def start_depth_recording(self, rec_loc, start_time_synced):
if not self.record_depth:
return
if self.depth_video_writer is not None:
logger.warning("Depth video recording has been started already")
return
video_path = os.path.join(rec_loc, "depth.mp4")
self.depth_video_writer = MPEG_Writer(video_path, start_time_synced)
def _convert_video_file(
input_file,
output_file,
export_range,
world_timestamps,
process_frame,
timestamp_export_format,
):
yield "Export video", 0.0
input_source = File_Source(SimpleNamespace(), input_file, fill_gaps=True)
if not input_source.initialised:
yield "Exporting video failed", 0.0
return
# yield progress results two times per second
update_rate = int(input_source.frame_rate / 2)
export_start, export_stop = export_range # export_stop is exclusive
export_window = pm.exact_window(world_timestamps, (export_start, export_stop - 1))
(export_from_index, export_to_index) = pm.find_closest(
input_source.timestamps, export_window
)
# NOTE: Start time of the export recording will be synced with world recording
# export! This means that if the recording to export started later than the world
# video, the first frame of the exported recording will not be at timestamp 0 in
# the recording, but later. Some video players (e.g. VLC on windows) might display
# the video weirdly in this case, but we rather want syncronization between the
# exported video!
start_time = export_window[0]
writer = MPEG_Writer(output_file, start_time)
input_source.seek_to_frame(export_from_index)
next_update_idx = export_from_index + update_rate
while True:
try:
input_frame = input_source.get_frame()
except EndofVideoError:
break
if input_frame.index >= export_to_index:
break
output_img = process_frame(input_source, input_frame)
output_frame = input_frame
output_frame._img = output_img # it's ._img because .img has no setter
writer.write_video_frame(output_frame)
if input_source.get_frame_index() >= next_update_idx:
progress = (input_source.get_frame_index() - export_from_index) / (
export_to_index - export_from_index
)
yield "Exporting video", progress * 100.0
next_update_idx += update_rate
writer.close(timestamp_export_format)
input_source.cleanup()
yield "Exporting video completed", 100.0
class Realsense2_Source(Base_Source):
def __init__(
self,
g_pool,
device_id=None,
frame_size=DEFAULT_COLOR_SIZE,
frame_rate=DEFAULT_COLOR_FPS,
depth_frame_size=DEFAULT_DEPTH_SIZE,
depth_frame_rate=DEFAULT_DEPTH_FPS,
preview_depth=False,
device_options=(),
record_depth=True,
):
logger.debug("_init_ started")
super().__init__(g_pool)
self._intrinsics = None
self.color_frame_index = 0
self.depth_frame_index = 0
self.context = rs.context()
self.pipeline = rs.pipeline(self.context)
self.pipeline_profile = None
self.preview_depth = preview_depth
self.record_depth = record_depth
self.depth_video_writer = None
self._needs_restart = False
self.frame_size_backup = DEFAULT_COLOR_SIZE
self.depth_frame_size_backup = DEFAULT_DEPTH_SIZE
self.frame_rate_backup = DEFAULT_COLOR_FPS
self.depth_frame_rate_backup = DEFAULT_DEPTH_FPS
self._initialize_device(
device_id,
frame_size,
frame_rate,
depth_frame_size,
depth_frame_rate,
device_options,
)
logger.debug("_init_ completed")
def _initialize_device(
self,
device_id,
color_frame_size,
color_fps,
depth_frame_size,
depth_fps,
device_options=(),
):
self.stop_pipeline()
self.last_color_frame_ts = None
self.last_depth_frame_ts = None
self._recent_frame = None
self._recent_depth_frame = None
if device_id is None:
device_id = self.device_id
if device_id is None: # FIXME these two if blocks look ugly.
return
# use default streams to filter modes by rs_stream and rs_format
self._available_modes = self._enumerate_formats(device_id)
logger.debug("device_id: {} self._available_modes: {}".format(
device_id, str(self._available_modes)))
if (color_frame_size is not None and depth_frame_size is not None
and color_fps is not None and depth_fps is not None):
color_frame_size = tuple(color_frame_size)
depth_frame_size = tuple(depth_frame_size)
logger.debug("Initialize with Color {}@{}\tDepth {}@{}".format(
color_frame_size, color_fps, depth_frame_size, depth_fps))
# make sure the frame rates are compatible with the given frame sizes
color_fps = self._get_valid_frame_rate(rs.stream.color,
color_frame_size, color_fps)
depth_fps = self._get_valid_frame_rate(rs.stream.depth,
depth_frame_size, depth_fps)
self.frame_size_backup = color_frame_size
self.depth_frame_size_backup = depth_frame_size
self.frame_rate_backup = color_fps
self.depth_frame_rate_backup = depth_fps
config = self._prep_configuration(color_frame_size, color_fps,
depth_frame_size, depth_fps)
else:
config = self._get_default_config()
self.frame_size_backup = DEFAULT_COLOR_SIZE
self.depth_frame_size_backup = DEFAULT_DEPTH_SIZE
self.frame_rate_backup = DEFAULT_COLOR_FPS
self.depth_frame_rate_backup = DEFAULT_DEPTH_FPS
try:
self.pipeline_profile = self.pipeline.start(config)
except RuntimeError as re:
logger.error("Cannot start pipeline! " + str(re))
self.pipeline_profile = None
else:
self.stream_profiles = {
s.stream_type(): s.as_video_stream_profile()
for s in self.pipeline_profile.get_streams()
}
logger.debug("Pipeline started for device " + device_id)
logger.debug("Stream profiles: " + str(self.stream_profiles))
self._intrinsics = load_intrinsics(self.g_pool.user_dir, self.name,
self.frame_size)
self.update_menu()
self._needs_restart = False
def _prep_configuration(
self,
color_frame_size=None,
color_fps=None,
depth_frame_size=None,
depth_fps=None,
):
config = rs.config()
# only use these two formats
color_format = rs.format.yuyv
depth_format = rs.format.z16
config.enable_stream(
rs.stream.depth,
depth_frame_size[0],
depth_frame_size[1],
depth_format,
depth_fps,
)
config.enable_stream(
rs.stream.color,
color_frame_size[0],
color_frame_size[1],
color_format,
color_fps,
)
return config
def _get_default_config(self):
config = rs.config() # default config is RGB8, we want YUYV
config.enable_stream(
rs.stream.color,
DEFAULT_COLOR_SIZE[0],
DEFAULT_COLOR_SIZE[1],
rs.format.yuyv,
DEFAULT_COLOR_FPS,
)
config.enable_stream(
rs.stream.depth,
DEFAULT_DEPTH_SIZE[0],
DEFAULT_DEPTH_SIZE[1],
rs.format.z16,
DEFAULT_DEPTH_FPS,
)
return config
def _get_valid_frame_rate(self, stream_type, frame_size, fps):
assert stream_type == rs.stream.color or stream_type == rs.stream.depth
if not self._available_modes or stream_type not in self._available_modes:
logger.warning(
"_get_valid_frame_rate: self._available_modes not set yet. Returning default fps."
)
if stream_type == rs.stream.color:
return DEFAULT_COLOR_FPS
elif stream_type == rs.stream.depth:
return DEFAULT_DEPTH_FPS
else:
raise ValueError(
"Unexpected `stream_type`: {}".format(stream_type))
if frame_size not in self._available_modes[stream_type]:
logger.error(
"Frame size not supported for {}: {}. Returning default fps".
format(stream_type, frame_size))
if stream_type == rs.stream.color:
return DEFAULT_COLOR_FPS
elif stream_type == rs.stream.depth:
return DEFAULT_DEPTH_FPS
if fps not in self._available_modes[stream_type][frame_size]:
old_fps = fps
rates = [
abs(r - fps)
for r in self._available_modes[stream_type][frame_size]
]
best_rate_idx = rates.index(min(rates))
fps = self._available_modes[stream_type][frame_size][best_rate_idx]
logger.warning(
"{} fps is not supported for ({}) for Color Stream. Fallback to {} fps"
.format(old_fps, frame_size, fps))
return fps
def _enumerate_formats(self, device_id):
"""Enumerate formats into hierachical structure:
streams:
resolutions:
framerates
"""
formats = {}
if self.context is None:
return formats
devices = self.context.query_devices()
current_device = None
for d in devices:
try:
serial = d.get_info(rs.camera_info.serial_number)
except RuntimeError as re:
logger.error("Device no longer available " + str(re))
else:
if device_id == serial:
current_device = d
if current_device is None:
return formats
logger.debug("Found the current device: " + device_id)
sensors = current_device.query_sensors()
for s in sensors:
stream_profiles = s.get_stream_profiles()
for sp in stream_profiles:
vp = sp.as_video_stream_profile()
stream_type = vp.stream_type()
if stream_type not in (rs.stream.color, rs.stream.depth):
continue
elif vp.format() not in (rs.format.z16, rs.format.yuyv):
continue
formats.setdefault(stream_type, {})
stream_resolution = (vp.width(), vp.height())
formats[stream_type].setdefault(stream_resolution,
[]).append(vp.fps())
return formats
def stop_pipeline(self):
if self.online:
try:
self.pipeline_profile = None
self.stream_profiles = None
self.pipeline.stop()
logger.debug("Pipeline stopped.")
except RuntimeError as re:
logger.error("Cannot stop the pipeline: " + str(re))
def cleanup(self):
if self.depth_video_writer is not None:
self.stop_depth_recording()
self.stop_pipeline()
def get_init_dict(self):
return {
"frame_size": self.frame_size,
"frame_rate": self.frame_rate,
"depth_frame_size": self.depth_frame_size,
"depth_frame_rate": self.depth_frame_rate,
"preview_depth": self.preview_depth,
"record_depth": self.record_depth,
}
def get_frames(self):
if self.online:
try:
frames = self.pipeline.wait_for_frames(TIMEOUT)
except RuntimeError as e:
logger.error("get_frames: Timeout!")
raise RuntimeError(e)
else:
current_time = self.g_pool.get_timestamp()
color = None
# if we're expecting color frames
if rs.stream.color in self.stream_profiles:
color_frame = frames.get_color_frame()
last_color_frame_ts = color_frame.get_timestamp()
if self.last_color_frame_ts != last_color_frame_ts:
self.last_color_frame_ts = last_color_frame_ts
color = ColorFrame(
np.asanyarray(color_frame.get_data()),
current_time,
self.color_frame_index,
)
self.color_frame_index += 1
depth = None
# if we're expecting depth frames
if rs.stream.depth in self.stream_profiles:
depth_frame = frames.get_depth_frame()
last_depth_frame_ts = depth_frame.get_timestamp()
if self.last_depth_frame_ts != last_depth_frame_ts:
self.last_depth_frame_ts = last_depth_frame_ts
depth = DepthFrame(
np.asanyarray(depth_frame.get_data()),
current_time,
self.depth_frame_index,
)
self.depth_frame_index += 1
return color, depth
return None, None
def recent_events(self, events):
if self._needs_restart or not self.online:
logger.debug("recent_events -> restarting device")
self.restart_device()
time.sleep(0.01)
return
try:
color_frame, depth_frame = self.get_frames()
except RuntimeError as re:
logger.warning("Realsense failed to provide frames." + str(re))
self._recent_frame = None
self._recent_depth_frame = None
self._needs_restart = True
else:
if color_frame is not None:
self._recent_frame = color_frame
events["frame"] = color_frame
if depth_frame is not None:
self._recent_depth_frame = depth_frame
events["depth_frame"] = depth_frame
if self.depth_video_writer is not None:
self.depth_video_writer.write_video_frame(depth_frame)
def deinit_ui(self):
self.remove_menu()
def init_ui(self):
self.add_menu()
self.menu.label = "Local USB Video Source"
self.update_menu()
def update_menu(self):
logger.debug("update_menu")
try:
del self.menu[:]
except AttributeError:
return
from pyglui import ui
if not self.online:
self.menu.append(ui.Info_Text("Capture initialization failed."))
return
self.menu.append(
ui.Switch("record_depth", self, label="Record Depth Stream"))
self.menu.append(
ui.Switch("preview_depth", self, label="Preview Depth"))
if self._available_modes is not None:
def frame_size_selection_getter():
if self.device_id:
frame_size = sorted(self._available_modes[rs.stream.color],
reverse=True)
labels = [
"({}, {})".format(t[0], t[1]) for t in frame_size
]
return frame_size, labels
else:
return [self.frame_size_backup
], [str(self.frame_size_backup)]
selector = ui.Selector(
"frame_size",
self,
selection_getter=frame_size_selection_getter,
label="Color Resolution",
)
self.menu.append(selector)
def frame_rate_selection_getter():
if self.device_id:
avail_fps = [
fps for fps in self._available_modes[rs.stream.color][
self.frame_size]
]
return avail_fps, [str(fps) for fps in avail_fps]
else:
return [self.frame_rate_backup
], [str(self.frame_rate_backup)]
selector = ui.Selector(
"frame_rate",
self,
selection_getter=frame_rate_selection_getter,
label="Color Frame Rate",
)
self.menu.append(selector)
def depth_frame_size_selection_getter():
if self.device_id:
depth_sizes = sorted(
self._available_modes[rs.stream.depth], reverse=True)
labels = [
"({}, {})".format(t[0], t[1]) for t in depth_sizes
]
return depth_sizes, labels
else:
return (
[self.depth_frame_size_backup],
[str(self.depth_frame_size_backup)],
)
selector = ui.Selector(
"depth_frame_size",
self,
selection_getter=depth_frame_size_selection_getter,
label="Depth Resolution",
)
self.menu.append(selector)
def depth_frame_rate_selection_getter():
if self.device_id:
avail_fps = [
fps for fps in self._available_modes[rs.stream.depth][
self.depth_frame_size]
]
return avail_fps, [str(fps) for fps in avail_fps]
else:
return (
[self.depth_frame_rate_backup],
[str(self.depth_frame_rate_backup)],
)
selector = ui.Selector(
"depth_frame_rate",
self,
selection_getter=depth_frame_rate_selection_getter,
label="Depth Frame Rate",
)
self.menu.append(selector)
def reset_options():
logger.debug("reset_options")
self.reset_device(self.device_id)
sensor_control = ui.Growing_Menu(label="Sensor Settings")
sensor_control.append(
ui.Button("Reset device options to default", reset_options))
self.menu.append(sensor_control)
else:
logger.debug("update_menu: self._available_modes is None")
def gl_display(self):
if self.preview_depth and self._recent_depth_frame is not None:
self.g_pool.image_tex.update_from_ndarray(
self._recent_depth_frame.bgr)
gl_utils.glFlush()
gl_utils.make_coord_system_norm_based()
self.g_pool.image_tex.draw()
elif self._recent_frame is not None:
self.g_pool.image_tex.update_from_yuv_buffer(
self._recent_frame.yuv_buffer,
self._recent_frame.width,
self._recent_frame.height,
)
gl_utils.glFlush()
gl_utils.make_coord_system_norm_based()
self.g_pool.image_tex.draw()
if not self.online:
super().gl_display()
gl_utils.make_coord_system_pixel_based(
(self.frame_size[1], self.frame_size[0], 3))
def reset_device(self, device_id):
logger.debug("reset_device")
if device_id is None:
device_id = self.device_id
self.notify_all({
"subject": "realsense2_source.restart",
"device_id": device_id,
"color_frame_size": None,
"color_fps": None,
"depth_frame_size": None,
"depth_fps": None,
"device_options": [], # FIXME
})
def restart_device(
self,
color_frame_size=None,
color_fps=None,
depth_frame_size=None,
depth_fps=None,
device_options=None,
):
if color_frame_size is None:
color_frame_size = self.frame_size
if color_fps is None:
color_fps = self.frame_rate
if depth_frame_size is None:
depth_frame_size = self.depth_frame_size
if depth_fps is None:
depth_fps = self.depth_frame_rate
if device_options is None:
device_options = [] # FIXME
self.notify_all({
"subject": "realsense2_source.restart",
"device_id": None,
"color_frame_size": color_frame_size,
"color_fps": color_fps,
"depth_frame_size": depth_frame_size,
"depth_fps": depth_fps,
"device_options": device_options,
})
logger.debug("self.restart_device --> self.notify_all")
def on_notify(self, notification):
logger.debug('self.on_notify, notification["subject"]: ' +
notification["subject"])
if notification["subject"] == "realsense2_source.restart":
kwargs = notification.copy()
del kwargs["subject"]
del kwargs["topic"]
self._initialize_device(**kwargs)
elif notification["subject"] == "recording.started":
self.start_depth_recording(notification["rec_path"],
notification["start_time_synced"])
elif notification["subject"] == "recording.stopped":
self.stop_depth_recording()
def start_depth_recording(self, rec_loc, start_time_synced):
if not self.record_depth:
return
if self.depth_video_writer is not None:
logger.warning("Depth video recording has been started already")
return
video_path = os.path.join(rec_loc, "depth.mp4")
self.depth_video_writer = MPEG_Writer(video_path, start_time_synced)
def stop_depth_recording(self):
if self.depth_video_writer is None:
logger.warning("Depth video recording was not running")
return
self.depth_video_writer.close()
self.depth_video_writer = None
@property
def device_id(self):
if self.online: # already running
return self.pipeline_profile.get_device().get_info(
rs.camera_info.serial_number)
else:
# set the first available device
devices = self.context.query_devices()
if devices:
logger.info("device_id: first device by default.")
return devices[0].get_info(rs.camera_info.serial_number)
else:
logger.debug("device_id: No device connected.")
return None
@property
def frame_size(self):
try:
stream_profile = self.stream_profiles[rs.stream.color]
# TODO check width & height is in self.available modes
return stream_profile.width(), stream_profile.height()
except AttributeError:
return self.frame_size_backup
except KeyError:
return self.frame_size_backup
except TypeError:
return self.frame_size_backup
@frame_size.setter
def frame_size(self, new_size):
if new_size != self.frame_size:
self.restart_device(color_frame_size=new_size)
@property
def frame_rate(self):
try:
stream_profile = self.stream_profiles[rs.stream.color]
# TODO check FPS is in self.available modes
return stream_profile.fps()
except AttributeError:
return self.frame_rate_backup
except KeyError:
return self.frame_rate_backup
except TypeError:
return self.frame_rate_backup
@frame_rate.setter
def frame_rate(self, new_rate):
if new_rate != self.frame_rate:
self.restart_device(color_fps=new_rate)
@property
def depth_frame_size(self):
try:
stream_profile = self.stream_profiles[rs.stream.depth]
# TODO check width & height is in self.available modes
return stream_profile.width(), stream_profile.height()
except AttributeError:
return self.depth_frame_size_backup
except KeyError:
return self.depth_frame_size_backup
except TypeError:
return self.depth_frame_size_backup
@depth_frame_size.setter
def depth_frame_size(self, new_size):
if new_size != self.depth_frame_size:
self.restart_device(depth_frame_size=new_size)
@property
def depth_frame_rate(self):
try:
stream_profile = self.stream_profiles[rs.stream.depth]
return stream_profile.fps()
except AttributeError:
return self.depth_frame_rate_backup
except KeyError:
return self.depth_frame_rate_backup
except TypeError:
return self.depth_frame_rate_backup
@depth_frame_rate.setter
def depth_frame_rate(self, new_rate):
if new_rate != self.depth_frame_rate:
self.restart_device(depth_fps=new_rate)
@property
def jpeg_support(self):
return False
@property
def online(self):
return self.pipeline_profile is not None and self.pipeline is not None
@property
def name(self):
if self.online:
return self.pipeline_profile.get_device().get_info(
rs.camera_info.name)
else:
logger.debug(
"self.name: Realsense2 not online. Falling back to Ghost capture"
)
return "Ghost capture"
class Recorder(System_Plugin_Base):
"""Capture Recorder"""
icon_chr = chr(0xE04B)
icon_font = "pupil_icons"
warning_low_disk_space_th = 5.0 # threshold in GB
stop_rec_low_disk_space_th = 1.0 # threshold in GB
def __init__(
self,
g_pool,
session_name=get_auto_name(),
rec_root_dir=None,
user_info={
"name": "",
"additional_field": "change_me"
},
info_menu_conf={},
show_info_menu=False,
record_eye=True,
raw_jpeg=True,
):
super().__init__(g_pool)
# update name if it was autogenerated.
if session_name.startswith("20") and len(session_name) == 10:
session_name = get_auto_name()
base_dir = self.g_pool.user_dir.rsplit(os.path.sep, 1)[0]
default_rec_root_dir = os.path.join(base_dir, "recordings")
if (rec_root_dir and rec_root_dir != default_rec_root_dir
and self.verify_path(rec_root_dir)):
self.rec_root_dir = rec_root_dir
else:
try:
os.makedirs(default_rec_root_dir)
except OSError as e:
if e.errno != errno.EEXIST:
logger.error("Could not create Rec dir")
raise e
else:
logger.info('Created standard Rec dir at "{}"'.format(
default_rec_root_dir))
self.rec_root_dir = default_rec_root_dir
self.raw_jpeg = raw_jpeg
self.order = 0.9
self.record_eye = record_eye
self.session_name = session_name
self.running = False
self.menu = None
self.button = None
self.user_info = user_info
self.show_info_menu = show_info_menu
self.info_menu = None
self.info_menu_conf = info_menu_conf
self.low_disk_space_thumb = None
check_timer = timer(1.0)
self.check_space = lambda: next(check_timer)
def get_init_dict(self):
d = {}
d["record_eye"] = self.record_eye
d["session_name"] = self.session_name
d["user_info"] = self.user_info
d["info_menu_conf"] = self.info_menu_conf
d["show_info_menu"] = self.show_info_menu
d["rec_root_dir"] = self.rec_root_dir
d["raw_jpeg"] = self.raw_jpeg
return d
def init_ui(self):
self.add_menu()
self.menu.label = "Recorder"
self.menu_icon.order = 0.29
self.menu.append(
ui.Info_Text(
'Pupil recordings are saved like this: "path_to_recordings/recording_session_name/nnn" where "nnn" is an increasing number to avoid overwrites. You can use "/" in your session name to create subdirectories.'
))
self.menu.append(
ui.Info_Text(
'Recordings are saved to "~/pupil_recordings". You can change the path here but note that invalid input will be ignored.'
))
self.menu.append(
ui.Text_Input(
"rec_root_dir",
self,
setter=self.set_rec_root_dir,
label="Path to recordings",
))
self.menu.append(
ui.Text_Input(
"session_name",
self,
setter=self.set_session_name,
label="Recording session name",
))
self.menu.append(
ui.Switch(
"show_info_menu",
self,
on_val=True,
off_val=False,
label="Request additional user info",
))
self.menu.append(
ui.Selector(
"raw_jpeg",
self,
selection=[True, False],
labels=["bigger file, less CPU", "smaller file, more CPU"],
label="Compression",
))
self.menu.append(
ui.Info_Text(
"Recording the raw eye video is optional. We use it for debugging."
))
self.menu.append(
ui.Switch("record_eye",
self,
on_val=True,
off_val=False,
label="Record eye"))
self.button = ui.Thumb(
"running",
self,
setter=self.toggle,
label="R",
hotkey=Hotkey.RECORDER_RUNNING_TOGGLE_CAPTURE_HOTKEY(),
)
self.button.on_color[:] = (1, 0.0, 0.0, 0.8)
self.g_pool.quickbar.insert(2, self.button)
self.low_disk_space_thumb = ui.Thumb("low_disk_warn",
label="!",
getter=lambda: True,
setter=lambda x: None)
self.low_disk_space_thumb.on_color[:] = (1, 0.0, 0.0, 0.8)
self.low_disk_space_thumb.status_text = "Low disk space"
def deinit_ui(self):
if self.low_disk_space_thumb in self.g_pool.quickbar:
self.g_pool.quickbar.remove(self.low_disk_space_thumb)
self.g_pool.quickbar.remove(self.button)
self.button = None
self.remove_menu()
def toggle(self, _=None):
if self.running:
self.notify_all({"subject": "recording.should_stop"})
self.notify_all({
"subject": "recording.should_stop",
"remote_notify": "all"
})
else:
self.notify_all({
"subject": "recording.should_start",
"session_name": self.session_name
})
self.notify_all({
"subject": "recording.should_start",
"session_name": self.session_name,
"remote_notify": "all",
})
def on_notify(self, notification):
"""Handles recorder notifications
Reacts to notifications:
``recording.should_start``: Starts a new recording session.
fields:
- 'session_name' change session name
start with `/` to ingore the rec base dir and start from root instead.
- `record_eye` boolean that indicates recording of the eyes, defaults to current setting
``recording.should_stop``: Stops current recording session
Emits notifications:
``recording.started``: New recording session started
``recording.stopped``: Current recording session stopped
Args:
notification (dictionary): Notification dictionary
"""
# notification wants to be recorded
if notification.get("record", False) and self.running:
if "timestamp" not in notification:
logger.error(
"Notification without timestamp will not be saved.")
notification["timestamp"] = self.g_pool.get_timestamp()
# else:
notification["topic"] = "notify." + notification["subject"]
try:
writer = self.pldata_writers["notify"]
except KeyError:
writer = PLData_Writer(self.rec_path, "notify")
self.pldata_writers["notify"] = writer
writer.append(notification)
elif notification["subject"] == "recording.should_start":
if self.running:
logger.info("Recording already running!")
else:
self.record_eye = notification.get("record_eye",
self.record_eye)
if notification.get("session_name", ""):
self.set_session_name(notification["session_name"])
self.start()
elif notification["subject"] == "recording.should_stop":
if self.running:
self.stop()
else:
logger.info("Recording already stopped!")
def get_rec_time_str(self):
rec_time = gmtime(time() - self.start_time)
return strftime("%H:%M:%S", rec_time)
def start(self):
self.start_time = time()
start_time_synced = self.g_pool.get_timestamp()
if isinstance(self.g_pool.capture, NDSI_Source):
# If the user did not enable TimeSync, the timestamps will be way off and
# the recording code will crash. We check the difference between the last
# frame's time and the start_time_synced and if this does not match, we stop
# the recording and show a warning instead.
TIMESTAMP_ERROR_THRESHOLD = 5.0
frame = self.g_pool.capture._recent_frame
if frame is None:
logger.error(
"Your connection does not seem to be stable enough for "
"recording Pupil Mobile via WiFi. We recommend recording "
"on the phone.")
return
if abs(frame.timestamp -
start_time_synced) > TIMESTAMP_ERROR_THRESHOLD:
logger.error(
"Pupil Mobile stream is not in sync. Aborting recording."
" Enable the Time Sync plugin and try again.")
return
session = os.path.join(self.rec_root_dir, self.session_name)
try:
os.makedirs(session, exist_ok=True)
logger.debug(
"Created new recordings session dir {}".format(session))
except OSError:
logger.error(
"Could not start recording. Session dir {} not writable.".
format(session))
return
self.pldata_writers = {}
self.frame_count = 0
self.running = True
self.menu.read_only = True
recording_uuid = uuid.uuid4()
# set up self incrementing folder within session folder
counter = 0
while True:
self.rec_path = os.path.join(session, "{:03d}/".format(counter))
try:
os.mkdir(self.rec_path)
logger.debug("Created new recording dir {}".format(
self.rec_path))
break
except FileExistsError:
logger.debug(
"We dont want to overwrite data, incrementing counter & trying to make new data folder"
)
counter += 1
self.meta_info = RecordingInfoFile.create_empty_file(self.rec_path)
self.meta_info.recording_software_name = (
RecordingInfoFile.RECORDING_SOFTWARE_NAME_PUPIL_CAPTURE)
self.meta_info.recording_software_version = str(self.g_pool.version)
self.meta_info.recording_name = self.session_name
self.meta_info.start_time_synced_s = start_time_synced
self.meta_info.start_time_system_s = self.start_time
self.meta_info.recording_uuid = recording_uuid
self.meta_info.system_info = get_system_info()
self.video_path = os.path.join(self.rec_path, "world.mp4")
if self.raw_jpeg and self.g_pool.capture.jpeg_support:
self.writer = JPEG_Writer(self.video_path, start_time_synced)
elif hasattr(self.g_pool.capture._recent_frame, "h264_buffer"):
self.writer = H264Writer(
self.video_path,
self.g_pool.capture.frame_size[0],
self.g_pool.capture.frame_size[1],
int(self.g_pool.capture.frame_rate),
)
else:
self.writer = MPEG_Writer(self.video_path, start_time_synced)
calibration_data_notification_classes = [
CalibrationSetupNotification,
CalibrationResultNotification,
]
writer = PLData_Writer(self.rec_path, "notify")
for note_class in calibration_data_notification_classes:
try:
file_path = os.path.join(self.g_pool.user_dir,
note_class.file_name())
note = note_class.from_dict(load_object(file_path))
note_dict = note.as_dict()
note_dict["topic"] = "notify." + note_dict["subject"]
writer.append(note_dict)
except FileNotFoundError:
continue
self.pldata_writers["notify"] = writer
if self.show_info_menu:
self.open_info_menu()
logger.info("Started Recording.")
self.notify_all({
"subject": "recording.started",
"rec_path": self.rec_path,
"session_name": self.session_name,
"record_eye": self.record_eye,
"compression": self.raw_jpeg,
"start_time_synced": float(start_time_synced),
})
def open_info_menu(self):
self.info_menu = ui.Growing_Menu("additional Recording Info",
size=(300, 300),
pos=(300, 300))
self.info_menu.configuration = self.info_menu_conf
def populate_info_menu():
self.info_menu.elements[:-2] = []
for name in self.user_info.keys():
self.info_menu.insert(0, ui.Text_Input(name, self.user_info))
def set_user_info(new_string):
self.user_info = new_string
populate_info_menu()
populate_info_menu()
self.info_menu.append(
ui.Info_Text(
'Use the *user info* field to add/remove additional fields and their values. The format must be a valid Python dictionary. For example -- {"key":"value"}. You can add as many fields as you require. Your custom fields will be saved for your next session.'
))
self.info_menu.append(
ui.Text_Input("user_info",
self,
setter=set_user_info,
label="User info"))
self.g_pool.gui.append(self.info_menu)
def close_info_menu(self):
if self.info_menu:
self.info_menu_conf = self.info_menu.configuration
self.g_pool.gui.remove(self.info_menu)
self.info_menu = None
def recent_events(self, events):
if self.check_space():
disk_space = available_gb(self.rec_root_dir)
if (disk_space < self.warning_low_disk_space_th
and self.low_disk_space_thumb not in self.g_pool.quickbar):
self.g_pool.quickbar.append(self.low_disk_space_thumb)
elif (disk_space >= self.warning_low_disk_space_th
and self.low_disk_space_thumb in self.g_pool.quickbar):
self.g_pool.quickbar.remove(self.low_disk_space_thumb)
if self.running and disk_space <= self.stop_rec_low_disk_space_th:
self.stop()
logger.error("Recording was stopped due to low disk space!")
if self.running:
for key, data in events.items():
if key not in ("dt",
"depth_frame") and not key.startswith("frame"):
try:
writer = self.pldata_writers[key]
except KeyError:
writer = PLData_Writer(self.rec_path, key)
self.pldata_writers[key] = writer
writer.extend(data)
if "frame" in events:
frame = events["frame"]
try:
self.writer.write_video_frame(frame)
self.frame_count += 1
except NonMonotonicTimestampError as e:
logger.error("Recorder received non-monotonic timestamp!"
" Stopping the recording!")
logger.debug(str(e))
self.notify_all({"subject": "recording.should_stop"})
self.notify_all({
"subject": "recording.should_stop",
"remote_notify": "all"
})
# # cv2.putText(frame.img, "Frame %s"%self.frame_count,(200,200), cv2.FONT_HERSHEY_SIMPLEX,1,(255,100,100))
self.button.status_text = self.get_rec_time_str()
def stop(self):
duration_s = self.g_pool.get_timestamp(
) - self.meta_info.start_time_synced_s
# explicit release of VideoWriter
try:
self.writer.release()
except RuntimeError:
logger.error("No world video recorded")
else:
logger.debug("Closed media container")
self.g_pool.capture.intrinsics.save(self.rec_path,
custom_name="world")
finally:
self.writer = None
for writer in self.pldata_writers.values():
writer.close()
del self.pldata_writers
surface_definition_file_paths = glob.glob(
os.path.join(self.g_pool.user_dir, "surface_definitions*"))
if len(surface_definition_file_paths) > 0:
for source_path in surface_definition_file_paths:
_, filename = os.path.split(source_path)
target_path = os.path.join(self.rec_path, filename)
copy2(source_path, target_path)
else:
logger.info(
"No surface_definitions data found. You may want this if you do marker tracking."
)
self.meta_info.duration_s = duration_s
self.meta_info.save_file()
try:
with open(os.path.join(self.rec_path, "user_info.csv"),
"w",
newline="") as csvfile:
csv_utils.write_key_value_file(csvfile, self.user_info)
except OSError:
logger.exception(
"Could not save userdata. Please report this bug!")
self.close_info_menu()
self.running = False
if self.menu:
self.menu.read_only = False
self.button.status_text = ""
logger.info("Saved Recording.")
self.notify_all({
"subject": "recording.stopped",
"rec_path": self.rec_path
})
def cleanup(self):
"""gets called when the plugin get terminated.
either volunatily or forced.
"""
if self.running:
self.stop()
def verify_path(self, val):
try:
n_path = os.path.expanduser(val)
logger.debug("Expanded user path.")
except Exception:
n_path = val
if not n_path:
logger.warning("Please specify a path.")
return False
elif not os.path.isdir(n_path):
logger.warning("This is not a valid path.")
return False
# elif not os.access(n_path, os.W_OK):
elif not writable_dir(n_path):
logger.warning("Do not have write access to '{}'.".format(n_path))
return False
else:
return n_path
def set_rec_root_dir(self, val):
n_path = self.verify_path(val)
if n_path:
self.rec_root_dir = n_path
def set_session_name(self, val):
if not val:
self.session_name = get_auto_name()
else:
if os.path.sep in val:
logger.warning(
"You session name will create one or more subdirectories")
self.session_name = val
def start(self):
self.start_time = time()
start_time_synced = self.g_pool.get_timestamp()
if isinstance(self.g_pool.capture, NDSI_Source):
# If the user did not enable TimeSync, the timestamps will be way off and
# the recording code will crash. We check the difference between the last
# frame's time and the start_time_synced and if this does not match, we stop
# the recording and show a warning instead.
TIMESTAMP_ERROR_THRESHOLD = 5.0
frame = self.g_pool.capture._recent_frame
if frame is None:
logger.error(
"Your connection does not seem to be stable enough for "
"recording Pupil Mobile via WiFi. We recommend recording "
"on the phone.")
return
if abs(frame.timestamp -
start_time_synced) > TIMESTAMP_ERROR_THRESHOLD:
logger.error(
"Pupil Mobile stream is not in sync. Aborting recording."
" Enable the Time Sync plugin and try again.")
return
session = os.path.join(self.rec_root_dir, self.session_name)
try:
os.makedirs(session, exist_ok=True)
logger.debug(
"Created new recordings session dir {}".format(session))
except OSError:
logger.error(
"Could not start recording. Session dir {} not writable.".
format(session))
return
self.pldata_writers = {}
self.frame_count = 0
self.running = True
self.menu.read_only = True
recording_uuid = uuid.uuid4()
# set up self incrementing folder within session folder
counter = 0
while True:
self.rec_path = os.path.join(session, "{:03d}/".format(counter))
try:
os.mkdir(self.rec_path)
logger.debug("Created new recording dir {}".format(
self.rec_path))
break
except FileExistsError:
logger.debug(
"We dont want to overwrite data, incrementing counter & trying to make new data folder"
)
counter += 1
self.meta_info = RecordingInfoFile.create_empty_file(self.rec_path)
self.meta_info.recording_software_name = (
RecordingInfoFile.RECORDING_SOFTWARE_NAME_PUPIL_CAPTURE)
self.meta_info.recording_software_version = str(self.g_pool.version)
self.meta_info.recording_name = self.session_name
self.meta_info.start_time_synced_s = start_time_synced
self.meta_info.start_time_system_s = self.start_time
self.meta_info.recording_uuid = recording_uuid
self.meta_info.system_info = get_system_info()
self.video_path = os.path.join(self.rec_path, "world.mp4")
if self.raw_jpeg and self.g_pool.capture.jpeg_support:
self.writer = JPEG_Writer(self.video_path, start_time_synced)
elif hasattr(self.g_pool.capture._recent_frame, "h264_buffer"):
self.writer = H264Writer(
self.video_path,
self.g_pool.capture.frame_size[0],
self.g_pool.capture.frame_size[1],
int(self.g_pool.capture.frame_rate),
)
else:
self.writer = MPEG_Writer(self.video_path, start_time_synced)
calibration_data_notification_classes = [
CalibrationSetupNotification,
CalibrationResultNotification,
]
writer = PLData_Writer(self.rec_path, "notify")
for note_class in calibration_data_notification_classes:
try:
file_path = os.path.join(self.g_pool.user_dir,
note_class.file_name())
note = note_class.from_dict(load_object(file_path))
note_dict = note.as_dict()
note_dict["topic"] = "notify." + note_dict["subject"]
writer.append(note_dict)
except FileNotFoundError:
continue
self.pldata_writers["notify"] = writer
if self.show_info_menu:
self.open_info_menu()
logger.info("Started Recording.")
self.notify_all({
"subject": "recording.started",
"rec_path": self.rec_path,
"session_name": self.session_name,
"record_eye": self.record_eye,
"compression": self.raw_jpeg,
"start_time_synced": float(start_time_synced),
})
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 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,
parent_application="capture",
):
"""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
from OpenGL.GL import GL_COLOR_BUFFER_BIT
# display
import glfw
from gl_utils import GLFWErrorReporting
GLFWErrorReporting.set_default()
from pyglui import ui, graph, cygl
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 = parent_application
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.zmq_ctx = zmq_ctx
g_pool.ipc_pub = ipc_socket
g_pool.ipc_pub_url = ipc_pub_url
g_pool.ipc_sub_url = ipc_sub_url
g_pool.ipc_push_url = ipc_push_url
def get_timestamp():
return get_time_monotonic() - g_pool.timebase.value
g_pool.get_timestamp = get_timestamp
g_pool.get_now = get_time_monotonic
def load_runtime_pupil_detection_plugins():
from plugin import import_runtime_plugins
from pupil_detector_plugins.detector_base_plugin import PupilDetectorPlugin
plugins_path = os.path.join(g_pool.user_dir, "plugins")
for plugin in import_runtime_plugins(plugins_path):
if not isinstance(plugin, type):
continue
if not issubclass(plugin, PupilDetectorPlugin):
continue
if plugin is PupilDetectorPlugin:
continue
yield plugin
available_detectors = available_detector_plugins()
runtime_detectors = list(load_runtime_pupil_detection_plugins())
plugins = (
manager_classes
+ source_classes
+ available_detectors
+ runtime_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", {}),
*[(p.__name__, {}) for p in available_detectors],
("NDSI_Manager", {}),
("HMD_Streaming_Manager", {}),
("File_Manager", {}),
("Roi", {}),
]
def consume_events_and_render_buffer():
glfw.make_context_current(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.get_clipboard_string(main_window).decode()
except (AttributeError, glfw.GLFWError):
# 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.set_clipboard_string(main_window, user_input.clipboard)
for button, action, mods in user_input.buttons:
x, y = glfw.get_cursor_pos(main_window)
pos = gl_utils.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.swap_buffers(main_window)
# Callback functions
def on_resize(window, w, h):
nonlocal window_size
nonlocal content_scale
is_minimized = bool(glfw.get_window_attrib(window, 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_COLOR_BUFFER_BIT)
gl_utils.glClearColor(0, 0, 0, 1)
active_window = glfw.get_current_context()
glfw.make_context_current(window)
content_scale = gl_utils.get_content_scale(window)
framebuffer_scale = gl_utils.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.make_context_current(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.set_window_size_limits(
window,
min_size,
min_size,
glfw.DONT_CARE,
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 = gl_utils.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, paths):
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.init()
glfw.window_hint(glfw.SCALE_TO_MONITOR, glfw.TRUE)
if hide_ui:
glfw.window_hint(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.create_window(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.set_window_pos(main_window, window_pos[0], window_pos[1])
glfw.make_context_current(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 = gl_utils.get_content_scale(main_window)
framebuffer_scale = gl_utils.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.set_window_size(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)
# Add runtime plugins to the list of plugins to load with default arguments,
# if not already restored from session settings
plugins_to_load_names = set(name for name, _ in plugins_to_load)
for runtime_detector in runtime_detectors:
runtime_name = runtime_detector.__name__
if runtime_name not in plugins_to_load_names:
plugins_to_load.append((runtime_name, {}))
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.set_framebuffer_size_callback(main_window, on_resize)
glfw.set_window_iconify_callback(main_window, on_iconify)
glfw.set_key_callback(main_window, on_window_key)
glfw.set_char_callback(main_window, on_window_char)
glfw.set_mouse_button_callback(main_window, on_window_mouse_button)
glfw.set_cursor_pos_callback(main_window, on_pos)
glfw.set_scroll_callback(main_window, on_scroll)
glfw.set_drop_callback(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.get_framebuffer_size(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
if platform.system() == "Darwin":
# On macOS, calls to glfw.swap_buffers() deliberately take longer in case of
# occluded windows, based on the swap interval value. This causes an FPS drop
# and leads to problems when recording. To side-step this behaviour, the swap
# interval is set to zero.
#
# Read more about window occlusion on macOS here:
# https://developer.apple.com/library/archive/documentation/Performance/Conceptual/power_efficiency_guidelines_osx/WorkWhenVisible.html
glfw.swap_interval(0)
# Event loop
window_should_close = False
while not window_should_close:
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}")
elif (
subject.startswith("stop_eye_plugin")
and notification["target"] == g_pool.process
):
try:
plugin_to_stop = g_pool.plugin_by_name[notification["name"]]
except KeyError as err:
logger.error(f"Attempt to load unknown plugin: {err}")
else:
plugin_to_stop.alive = False
g_pool.plugins.clean()
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)
# GL drawing
if window_should_update():
cpu_graph.update()
if is_window_visible(main_window):
consume_events_and_render_buffer()
glfw.poll_events()
window_should_close = glfw.window_should_close(main_window)
# 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.restore_window(main_window) # need to do this for windows os
session_settings["window_position"] = glfw.get_window_pos(main_window)
session_window_size = glfw.get_window_size(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.destroy_window(main_window)
g_pool.gui.terminate()
glfw.terminate()
logger.info("Process shutting down.")
class Realsense_Source(Base_Source):
"""
Camera Capture is a class that encapsualtes pyrs.Device:
"""
def __init__(
self,
g_pool,
device_id=0,
frame_size=(1920, 1080),
frame_rate=30,
depth_frame_size=(640, 480),
depth_frame_rate=60,
align_streams=False,
preview_depth=False,
device_options=(),
record_depth=True,
stream_preset=None,
):
super().__init__(g_pool)
self._intrinsics = None
self.color_frame_index = 0
self.depth_frame_index = 0
self.device = None
self.service = pyrs.Service()
self.align_streams = align_streams
self.preview_depth = preview_depth
self.record_depth = record_depth
self.depth_video_writer = None
self.controls = None
self.pitch = 0
self.yaw = 0
self.mouse_drag = False
self.last_pos = (0, 0)
self.depth_window = None
self._needs_restart = False
self.stream_preset = stream_preset
self._initialize_device(
device_id,
frame_size,
frame_rate,
depth_frame_size,
depth_frame_rate,
device_options,
)
def _initialize_device(
self,
device_id,
color_frame_size,
color_fps,
depth_frame_size,
depth_fps,
device_options=(),
):
devices = tuple(self.service.get_devices())
color_frame_size = tuple(color_frame_size)
depth_frame_size = tuple(depth_frame_size)
self.streams = [ColorStream(), DepthStream(), PointStream()]
self.last_color_frame_ts = None
self.last_depth_frame_ts = None
self._recent_frame = None
self._recent_depth_frame = None
if not devices:
if not self._needs_restart:
logger.error(
"Camera failed to initialize. No cameras connected.")
self.device = None
self.update_menu()
return
if self.device is not None:
self.device.stop() # only call Device.stop() if its context
if device_id >= len(devices):
logger.error(
"Camera with id {} not found. Initializing default camera.".
format(device_id))
device_id = 0
# use default streams to filter modes by rs_stream and rs_format
self._available_modes = self._enumerate_formats(device_id)
# make sure that given frame sizes and rates are available
color_modes = self._available_modes[rs_stream.RS_STREAM_COLOR]
if color_frame_size not in color_modes:
# automatically select highest resolution
color_frame_size = sorted(color_modes.keys(), reverse=True)[0]
if color_fps not in color_modes[color_frame_size]:
# automatically select highest frame rate
color_fps = color_modes[color_frame_size][0]
depth_modes = self._available_modes[rs_stream.RS_STREAM_DEPTH]
if self.align_streams:
depth_frame_size = color_frame_size
else:
if depth_frame_size not in depth_modes:
# automatically select highest resolution
depth_frame_size = sorted(depth_modes.keys(), reverse=True)[0]
if depth_fps not in depth_modes[depth_frame_size]:
# automatically select highest frame rate
depth_fps = depth_modes[depth_frame_size][0]
colorstream = ColorStream(
width=color_frame_size[0],
height=color_frame_size[1],
fps=color_fps,
color_format="yuv",
preset=self.stream_preset,
)
depthstream = DepthStream(
width=depth_frame_size[0],
height=depth_frame_size[1],
fps=depth_fps,
preset=self.stream_preset,
)
pointstream = PointStream(width=depth_frame_size[0],
height=depth_frame_size[1],
fps=depth_fps)
self.streams = [colorstream, depthstream, pointstream]
if self.align_streams:
dacstream = DACStream(width=depth_frame_size[0],
height=depth_frame_size[1],
fps=depth_fps)
dacstream.name = "depth" # rename data accessor
self.streams.append(dacstream)
# update with correctly initialized streams
# always initiliazes color + depth, adds rectified/aligned versions as necessary
self.device = self.service.Device(device_id, streams=self.streams)
self.controls = Realsense_Controls(self.device, device_options)
self._intrinsics = load_intrinsics(self.g_pool.user_dir, self.name,
self.frame_size)
self.update_menu()
self._needs_restart = False
def _enumerate_formats(self, device_id):
"""Enumerate formats into hierachical structure:
streams:
resolutions:
framerates
"""
formats = {}
# only lists modes for native streams (RS_STREAM_COLOR/RS_STREAM_DEPTH)
for mode in self.service.get_device_modes(device_id):
if mode.stream in (rs_stream.RS_STREAM_COLOR,
rs_stream.RS_STREAM_DEPTH):
# check if frame size dict is available
if mode.stream not in formats:
formats[mode.stream] = {}
stream_obj = next(
(s for s in self.streams if s.stream == mode.stream))
if mode.format == stream_obj.format:
size = mode.width, mode.height
# check if framerate list is already available
if size not in formats[mode.stream]:
formats[mode.stream][size] = []
formats[mode.stream][size].append(mode.fps)
if self.align_streams:
depth_sizes = formats[rs_stream.RS_STREAM_DEPTH].keys()
color_sizes = formats[rs_stream.RS_STREAM_COLOR].keys()
# common_sizes = depth_sizes & color_sizes
discarded_sizes = depth_sizes ^ color_sizes
for size in discarded_sizes:
for sizes in formats.values():
if size in sizes:
del sizes[size]
return formats
def cleanup(self):
if self.depth_video_writer is not None:
self.stop_depth_recording()
if self.device is not None:
self.device.stop()
self.service.stop()
def get_init_dict(self):
return {
"device_id":
self.device.device_id if self.device is not None else 0,
"frame_size":
self.frame_size,
"frame_rate":
self.frame_rate,
"depth_frame_size":
self.depth_frame_size,
"depth_frame_rate":
self.depth_frame_rate,
"preview_depth":
self.preview_depth,
"record_depth":
self.record_depth,
"align_streams":
self.align_streams,
"device_options":
self.controls.export_presets() if self.controls is not None else
(),
"stream_preset":
self.stream_preset,
}
def get_frames(self):
if self.device:
self.device.wait_for_frames()
current_time = self.g_pool.get_timestamp()
last_color_frame_ts = self.device.get_frame_timestamp(
self.streams[0].stream)
if self.last_color_frame_ts != last_color_frame_ts:
self.last_color_frame_ts = last_color_frame_ts
color = ColorFrame(self.device)
color.timestamp = current_time
color.index = self.color_frame_index
self.color_frame_index += 1
else:
color = None
last_depth_frame_ts = self.device.get_frame_timestamp(
self.streams[1].stream)
if self.last_depth_frame_ts != last_depth_frame_ts:
self.last_depth_frame_ts = last_depth_frame_ts
depth = DepthFrame(self.device)
depth.timestamp = current_time
depth.index = self.depth_frame_index
self.depth_frame_index += 1
else:
depth = None
return color, depth
return None, None
def recent_events(self, events):
if self._needs_restart:
self.restart_device()
time.sleep(0.05)
elif not self.online:
time.sleep(0.05)
return
try:
color_frame, depth_frame = self.get_frames()
except (pyrs.RealsenseError, TimeoutError) as err:
logger.warning(
"Realsense failed to provide frames. Attempting to reinit.")
self._recent_frame = None
self._recent_depth_frame = None
self._needs_restart = True
else:
if color_frame and depth_frame:
self._recent_frame = color_frame
events["frame"] = color_frame
if depth_frame:
self._recent_depth_frame = depth_frame
events["depth_frame"] = depth_frame
if self.depth_video_writer is not None:
self.depth_video_writer.write_video_frame(depth_frame)
def deinit_ui(self):
self.remove_menu()
def init_ui(self):
self.add_menu()
self.menu.label = "Local USB Video Source"
self.update_menu()
def update_menu(self):
try:
del self.menu[:]
except AttributeError:
return
from pyglui import ui
if self.device is None:
self.menu.append(ui.Info_Text("Capture initialization failed."))
return
def align_and_restart(val):
self.align_streams = val
self.restart_device()
self.menu.append(
ui.Switch("record_depth", self, label="Record Depth Stream"))
self.menu.append(
ui.Switch("preview_depth", self, label="Preview Depth"))
self.menu.append(
ui.Switch("align_streams",
self,
label="Align Streams",
setter=align_and_restart))
def toggle_depth_display():
def on_depth_mouse_button(window, button, action, mods):
if button == glfw.GLFW_MOUSE_BUTTON_LEFT and action == glfw.GLFW_PRESS:
self.mouse_drag = True
if (button == glfw.GLFW_MOUSE_BUTTON_LEFT
and action == glfw.GLFW_RELEASE):
self.mouse_drag = False
if self.depth_window is None:
self.pitch = 0
self.yaw = 0
win_size = glfw.glfwGetWindowSize(self.g_pool.main_window)
self.depth_window = glfw.glfwCreateWindow(
win_size[0], win_size[1], "3D Point Cloud")
glfw.glfwSetMouseButtonCallback(self.depth_window,
on_depth_mouse_button)
active_window = glfw.glfwGetCurrentContext()
glfw.glfwMakeContextCurrent(self.depth_window)
gl_utils.basic_gl_setup()
gl_utils.make_coord_system_norm_based()
# refresh speed settings
glfw.glfwSwapInterval(0)
glfw.glfwMakeContextCurrent(active_window)
native_presets = [
("None", None),
("Best Quality", rs_preset.RS_PRESET_BEST_QUALITY),
("Largest image", rs_preset.RS_PRESET_LARGEST_IMAGE),
("Highest framerate", rs_preset.RS_PRESET_HIGHEST_FRAMERATE),
]
def set_stream_preset(val):
if self.stream_preset != val:
self.stream_preset = val
self.restart_device()
self.menu.append(
ui.Selector(
"stream_preset",
self,
setter=set_stream_preset,
labels=[preset[0] for preset in native_presets],
selection=[preset[1] for preset in native_presets],
label="Stream preset",
))
color_sizes = sorted(self._available_modes[rs_stream.RS_STREAM_COLOR],
reverse=True)
selector = ui.Selector(
"frame_size",
self,
# setter=,
selection=color_sizes,
label="Resolution" if self.align_streams else "Color Resolution",
)
selector.read_only = self.stream_preset is not None
self.menu.append(selector)
def color_fps_getter():
avail_fps = [
fps for fps in self._available_modes[rs_stream.RS_STREAM_COLOR]
[self.frame_size] if self.depth_frame_rate % fps == 0
]
return avail_fps, [str(fps) for fps in avail_fps]
selector = ui.Selector(
"frame_rate",
self,
# setter=,
selection_getter=color_fps_getter,
label="Color Frame Rate",
)
selector.read_only = self.stream_preset is not None
self.menu.append(selector)
if not self.align_streams:
depth_sizes = sorted(
self._available_modes[rs_stream.RS_STREAM_DEPTH], reverse=True)
selector = ui.Selector(
"depth_frame_size",
self,
# setter=,
selection=depth_sizes,
label="Depth Resolution",
)
selector.read_only = self.stream_preset is not None
self.menu.append(selector)
def depth_fps_getter():
avail_fps = [
fps for fps in self._available_modes[rs_stream.RS_STREAM_DEPTH]
[self.depth_frame_size] if fps % self.frame_rate == 0
]
return avail_fps, [str(fps) for fps in avail_fps]
selector = ui.Selector(
"depth_frame_rate",
self,
selection_getter=depth_fps_getter,
label="Depth Frame Rate",
)
selector.read_only = self.stream_preset is not None
self.menu.append(selector)
def reset_options():
if self.device:
try:
self.device.reset_device_options_to_default(
self.controls.keys())
except pyrs.RealsenseError as err:
logger.info("Resetting some device options failed")
logger.debug("Reason: {}".format(err))
finally:
self.controls.refresh()
self.menu.append(ui.Button("Point Cloud Window", toggle_depth_display))
sensor_control = ui.Growing_Menu(label="Sensor Settings")
sensor_control.append(
ui.Button("Reset device options to default", reset_options))
for ctrl in sorted(self.controls.values(),
key=lambda x: x.range.option):
# sensor_control.append(ui.Info_Text(ctrl.description))
if (ctrl.range.min == 0.0 and ctrl.range.max == 1.0
and ctrl.range.step == 1.0):
sensor_control.append(
ui.Switch("value",
ctrl,
label=ctrl.label,
off_val=0.0,
on_val=1.0))
else:
sensor_control.append(
ui.Slider(
"value",
ctrl,
label=ctrl.label,
min=ctrl.range.min,
max=ctrl.range.max,
step=ctrl.range.step,
))
self.menu.append(sensor_control)
def gl_display(self):
from math import floor
if self.depth_window is not None and glfw.glfwWindowShouldClose(
self.depth_window):
glfw.glfwDestroyWindow(self.depth_window)
self.depth_window = None
if self.depth_window is not None and self._recent_depth_frame is not None:
active_window = glfw.glfwGetCurrentContext()
glfw.glfwMakeContextCurrent(self.depth_window)
win_size = glfw.glfwGetFramebufferSize(self.depth_window)
gl_utils.adjust_gl_view(win_size[0], win_size[1])
pos = glfw.glfwGetCursorPos(self.depth_window)
if self.mouse_drag:
self.pitch = np.clip(self.pitch + (pos[1] - self.last_pos[1]),
-80, 80)
self.yaw = np.clip(self.yaw - (pos[0] - self.last_pos[0]),
-120, 120)
self.last_pos = pos
glClearColor(0, 0, 0, 0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(60, win_size[0] / win_size[1], 0.01, 20.0)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
glTranslatef(0, 0, 0.5)
glRotated(self.pitch, 1, 0, 0)
glRotated(self.yaw, 0, 1, 0)
glTranslatef(0, 0, -0.5)
# glPointSize(2)
glEnable(GL_DEPTH_TEST)
extrinsics = self.device.get_device_extrinsics(
rs_stream.RS_STREAM_DEPTH, rs_stream.RS_STREAM_COLOR)
depth_frame = self._recent_depth_frame
color_frame = self._recent_frame
depth_scale = self.device.depth_scale
glEnableClientState(GL_VERTEX_ARRAY)
pointcloud = self.device.pointcloud
glVertexPointer(3, GL_FLOAT, 0, pointcloud)
glEnableClientState(GL_COLOR_ARRAY)
depth_to_color = np.zeros(
depth_frame.height * depth_frame.width * 3, np.uint8)
rsutilwrapper.project_pointcloud_to_pixel(
depth_to_color,
self.device.depth_intrinsics,
self.device.color_intrinsics,
extrinsics,
pointcloud,
self._recent_frame.bgr,
)
glColorPointer(3, GL_UNSIGNED_BYTE, 0, depth_to_color)
glDrawArrays(GL_POINTS, 0, depth_frame.width * depth_frame.height)
gl_utils.glFlush()
glDisable(GL_DEPTH_TEST)
# gl_utils.make_coord_system_norm_based()
glfw.glfwSwapBuffers(self.depth_window)
glfw.glfwMakeContextCurrent(active_window)
if self.preview_depth and self._recent_depth_frame is not None:
self.g_pool.image_tex.update_from_ndarray(
self._recent_depth_frame.bgr)
gl_utils.glFlush()
gl_utils.make_coord_system_norm_based()
self.g_pool.image_tex.draw()
elif self._recent_frame is not None:
self.g_pool.image_tex.update_from_yuv_buffer(
self._recent_frame.yuv_buffer,
self._recent_frame.width,
self._recent_frame.height,
)
gl_utils.glFlush()
gl_utils.make_coord_system_norm_based()
self.g_pool.image_tex.draw()
if not self.online:
super().gl_display()
gl_utils.make_coord_system_pixel_based(
(self.frame_size[1], self.frame_size[0], 3))
def restart_device(
self,
device_id=None,
color_frame_size=None,
color_fps=None,
depth_frame_size=None,
depth_fps=None,
device_options=None,
):
if device_id is None:
if self.device is not None:
device_id = self.device.device_id
else:
device_id = 0
if color_frame_size is None:
color_frame_size = self.frame_size
if color_fps is None:
color_fps = self.frame_rate
if depth_frame_size is None:
depth_frame_size = self.depth_frame_size
if depth_fps is None:
depth_fps = self.depth_frame_rate
if device_options is None:
device_options = self.controls.export_presets()
if self.device is not None:
self.device.stop()
self.device = None
self.service.stop()
self.service.start()
self.notify_all({
"subject": "realsense_source.restart",
"device_id": device_id,
"color_frame_size": color_frame_size,
"color_fps": color_fps,
"depth_frame_size": depth_frame_size,
"depth_fps": depth_fps,
"device_options": device_options,
})
def on_click(self, pos, button, action):
if button == glfw.GLFW_MOUSE_BUTTON_LEFT and action == glfw.GLFW_PRESS:
self.mouse_drag = True
if button == glfw.GLFW_MOUSE_BUTTON_LEFT and action == glfw.GLFW_RELEASE:
self.mouse_drag = False
def on_notify(self, notification):
if notification["subject"] == "realsense_source.restart":
kwargs = notification.copy()
del kwargs["subject"]
del kwargs["topic"]
self._initialize_device(**kwargs)
elif notification["subject"] == "recording.started":
self.start_depth_recording(notification["rec_path"],
notification["start_time_synced"])
elif notification["subject"] == "recording.stopped":
self.stop_depth_recording()
def start_depth_recording(self, rec_loc, start_time_synced):
if not self.record_depth:
return
if self.depth_video_writer is not None:
logger.warning("Depth video recording has been started already")
return
video_path = os.path.join(rec_loc, "depth.mp4")
self.depth_video_writer = MPEG_Writer(video_path, start_time_synced)
def stop_depth_recording(self):
if self.depth_video_writer is None:
logger.warning("Depth video recording was not running")
return
self.depth_video_writer.close()
self.depth_video_writer = None
@property
def frame_size(self):
stream = self.streams[0]
return stream.width, stream.height
@frame_size.setter
def frame_size(self, new_size):
if self.device is not None and new_size != self.frame_size:
self.restart_device(color_frame_size=new_size)
@property
def frame_rate(self):
return self.streams[0].fps
@frame_rate.setter
def frame_rate(self, new_rate):
if self.device is not None and new_rate != self.frame_rate:
self.restart_device(color_fps=new_rate)
@property
def depth_frame_size(self):
stream = self.streams[1]
return stream.width, stream.height
@depth_frame_size.setter
def depth_frame_size(self, new_size):
if self.device is not None and new_size != self.depth_frame_size:
self.restart_device(depth_frame_size=new_size)
@property
def depth_frame_rate(self):
return self.streams[1].fps
@depth_frame_rate.setter
def depth_frame_rate(self, new_rate):
if self.device is not None and new_rate != self.depth_frame_rate:
self.restart_device(depth_fps=new_rate)
@property
def jpeg_support(self):
return False
@property
def online(self):
return self.device and self.device.is_streaming()
@property
def name(self):
# not the same as `if self.device:`!
if self.device is not None:
return self.device.name
else:
return "Ghost capture"
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, MPEG_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)
for plugin in 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.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"]
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_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)
elif property_name == "roi":
try:
# Modify the ROI with the values sent over network
minX, maxX, minY, maxY = property_value
g_pool.u_r.set([
max(g_pool.u_r.min_x, int(minX)),
max(g_pool.u_r.min_y, int(minY)),
min(g_pool.u_r.max_x, int(maxX)),
min(g_pool.u_r.max_y, int(maxY)),
])
except ValueError as err:
raise ValueError(
"ROI needs to be list of 4 integers:"
"(minX, maxX, minY, maxY)") from err
else:
raise KeyError(
"Notification subject does not "
"specifiy detector type nor modify ROI.")
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.")
