def __init__(self):
# motion control settings
self.x_set = 0.5
self.y_set = 0.5
self.r_set = 0.5
self.zoom_step = 20.
self.focus_step = 20.
self.no_powerzoom = False
self.x_current = 0.0
self.y_current = 0.0
self.r_current = 0.0
self.d_current = 0.0
self.rp_current = 0.0
self.pixels_per_mm_current = 0.0
self.zoom_current = 0.0
self.focus_current = 0.0
# led settings
self.IsetCh1 = 0.0
self.IsetCh2 = 0.0
self.IsetCh3 = 0.0
self.IsetCh4 = 0.0
# camera settings
self.test_binning = 3
self.binning_factor = 1
self.gain_factor = 1.
self.camera_device = None
self.camera_locked = 0
self.continuously_acquiring = 0
self.frame_rate = 0
# MWorks communication, if available
self.mw_conduit = None
# UI
self.canvas_update_timer = None
self.ui_queue = queue.Queue(5)
#self.im_queue = queue.Queue(5) # NEW
#logging.info("ui_queue and im_queue created")
self.target_ui_update_interval = 1 / 30.
self.last_ui_get_time = time.time()
self.last_ui_put_time = time.time()
self.enable_save_to_disk = global_settings.get('enable_save_to_disk',
True)
logging.info("Save to disk?: %d" % self.enable_save_to_disk)
self.image_save_dir = global_settings.get('data_dir',
'~/.camera_capture/data')
self.use_simulated = global_settings.get('use_simulated', False)
self.use_file_for_cam = global_settings.get('use_file_for_camera',
False)
def __init__(self):
# motion control settings
self.x_set = 0.5
self.y_set = 0.5
self.r_set = 0.5
self.zoom_step = 20.
self.focus_step = 20.
self.no_powerzoom = False
self.x_current = 0.0
self.y_current = 0.0
self.r_current = 0.0
self.d_current = 0.0
self.rp_current = 0.0
self.pixels_per_mm_current = 0.0
self.zoom_current = 0.0
self.focus_current = 0.0
# led settings
self.IsetCh1 = 0.0
self.IsetCh2 = 0.0
self.IsetCh3 = 0.0
self.IsetCh4 = 0.0
# camera settings
self.test_binning = 3
self.binning_factor = 1
self.gain_factor = 1.
self.camera_device = None
self.camera_locked = 0
self.continuously_acquiring = 0
self.frame_rate = 0
# MWorks communication, if available
self.mw_conduit = None
# UI
self.canvas_update_timer = None
self.ui_queue = queue.Queue(5)
#self.im_queue = queue.Queue(5) # NEW
#logging.info("ui_queue and im_queue created")
self.target_ui_update_interval = 1 / 30.
self.last_ui_get_time = time.time()
self.last_ui_put_time = time.time()
self.enable_save_to_disk = global_settings.get('enable_save_to_disk', True)
logging.info("Save to disk?: %d" % self.enable_save_to_disk)
self.image_save_dir = global_settings.get('data_dir', '~/.camera_capture/data')
self.use_simulated = global_settings.get('use_simulated', False)
self.use_file_for_cam = global_settings.get('use_file_for_camera',
False)
def load_calibration_parameters(self, filename):
logging.info("Loading: %s" % filename)
d = None
with open(filename, 'r') as f:
d = pkl.load(f)
if d is None:
logging.warning('Error loading calibration file %s' % filename)
return False
candidate_pixels_per_mm = d['pixels_per_mm']
# check to see if the pixels_per_mm matches up
if global_settings.get('check_pixels_per_mm_when_loading', False):
logging.warning('CHECKING pixels_per_mm as sanity check')
self.execute_calibration_step(lambda x: self.calibrator.center_horizontal(), True)
tolerance = global_settings.get('pixels_per_mm_tolerance', 0.01)
deviation = (abs(self.calibrator.pixels_per_mm - candidate_pixels_per_mm) / self.calibrator.pixels_per_mm)
if deviation > tolerance:
logging.warning('Calibration is not consistent with apparent pixels/mm')
logging.warning('(loaded=%f, measured=%f' % (candidate_pixels_per_mm, self.calibrator.pixels_per_mm))
logging.warning('deviation=%f, tolerance=%f' % (deviation, tolerance))
return False
else:
logging.warning('Calibration is consistent with apparent pixels/mm')
logging.warning('(loaded=%f, measured=%f' % (candidate_pixels_per_mm, self.calibrator.pixels_per_mm))
logging.warning('deviation=%f, tolerance=%f' % (deviation, tolerance))
logging.info('Calibration parameters: %s' % d)
return self.calibrator.load_parameters(d)
def load_calibration_parameters(self, filename):
logging.info("Loading: %s" % filename)
d = None
with open(filename, 'r') as f:
d = pkl.load(f)
if d is None:
logging.warning('Error loading calibration file %s' % filename)
return False
candidate_pixels_per_mm = d['pixels_per_mm']
# check to see if the pixels_per_mm matches up
if global_settings.get('check_pixels_per_mm_when_loading', False):
logging.warning('CHECKING pixels_per_mm as sanity check')
self.execute_calibration_step(lambda x: self.calibrator.center_horizontal(), True)
tolerance = global_settings.get('pixels_per_mm_tolerance', 0.01)
deviation = (abs(self.calibrator.pixels_per_mm - candidate_pixels_per_mm) / self.calibrator.pixels_per_mm)
if deviation > tolerance:
logging.warning('Calibration is not consistent with apparent pixels/mm')
logging.warning('(loaded=%f, measured=%f' % (candidate_pixels_per_mm, self.calibrator.pixels_per_mm))
logging.warning('deviation=%f, tolerance=%f' % (deviation, tolerance))
return False
else:
logging.warning('Calibration is consistent with apparent pixels/mm')
logging.warning('(loaded=%f, measured=%f' % (candidate_pixels_per_mm, self.calibrator.pixels_per_mm))
logging.warning('deviation=%f, tolerance=%f' % (deviation, tolerance))
logging.info('Calibration parameters: %s' % d)
return self.calibrator.load_parameters(d)
from simple_camera_capture.image_processing import ImageAnalyzer
try:
import queue
except ImportError:
import Queue as queue
# load settings
loaded_config = load_config_file('~/.simple_camera_capture/config.ini')
global_settings.update(loaded_config)
# boost.python wrapper for a MWorks interprocess conduit, if you're into
# that sort of thing
mw_enabled = False
if global_settings.get('enable_mw_conduit', True):
try:
sys.path.append('/Library/Application Support/MWorks/Scripting/Python')
import mworks.conduit as mw_conduit
GAZE_INFO = 100
TRACKER_INFO = 101
mw_enabled = True
except Exception, e:
logging.warning('Unable to load MW conduit: %s' % e)
# A catch-all class for controlling the eyetracking hardware
class CaptureController(object):
def __init__(self):
self.test_binning = 3
self.x_set = 0.5
self.y_set = 0.5
self.r_set = 0.5
self.zoom_step = 20.
self.focus_step = 20.
self.x_current = 0.0
self.y_current = 0.0
self.r_current = 0.0
self.d_current = 0.0
self.rp_current = 0.0
self.pixels_per_mm_current = 0.0
self.zoom_current = 0.0
self.focus_current = 0.0
self.d_cntr_set = 0.0
self.r_cntr_set = 0.0
self.r_2align_pup_cr = None
self.pupil_cr_diff = None
self.IsetCh1 = 0.0
self.IsetCh2 = 0.0
self.IsetCh3 = 0.0
self.IsetCh4 = 0.0
self.pupil_position_x = 0.0
self.pupil_position_y = 0.0
self.pupil_radius = 0.0
self.cr_position_x = 0.0
self.cr_position_y = 0.0
self.pupil_only = False
self.gaze_azimuth = 0.0
self.gaze_elevation = 0.0
self.calibration_status = 0
self.sobel_avg = 0.0
self.simulated_eye_x = 0.0
self.simulated_eye_y = 0.0
self.simulated_pupil_radius = 0.2
self.binning_factor = 1
self.gain_factor = 1.
# Added by DZ to deal with rigs without power zoom and focus
self.no_powerzoom = False
self.pupil_only = False
self.feature_finder = None
self.camera_device = None
self.calibrator = None
self.mw_conduit = None
self.canvas_update_timer = None
self.ui_queue = Queue(2)
self.camera_locked = 0
self.continuously_acquiring = 0
self.calibrating = False
self.enable_save_to_disk = global_settings.get('enable_save_to_disk', False)
logging.info("Save to disk?: %s" % self.enable_save_to_disk)
self.image_save_dir = global_settings.get('data_dir', None)
self.use_simulated = global_settings.get('use_simulated', False)
self.use_file_for_cam = global_settings.get('use_file_for_camera',
False)
# -------------------------------------------------------------
# Stages
# -------------------------------------------------------------
logging.info('Initializing Motion Control Subsystem (Stages)...')
if self.use_simulated:
esp300 = SimulatedStageController()
else:
esp300 = ESP300StageController('169.254.0.9', 8001)
try:
esp300.connect()
except Exception as E:
logging.warning(str(E))
logging.warning('Attempting to restart serial bridge (this can take ' \
+ 'several tens of seconds)...')
try:
kick_in_the_pants = httplib.HTTPConnection('169.254.0.9',
80, timeout=5)
kick_in_the_pants.request('GET', '/goforms/resetUnit?')
time.sleep(5)
esp300.connect()
del kick_in_the_pants
except Exception:
self.simple_alert('Could not connect to serial bridge',
"Attempts to 'kick' the serial bridge "
+ 'have failed. '
+ 'Reverting to simulated mode.')
esp300 = SimulatedStageController()
self.use_simulated = True
self.stages = EyeTrackerStageController(esp300)
logging.info('Initializing Motion Control Subsystem (Focus and Zoom)')
if self.no_powerzoom:
esp300_2 = SimulatedStageController()
else:
if self.use_simulated:
esp300_2 = SimulatedStageController()
else:
esp300_2 = ESP300StageController('169.254.0.9', 8002)
esp300_2.connect()
self.zoom_and_focus = FocusAndZoomController(esp300_2)
self.x_current = self.stages.current_position(self.stages.x_axis)
self.y_current = self.stages.current_position(self.stages.y_axis)
self.r_current = self.stages.current_position(self.stages.r_axis)
self.sobel_avg = 0
self.r_cntr_set = 0
self.d_cntr_set = 0
self.zoom_step = 20.
self.focus_step = 20.
self.IsetCh1 = 0
self.IsetCh2 = 0
self.IsetCh3 = 0
self.IsetCh4 = 0
# Manual aligment of pupil and CR
self.r_2align_pup_cr = 0
# -------------------------------------------------------------
# LED Controller
# -------------------------------------------------------------
logging.info('Initializing LED Control Subsystem')
if self.use_simulated:
self.leds = SimulatedLEDController(4)
else:
self.leds = MightexLEDController('169.254.0.9', 8006)
self.leds.connect()
# -------------------------------------------------------------
# Camera and Image Processing
# -------------------------------------------------------------
logging.info('Initializing Image Processing')
self.features = None
self.frame_rates = []
# set up real featutre finders (these won't be used if we use a
# fake camera instead)
nworkers = int(global_settings.get('nworkers', 0))
logging.info("starting with N workers %s" % nworkers)
self.radial_ff = None
self.starburst_ff = None
if nworkers != 0:
self.feature_finder = PipelinedFeatureFinder(nworkers)
workers = self.feature_finder.workers
self.rffs = []
self.sbffs = []
for worker in workers:
fr_ff = worker.FastRadialFeatureFinder() # in worker process
sb_ff = worker.StarBurstEyeFeatureFinder() # in worker process
#self.radial_ff = fr_ff
#self.starburst_ff = sb_ff
self.rffs.append(fr_ff)
self.sbffs.append(sb_ff)
# self.radial_symmetry_feature_finder_adaptor.addFeatureFinder(fr_ff)
# self.starburst_feature_finder_adaptor.addFeatureFinder(sb_ff)
comp_ff = worker.FrugalCompositeEyeFeatureFinder(fr_ff, sb_ff)
# self.composite_feature_finder_adaptor.addFeatureFinder(comp_ff)
worker.set_main_feature_finder(comp_ff) # create in worker process
self.radial_ff = ParamExpose(self.rffs, rff_params)
self.starburst_ff = ParamExpose(self.sbffs, sbff_params)
self.feature_finder.start() # start the worker loops
else:
sb_ff = SubpixelStarburstEyeFeatureFinder()
fr_ff = FastRadialFeatureFinder()
comp_ff = FrugalCompositeEyeFeatureFinder(fr_ff, sb_ff)
self.radial_ff = fr_ff
self.starburst_ff = sb_ff
self.feature_finder = comp_ff
if self.enable_save_to_disk and self.image_save_dir is not None:
logging.info('Enabling save to disk...')
self.feature_finder = ImageSaveDummyFeatureFinder(self.feature_finder, self.image_save_dir)
else:
logging.warning('Data will not be saved to disk.')
if True:
# try:
if not self.use_file_for_cam and not self.use_simulated:
logging.info('Connecting to Camera...')
self.camera_device = ProsilicaCameraDevice(self.feature_finder)
self.binning = 4
self.gain = 1
# except Exception, e:
# print "Unexpected error:", e.message
# self.use_file_for_cam = 1
if self.use_file_for_cam:
fn = global_settings.get('camera_file', '/Users/davidcox/Desktop/albino2/Snapshot2.bmp')
self.camera_device = FakeCameraDevice(self.feature_finder, fn)
self.camera_device.acquire_image()
if self.use_simulated and self.camera_device == None:
logging.info('Failing over to Simulated Camera')
# use a POV-Ray simulated camera + a simpler feature finder
# that works with it
self.camera_device = POVRaySimulatedCameraDevice(
self.feature_finder,
self.stages,
self.leds,
-370.0,
quiet=1,
image_width=160,
image_height=120,
)
self.camera_device.move_eye(array([10.0, -10.0, 0.0]))
self.camera_device.acquire_image()
logging.info('Acquiring initial image')
self.start_continuous_acquisition()
self.ui_interval = 1. / 15
self.start_time = time.time()
self.last_time = self.start_time
self.conduit_fps = 0.
# calibrator
logging.info('Creating Calibrator Object')
if self.use_simulated:
r_dir = -1
d_guess = -380
else:
r_dir = 1
# d_guess = 280
d_guess = 380
# d_guess = 300 # use this with the rat and set d_halfrange=30
self.calibrator = StahlLikeCalibrator(
self.camera_device,
self.stages,
self.zoom_and_focus,
self.leds,
d_halfrange=30,
ui_queue=self.ui_queue,
r_stage_direction=r_dir,
d_guess=d_guess,
)
if mw_enabled:
logging.info('Instantiating mw conduit')
self.mw_conduit = mw_conduit.IPCServerConduit('cobra1')
logging.debug('conduit = %s' % self.mw_conduit)
else:
self.mw_conduit = None
if self.mw_conduit != None:
logging.debug('Initializing conduit...')
initialized = self.mw_conduit.initialize()
logging.debug('conduit.initialize() = %s' % initialized)
if not initialized:
logging.error('Failed to initialize conduit')
logging.info('Sending dummy data (-1000,-1000,-1000)')
self.mw_conduit.send_data(GAZE_INFO, (-1000, -1000, -1000))
logging.info('Finished testing conduit')
else:
logging.warning('No conduit')
class CaptureController(object):
def __init__(self):
# motion control settings
self.x_set = 0.5
self.y_set = 0.5
self.r_set = 0.5
self.zoom_step = 20.
self.focus_step = 20.
self.no_powerzoom = False
self.x_current = 0.0
self.y_current = 0.0
self.r_current = 0.0
self.d_current = 0.0
self.rp_current = 0.0
self.pixels_per_mm_current = 0.0
self.zoom_current = 0.0
self.focus_current = 0.0
# led settings
self.IsetCh1 = 0.0
self.IsetCh2 = 0.0
self.IsetCh3 = 0.0
self.IsetCh4 = 0.0
# camera settings
self.test_binning = 3
self.binning_factor = 1
self.gain_factor = 1.
self.camera_device = None
self.camera_locked = 0
self.continuously_acquiring = 0
self.frame_rate = 0
# MWorks communication, if available
self.mw_conduit = None
# UI
self.canvas_update_timer = None
self.ui_queue = queue.Queue(5)
#self.im_queue = queue.Queue(5) # NEW
#logging.info("ui_queue and im_queue created")
self.target_ui_update_interval = 1 / 30.
self.last_ui_get_time = time.time()
self.last_ui_put_time = time.time()
self.enable_save_to_disk = global_settings.get('enable_save_to_disk',
True)
logging.info("Save to disk?: %d" % self.enable_save_to_disk)
self.image_save_dir = global_settings.get('data_dir',
'~/.camera_capture/data')
self.use_simulated = global_settings.get('use_simulated', False)
self.use_file_for_cam = global_settings.get('use_file_for_camera',
False)
def initialize(self):
# -------------------------------------------------------------
# Image "dumper" (put images to file system)
# -------------------------------------------------------------
if self.enable_save_to_disk:
self.image_dumper = ImageDumper(self.image_save_dir)
logging.info('Creating ImageDumper object at: %s',
self.image_save_dir)
else:
self.image_dumper = None
# -------------------------------------------------------------
# LED Controller
# -------------------------------------------------------------
logging.info('Initializing LED Control Subsystem')
if not self.use_simulated:
try:
self.leds = MightexLEDController('169.254.0.9', 8006)
self.leds.connect()
except:
self.leds = None
if self.use_simulated or self.leds is None:
self.leds = SimulatedLEDController(4)
# -------------------------------------------------------------
# Camera
# -------------------------------------------------------------
logging.info('Initializing Camera')
try:
if not self.use_file_for_cam:
logging.info('Connecting to Camera...')
self.camera_device = ProsilicaCameraDevice()
self.binningX = 4
self.binningY = 4
self.gain = 1
currbinx = self.binningX
currbiny = self.binningY
self.roi_width = 656 / currbinx #164
self.roi_height = 456 / currbiny #122
except Exception, e:
logging.warning("Error connecting to camera: %s" % e.message)
self.camera_device = None
# if that didn't work, build a fake device
if self.use_file_for_cam or self.camera_device is None:
fake_file = global_settings.get('fake_cam_file', None)
if fake_file is None:
logging.error('No valid fake camera file specified')
self.camera_device = FakeCameraDevice(fake_file)
self.camera_device.acquire_image()
logging.info('Starting continuous camera acquisition')
self.start_continuous_acquisition()
self.ui_interval = 1. / 10000.
self.start_time = time.time()
self.last_time = self.start_time
self.conduit_fps = 0.
# -------------------------------------------------------------
# Set up the MW communications
# -------------------------------------------------------------
if mw_enabled:
logging.info('Instantiating mw conduit')
self.mw_conduit = mw_conduit.IPCServerConduit('cobra1')
# print 'conduit = %s' % self.mw_conduit
else:
self.mw_conduit = None
if self.mw_conduit != None:
logging.info('Initializing conduit...')
initialized = self.mw_conduit.initialize()
# print initialized
if not initialized:
logging.warning('Failed to initialize conduit')
logging.info('Sending dummy data (-1000,-1000,-1000)')
self.mw_conduit.send_data(GAZE_INFO, (-1000, -1000, -1000))
logging.info('Finished testing conduit')
else:
logging.warning('No conduit')
from simple_camera_capture.image_processing import ImageAnalyzer
try:
import queue
except ImportError:
import Queue as queue
# load settings
loaded_config = load_config_file('~/.simple_camera_capture/config.ini')
global_settings.update(loaded_config)
# boost.python wrapper for a MWorks interprocess conduit, if you're into
# that sort of thing
mw_enabled = False
if global_settings.get('enable_mw_conduit', True):
try:
sys.path.append('/Library/Application Support/MWorks/Scripting/Python')
import mworks.conduit as mw_conduit
GAZE_INFO = 100
TRACKER_INFO = 101
mw_enabled = True
except Exception, e:
logging.warning('Unable to load MW conduit: %s' % e)
# A catch-all class for controlling the eyetracking hardware
class CaptureController(object):
def __init__(self):
def __init__(self):
self.test_binning = 3
self.x_set = 0.5
self.y_set = 0.5
self.r_set = 0.5
self.zoom_step = 20.
self.focus_step = 20.
self.x_current = 0.0
self.y_current = 0.0
self.r_current = 0.0
self.d_current = 0.0
self.rp_current = 0.0
self.pixels_per_mm_current = 0.0
self.zoom_current = 0.0
self.focus_current = 0.0
self.d_cntr_set = 0.0
self.r_cntr_set = 0.0
self.r_2align_pup_cr = None
self.pupil_cr_diff = None
self.IsetCh1 = 0.0
self.IsetCh2 = 0.0
self.IsetCh3 = 0.0
self.IsetCh4 = 0.0
self.pupil_position_x = 0.0
self.pupil_position_y = 0.0
self.pupil_radius = 0.0
self.cr_position_x = 0.0
self.cr_position_y = 0.0
self.pupil_only = False
self.gaze_azimuth = 0.0
self.gaze_elevation = 0.0
self.calibration_status = 0
self.sobel_avg = 0.0
self.simulated_eye_x = 0.0
self.simulated_eye_y = 0.0
self.simulated_pupil_radius = 0.2
self.binning_factor = 1
self.gain_factor = 1.
# Added by DZ to deal with rigs without power zoom and focus
self.no_powerzoom = False
self.pupil_only = False
self.feature_finder = None
self.camera_device = None
self.calibrator = None
self.mw_conduit = None
self.canvas_update_timer = None
self.ui_queue = Queue(2)
self.camera_locked = 0
self.continuously_acquiring = 0
self.calibrating = False
self.enable_save_to_disk = global_settings.get('enable_save_to_disk', False)
logging.info("Save to disk?: %s" % self.enable_save_to_disk)
self.image_save_dir = global_settings.get('data_dir', None)
self.use_simulated = global_settings.get('use_simulated', False)
self.use_file_for_cam = global_settings.get('use_file_for_camera',
False)
# -------------------------------------------------------------
# Stages
# -------------------------------------------------------------
logging.info('Initializing Motion Control Subsystem (Stages)...')
if self.use_simulated:
esp300 = SimulatedStageController()
else:
esp300 = ESP300StageController('169.254.0.9', 8001)
try:
esp300.connect()
except Exception as E:
logging.warning(str(E))
logging.warning('Attempting to restart serial bridge (this can take ' \
+ 'several tens of seconds)...')
try:
kick_in_the_pants = httplib.HTTPConnection('169.254.0.9',
80, timeout=5)
kick_in_the_pants.request('GET', '/goforms/resetUnit?')
time.sleep(5)
esp300.connect()
del kick_in_the_pants
except Exception:
self.simple_alert('Could not connect to serial bridge',
"Attempts to 'kick' the serial bridge "
+ 'have failed. '
+ 'Reverting to simulated mode.')
esp300 = SimulatedStageController()
self.use_simulated = True
self.stages = EyeTrackerStageController(esp300)
logging.info('Initializing Motion Control Subsystem (Focus and Zoom)')
if self.no_powerzoom:
esp300_2 = SimulatedStageController()
else:
if self.use_simulated:
esp300_2 = SimulatedStageController()
else:
esp300_2 = ESP300StageController('169.254.0.9', 8002)
esp300_2.connect()
self.zoom_and_focus = FocusAndZoomController(esp300_2)
self.x_current = self.stages.current_position(self.stages.x_axis)
self.y_current = self.stages.current_position(self.stages.y_axis)
self.r_current = self.stages.current_position(self.stages.r_axis)
self.sobel_avg = 0
self.r_cntr_set = 0
self.d_cntr_set = 0
self.zoom_step = 20.
self.focus_step = 20.
self.IsetCh1 = 0
self.IsetCh2 = 0
self.IsetCh3 = 0
self.IsetCh4 = 0
# Manual aligment of pupil and CR
self.r_2align_pup_cr = 0
# -------------------------------------------------------------
# LED Controller
# -------------------------------------------------------------
logging.info('Initializing LED Control Subsystem')
if self.use_simulated:
self.leds = SimulatedLEDController(4)
else:
self.leds = MightexLEDController('169.254.0.9', 8006)
self.leds.connect()
# -------------------------------------------------------------
# Camera and Image Processing
# -------------------------------------------------------------
logging.info('Initializing Image Processing')
self.features = None
self.frame_rates = []
# set up real featutre finders (these won't be used if we use a
# fake camera instead)
nworkers = int(global_settings.get('nworkers', 0))
logging.info("starting with N workers %s" % nworkers)
self.radial_ff = None
self.starburst_ff = None
if nworkers != 0:
self.feature_finder = PipelinedFeatureFinder(nworkers)
workers = self.feature_finder.workers
self.rffs = []
self.sbffs = []
for worker in workers:
fr_ff = worker.FastRadialFeatureFinder() # in worker process
sb_ff = worker.StarBurstEyeFeatureFinder() # in worker process
#self.radial_ff = fr_ff
#self.starburst_ff = sb_ff
self.rffs.append(fr_ff)
self.sbffs.append(sb_ff)
# self.radial_symmetry_feature_finder_adaptor.addFeatureFinder(fr_ff)
# self.starburst_feature_finder_adaptor.addFeatureFinder(sb_ff)
comp_ff = worker.FrugalCompositeEyeFeatureFinder(fr_ff, sb_ff)
# self.composite_feature_finder_adaptor.addFeatureFinder(comp_ff)
worker.set_main_feature_finder(comp_ff) # create in worker process
self.radial_ff = ParamExpose(self.rffs, rff_params)
self.starburst_ff = ParamExpose(self.sbffs, sbff_params)
self.feature_finder.start() # start the worker loops
else:
sb_ff = SubpixelStarburstEyeFeatureFinder()
fr_ff = FastRadialFeatureFinder()
comp_ff = FrugalCompositeEyeFeatureFinder(fr_ff, sb_ff)
self.radial_ff = fr_ff
self.starburst_ff = sb_ff
self.feature_finder = comp_ff
if self.enable_save_to_disk and self.image_save_dir is not None:
logging.info('Enabling save to disk...')
self.feature_finder = ImageSaveDummyFeatureFinder(self.feature_finder, self.image_save_dir)
else:
logging.warning('Data will not be saved to disk.')
if True:
# try:
if not self.use_file_for_cam and not self.use_simulated:
logging.info('Connecting to Camera...')
self.camera_device = ProsilicaCameraDevice(self.feature_finder)
self.binning = 4
self.gain = 1
# except Exception, e:
# print "Unexpected error:", e.message
# self.use_file_for_cam = 1
if self.use_file_for_cam:
fn = global_settings.get('camera_file', '/Users/davidcox/Desktop/albino2/Snapshot2.bmp')
self.camera_device = FakeCameraDevice(self.feature_finder, fn)
self.camera_device.acquire_image()
if self.use_simulated and self.camera_device == None:
logging.info('Failing over to Simulated Camera')
# use a POV-Ray simulated camera + a simpler feature finder
# that works with it
self.camera_device = POVRaySimulatedCameraDevice(
self.feature_finder,
self.stages,
self.leds,
-370.0,
quiet=1,
image_width=160,
image_height=120,
)
self.camera_device.move_eye(array([10.0, -10.0, 0.0]))
self.camera_device.acquire_image()
logging.info('Acquiring initial image')
self.start_continuous_acquisition()
self.ui_interval = 1. / 15
self.start_time = time.time()
self.last_time = self.start_time
self.conduit_fps = 0.
# calibrator
logging.info('Creating Calibrator Object')
if self.use_simulated:
r_dir = -1
d_guess = -380
else:
r_dir = 1
# d_guess = 280
d_guess = 380
# d_guess = 300 # use this with the rat and set d_halfrange=30
self.calibrator = StahlLikeCalibrator(
self.camera_device,
self.stages,
self.zoom_and_focus,
self.leds,
d_halfrange=30,
ui_queue=self.ui_queue,
r_stage_direction=r_dir,
d_guess=d_guess,
)
if mw_enabled:
logging.info('Instantiating mw conduit')
self.mw_conduit = mw_conduit.IPCServerConduit('cobra1')
logging.debug('conduit = %s' % self.mw_conduit)
else:
self.mw_conduit = None
if self.mw_conduit != None:
logging.debug('Initializing conduit...')
initialized = self.mw_conduit.initialize()
logging.debug('conduit.initialize() = %s' % initialized)
if not initialized:
logging.error('Failed to initialize conduit')
logging.info('Sending dummy data (-1000,-1000,-1000)')
self.mw_conduit.send_data(GAZE_INFO, (-1000, -1000, -1000))
logging.info('Finished testing conduit')
else:
logging.warning('No conduit')
