Creates a window, gl context.
Grabs images from a capture.
Streams Pupil coordinates into g_pool.pupil_queue
"""
# modify the root logger for this process
logger = logging.getLogger()
# remove inherited handlers
logger.handlers = []
# create file handler which logs even debug messages
fh = logging.FileHandler(os.path.join(g_pool.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)
# create logger for the context of this function
logger = logging.getLogger(__name__)
#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)
# Callback functions
def on_resize(window, w, h):
if not g_pool.iconified:
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(window)
g_pool.gui.update_window(w, h)
graph.adjust_size(w, h)
adjust_gl_view(w, h)
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_RELEASE and u_r.active_edit_pt:
u_r.active_edit_pt = False
return # if the roi interacts we dont what the gui to interact as well
elif action == GLFW_PRESS:
pos = glfwGetCursorPos(window)
pos = normalize(pos, 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 u_r.mouse_over_edit_pt(pos, u_r.handle_size + 40,
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(
glfwGetFramebufferSize(window)[0] / glfwGetWindowSize(window)[0])
g_pool.gui.update_mouse(x * hdpi_factor, y * hdpi_factor)
if u_r.active_edit_pt:
pos = normalize((x, y), glfwGetWindowSize(main_window))
if g_pool.flip:
pos = 1 - pos[0], 1 - pos[1]
pos = denormalize(pos, (frame.width, frame.height))
u_r.move_vertex(u_r.active_pt_idx, pos)
def on_scroll(window, x, y):
g_pool.gui.update_scroll(x, y * scroll_factor)
def on_close(window):
g_pool.quit.value = True
logger.info('Process closing from window')
# 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': cap_size, '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()
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.draw_pupil = session_settings.get('draw_pupil',True)
u_r = UIRoi(frame.img.shape)
u_r.set(session_settings.get('roi', u_r.get()))
writer = None
pupil_detector = Canny_Detector(g_pool)
# 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]
# Initialize glfw
glfwInit()
if g_pool.binocular:
title = "Binocular eye %s" % eye_id
else:
title = 'Eye'
width, height = session_settings.get('window_size',
(frame.width, frame.height))
main_window = glfwCreateWindow(width, height, title, None, None)
window_pos = session_settings.get('window_position',
window_position_default)
glfwSetWindowPos(main_window, window_pos[0], window_pos[1])
glfwMakeContextCurrent(main_window)
cygl_init()
# gl_state settings
basic_gl_setup()
g_pool.image_tex = Named_Texture()
g_pool.image_tex.update_from_frame(frame)
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: glfwSetWindowSize(main_window, frame.width, frame.height)))
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"))
general_settings.append(
ui.Switch('flip', g_pool, label='Flip image display'))
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)
# let the camera add its GUI
g_pool.capture.init_gui(g_pool.sidebar)
# let detector add its GUI
pupil_detector.init_gui(g_pool.sidebar)
# Register callbacks main_window
glfwSetFramebufferSizeCallback(main_window, on_resize)
glfwSetWindowCloseCallback(main_window, on_close)
glfwSetWindowIconifyCallback(main_window, on_iconify)
glfwSetKeyCallback(main_window, on_key)
glfwSetCharCallback(main_window, on_char)
glfwSetMouseButtonCallback(main_window, on_button)
glfwSetCursorPosCallback(main_window, on_pos)
glfwSetScrollCallback(main_window, on_scroll)
#set the last saved window size
on_resize(main_window, *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 g_pool.quit.value:
# 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()
### RECORDING of Eye Video (on demand) ###
# Setup variables and lists for recording
if pipe_to_world.poll():
command, raw_mode = pipe_to_world.recv()
if command is not None:
record_path = command
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 = []
else:
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 = pupil_detector.detect(
frame, user_roi=u_r, visualize=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:
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('axes'):
pts = cv2.ellipse2Poly((int(
result['center'][0]), int(result['center'][1])),
(int(result['axes'][0] / 2),
int(result['axes'][1] / 2)),
int(result['angle']), 0, 360,
15)
cygl_draw_polyline(pts, 1, cygl_rgba(1., 0, 0, .5))
cygl_draw_points([result['center']],
size=20,
color=cygl_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':
u_r.draw(g_pool.gui.scale)
#update screen
glfwSwapBuffers(main_window)
glfwPollEvents()
# 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))
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'] = 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'] = glfwGetWindowSize(main_window)
session_settings['window_position'] = glfwGetWindowPos(main_window)
session_settings['version'] = g_pool.version
session_settings.close()
pupil_detector.cleanup()
g_pool.gui.terminate()
glfwDestroyWindow(main_window)
glfwTerminate()
cap.close()
#flushing queue in case world process did not exit gracefully
while not g_pool.pupil_queue.empty():
g_pool.pupil_queue.get()
g_pool.pupil_queue.close()
logger.debug("Process done")
def draw_marker(pos,r,alpha):
black = cygl_rgba(0.,0.,0.,alpha)
white = cygl_rgba(1.,1.,1.,alpha)
for r,c in zip((r,0.8*r,0.6*r,.4*r,.2*r),(black,white,black,white,black)):
cygl_draw_points([pos],size=r,color=c,sharpness=0.95)
def draw_points(self,ui_scale=1):
if self.active_edit_pt:
inactive_pts = self.rect[:self.active_pt_idx]+self.rect[self.active_pt_idx+1:]
active_pt = [self.rect[self.active_pt_idx]]
cygl_draw_points(inactive_pts,size=(self.handle_size+10)*ui_scale,color=self.handle_color_shadow,sharpness=0.3)
cygl_draw_points(inactive_pts,size=self.handle_size*ui_scale,color=self.handle_color,sharpness=0.9)
cygl_draw_points(active_pt,size=(self.handle_size+30)*ui_scale,color=self.handle_color_shadow,sharpness=0.3)
cygl_draw_points(active_pt,size=(self.handle_size+10)*ui_scale,color=self.handle_color_selected,sharpness=0.9)
else:
cygl_draw_points(self.rect,size=(self.handle_size+10)*ui_scale,color=self.handle_color_shadow,sharpness=0.3)
cygl_draw_points(self.rect,size=self.handle_size*ui_scale,color=self.handle_color,sharpness=0.9)
def eye(timebase, is_alive_flag, ipc_pub_url, ipc_sub_url,ipc_push_url, user_dir, version, eye_id, cap_src, glint_queue, glint_vector_queue):
"""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
from ui_roi import UIRoi
#monitoring
import psutil
import math
from time import time
# helpers/utils
from file_methods import Persistent_Dict, load_object
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
g_pool.glints = glint_queue
g_pool.glint_pupil_vectors = glint_vector_queue
glint_detector = Glint_Detector(g_pool)
# 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)
g_pool.pupil_settings = "default"
# 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)
def set_pupil_settings(new_settings):
g_pool.pupil_settings = new_settings
if not new_settings == "default":
try:
pupil_settings_new = load_object(os.path.join(g_pool.user_dir,'pupil_settings_' + new_settings))
except:
logger.error("Settings don't exist")
pupil_settings = g_pool.pupil_detector.get_settings()
controls = cap.capture.controls
controls_dict = dict([(c.display_name,c) for c in controls])
try:
cap.frame_rate = pupil_settings_new['frame_rate']
cap.frame_size = pupil_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 = pupil_settings_new[key]
except:
logger.info("no key with the name '%s' in camera settings" %key)
for key in pupil_settings.keys():
try:
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 = "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.Selector('pupil_settings',g_pool,setter=set_pupil_settings,selection=['default','indoors','outdoors_sunny', 'outdoors_cloudy'], labels=['Default', 'Indoors', 'Outdoors Sunny', 'Outdoors Cloudy'], label="Pupil settings") )
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 glint detector add its GUI
glint_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"
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,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__
})
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'
# 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()
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
tUnix = time()
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, 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 = glint_detector.glint(frame, eye_id, u_roi=g_pool.u_r, pupil=result, roi=roi)
result['glints'] = glints
# stream the result
pupil_socket.send('pupil.%s'%eye_id,result)
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)
# 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.)
glints = np.array(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.)
# 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()
glint_detector.cleanup()
g_pool.gui.terminate()
glfw.glfwDestroyWindow(main_window)
glfw.glfwTerminate()
cap.close()
logger.info("Process shutting down.")
def draw_marker(pos, r, alpha):
black = cygl_rgba(0., 0., 0., alpha)
white = cygl_rgba(1., 1., 1., alpha)
for r, c in zip((r, 0.8 * r, 0.6 * r, .4 * r, .2 * r),
(black, white, black, white, black)):
cygl_draw_points([pos], size=r, color=c, sharpness=0.95)
