def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
if self.active:
draw_gl_point_norm(self.smooth_pos,
size=15,
color=(1., 1., 0., .5))
if self.active and self.detected:
for e in self.candidate_ellipses:
pts = cv2.ellipse2Poly((int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]), 0, 360, 15)
draw_gl_polyline(pts, (0., 1., 0, 1.))
if self.counter:
# lets draw an indicator on the count
e = self.candidate_ellipses[2]
pts = cv2.ellipse2Poly((int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]), 0, 360,
360 / self.counter_max)
indicator = [e[0]] + pts[self.counter:].tolist()[::-1] + [e[0]]
draw_gl_polyline(indicator, (0.1, .5, .7, .8), type='Polygon')
if self.auto_stop:
# lets draw an indicator on the autostop count
e = self.candidate_ellipses[2]
pts = cv2.ellipse2Poly((int(e[0][0]), int(e[0][1])),
(int(e[1][0] / 2), int(e[1][1] / 2)),
int(e[-1]), 0, 360,
360 / self.auto_stop_max)
indicator = [e[0]] + pts[self.auto_stop:].tolist() + [e[0]]
draw_gl_polyline(indicator, (8., 0.1, 0.1, .8), type='Polygon')
else:
pass
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
if self.active:
draw_gl_point_norm(self.smooth_pos,size=15,color=(1.,1.,0.,.5))
if self.active and self.detected:
for e in self.candidate_ellipses:
pts = cv2.ellipse2Poly( (int(e[0][0]),int(e[0][1])),
(int(e[1][0]/2),int(e[1][1]/2)),
int(e[-1]),0,360,15)
draw_gl_polyline(pts,(0.,1.,0,1.))
if self.counter:
# lets draw an indicator on the count
e = self.candidate_ellipses[2]
pts = cv2.ellipse2Poly( (int(e[0][0]),int(e[0][1])),
(int(e[1][0]/2),int(e[1][1]/2)),
int(e[-1]),0,360,360/self.counter_max)
indicator = [e[0]] + pts[self.counter:].tolist()[::-1] + [e[0]]
draw_gl_polyline(indicator,(0.1,.5,.7,.8),type='Polygon')
if self.auto_stop:
# lets draw an indicator on the autostop count
e = self.candidate_ellipses[2]
pts = cv2.ellipse2Poly( (int(e[0][0]),int(e[0][1])),
(int(e[1][0]/2),int(e[1][1]/2)),
int(e[-1]),0,360,360/self.auto_stop_max)
indicator = [e[0]] + pts[self.auto_stop:].tolist() + [e[0]]
draw_gl_polyline(indicator,(8.,0.1,0.1,.8),type='Polygon')
else:
pass
def gl_display(self):
"""
use gl calls to render
at least:
the published position of the reference
better:
show the detected postion even if not published
"""
if self.active:
draw_gl_point_norm(self.smooth_pos,size=15,color=(1.,1.,0.,.5))
if self.active and self.detected:
for e in self.candidate_ellipses:
pts = cv2.ellipse2Poly( (int(e[0][0]),int(e[0][1])),
(int(e[1][0]/2),int(e[1][1]/2)),
int(e[-1]),0,360,15)
draw_gl_polyline(pts,(0.,1.,0,1.))
if self.counter:
draw_gl_point_norm(self.pos,size=30.,color=(0.,1.,0.,.5))
else:
pass
def gl_display(self): if self.detected: draw_gl_point_norm(self.pos,size=self.r,color=(0.,1.,0.,.5))
def eye(g_pool,cap_src,cap_size):
"""
Creates a window, gl context.
Grabs images from a capture.
Streams Pupil coordinates into g_pool.pupil_queue
"""
# modify the root logger for this process
logger = logging.getLogger()
# remove inherited handlers
logger.handlers = []
# create file handler which logs even debug messages
fh = logging.FileHandler(os.path.join(g_pool.user_dir,'eye.log'),mode='w')
fh.setLevel(logging.DEBUG)
# create console handler with a higher log level
ch = logging.StreamHandler()
ch.setLevel(logging.WARNING)
# create formatter and add it to the handlers
formatter = logging.Formatter('EYE Process: %(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
formatter = logging.Formatter('E Y E Process [%(levelname)s] %(name)s : %(message)s')
ch.setFormatter(formatter)
# add the handlers to the logger
logger.addHandler(fh)
logger.addHandler(ch)
# create logger for the context of this function
logger = logging.getLogger(__name__)
# Callback functions
def on_resize(window,w, h):
adjust_gl_view(w,h,window)
norm_size = normalize((w,h),glfwGetWindowSize(window))
fb_size = denormalize(norm_size,glfwGetFramebufferSize(window))
atb.TwWindowSize(*map(int,fb_size))
def on_key(window, key, scancode, action, mods):
if not atb.TwEventKeyboardGLFW(key,int(action == GLFW_PRESS)):
if action == GLFW_PRESS:
if key == GLFW_KEY_ESCAPE:
on_close(window)
def on_char(window,char):
if not atb.TwEventCharGLFW(char,1):
pass
def on_button(window,button, action, mods):
if not atb.TwEventMouseButtonGLFW(button,int(action == GLFW_PRESS)):
if action == GLFW_PRESS:
pos = glfwGetCursorPos(window)
pos = normalize(pos,glfwGetWindowSize(window))
pos = denormalize(pos,(frame.img.shape[1],frame.img.shape[0]) ) # pos in frame.img pixels
u_r.setStart(pos)
bar.draw_roi.value = 1
else:
bar.draw_roi.value = 0
def on_pos(window,x, y):
norm_pos = normalize((x,y),glfwGetWindowSize(window))
fb_x,fb_y = denormalize(norm_pos,glfwGetFramebufferSize(window))
if atb.TwMouseMotion(int(fb_x),int(fb_y)):
pass
if bar.draw_roi.value == 1:
pos = denormalize(norm_pos,(frame.img.shape[1],frame.img.shape[0]) ) # pos in frame.img pixels
u_r.setEnd(pos)
def on_scroll(window,x,y):
if not atb.TwMouseWheel(int(x)):
pass
def on_close(window):
g_pool.quit.value = True
logger.info('Process closing from window')
# Helper functions called by the main atb bar
def start_roi():
bar.display.value = 1
bar.draw_roi.value = 2
def update_fps():
old_time, bar.timestamp = bar.timestamp, time()
dt = bar.timestamp - old_time
if dt:
bar.fps.value += .05 * (1. / dt - bar.fps.value)
bar.dt.value = dt
def get_from_data(data):
"""
helper for atb getter and setter use
"""
return data.value
# load session persistent settings
session_settings = shelve.open(os.path.join(g_pool.user_dir,'user_settings_eye'),protocol=2)
def load(var_name,default):
return session_settings.get(var_name,default)
def save(var_name,var):
session_settings[var_name] = var
# Initialize capture
cap = autoCreateCapture(cap_src, cap_size,timebase=g_pool.timebase)
if cap is None:
logger.error("Did not receive valid Capture")
return
# check if it works
frame = cap.get_frame()
if frame.img is None:
logger.error("Could not retrieve image from capture")
cap.close()
return
height,width = frame.img.shape[:2]
u_r = Roi(frame.img.shape)
u_r.set(load('roi',default=None))
writer = None
pupil_detector = Canny_Detector(g_pool)
atb.init()
# Create main ATB Controls
bar = atb.Bar(name = "Eye", label="Display",
help="Scene controls", color=(50, 50, 50), alpha=100,
text='light', position=(10, 10),refresh=.3, size=(200, 100))
bar.fps = c_float(0.0)
bar.timestamp = time()
bar.dt = c_float(0.0)
bar.sleep = c_float(0.0)
bar.display = c_int(load('bar.display',0))
bar.draw_pupil = c_bool(load('bar.draw_pupil',True))
bar.draw_roi = c_int(0)
dispay_mode_enum = atb.enum("Mode",{"Camera Image":0,
"Region of Interest":1,
"Algorithm":2,
"CPU Save": 3})
bar.add_var("FPS",bar.fps, step=1.,readonly=True)
bar.add_var("Mode", bar.display,vtype=dispay_mode_enum, help="select the view-mode")
bar.add_var("Show_Pupil_Point", bar.draw_pupil)
bar.add_button("Draw_ROI", start_roi, help="drag on screen to select a region of interest")
bar.add_var("SlowDown",bar.sleep, step=0.01,min=0.0)
bar.add_var("SaveSettings&Exit", g_pool.quit)
cap.create_atb_bar(pos=(220,10))
# create a bar for the detector
pupil_detector.create_atb_bar(pos=(10,120))
glfwInit()
window = glfwCreateWindow(width, height, "Eye", None, None)
glfwMakeContextCurrent(window)
# Register callbacks window
glfwSetWindowSizeCallback(window,on_resize)
glfwSetWindowCloseCallback(window,on_close)
glfwSetKeyCallback(window,on_key)
glfwSetCharCallback(window,on_char)
glfwSetMouseButtonCallback(window,on_button)
glfwSetCursorPosCallback(window,on_pos)
glfwSetScrollCallback(window,on_scroll)
glfwSetWindowPos(window,800,0)
on_resize(window,width,height)
# gl_state settings
basic_gl_setup()
# refresh speed settings
glfwSwapInterval(0)
# event loop
while not g_pool.quit.value:
# Get an image from the grabber
try:
frame = cap.get_frame()
except CameraCaptureError:
logger.error("Capture from Camera Failed. Stopping.")
break
except EndofVideoFileError:
logger.warning("Video File is done. Stopping")
break
update_fps()
sleep(bar.sleep.value) # for debugging only
### RECORDING of Eye Video (on demand) ###
# Setup variables and lists for recording
if g_pool.eye_rx.poll():
command = g_pool.eye_rx.recv()
if command is not None:
record_path = command
logger.info("Will save eye video to: %s"%record_path)
video_path = os.path.join(record_path, "eye.avi")
timestamps_path = os.path.join(record_path, "eye_timestamps.npy")
writer = cv2.VideoWriter(video_path, cv2.cv.CV_FOURCC(*'DIVX'), bar.fps.value, (frame.img.shape[1], frame.img.shape[0]))
timestamps = []
else:
logger.info("Done recording eye.")
writer = None
np.save(timestamps_path,np.asarray(timestamps))
del timestamps
if writer:
writer.write(frame.img)
timestamps.append(frame.timestamp)
# pupil ellipse detection
result = pupil_detector.detect(frame,user_roi=u_r,visualize=bar.display.value == 2)
# stream the result
g_pool.pupil_queue.put(result)
# VISUALIZATION direct visualizations on the frame.img data
if bar.display.value == 1:
# and a solid (white) frame around the user defined ROI
r_img = frame.img[u_r.lY:u_r.uY,u_r.lX:u_r.uX]
r_img[:,0] = 255,255,255
r_img[:,-1]= 255,255,255
r_img[0,:] = 255,255,255
r_img[-1,:]= 255,255,255
# GL-drawing
clear_gl_screen()
draw_gl_texture(frame.img,update=bar.display.value != 3)
if result['norm_pupil'] is not None and bar.draw_pupil.value:
if result.has_key('axes'):
pts = cv2.ellipse2Poly( (int(result['center'][0]),int(result['center'][1])),
(int(result["axes"][0]/2),int(result["axes"][1]/2)),
int(result["angle"]),0,360,15)
draw_gl_polyline(pts,(1.,0,0,.5))
draw_gl_point_norm(result['norm_pupil'],color=(1.,0.,0.,0.5))
atb.draw()
glfwSwapBuffers(window)
glfwPollEvents()
# END while running
# in case eye reconding was still runnnig: Save&close
if writer:
logger.info("Done recording eye.")
writer = None
np.save(timestamps_path,np.asarray(timestamps))
# save session persistent settings
save('roi',u_r.get())
save('bar.display',bar.display.value)
save('bar.draw_pupil',bar.draw_pupil.value)
session_settings.close()
pupil_detector.cleanup()
cap.close()
atb.terminate()
glfwDestroyWindow(window)
glfwTerminate()
#flushing queue incase world process did not exit gracefully
while not g_pool.pupil_queue.empty():
g_pool.pupil_queue.get()
g_pool.pupil_queue.close()
logger.debug("Process done")
def gl_display(self):
if self.detected:
draw_gl_point_norm(self.pos, size=self.r, color=(0., 1., 0., .5))
def eye(g_pool, cap_src, cap_size):
"""
Creates a window, gl context.
Grabs images from a capture.
Streams Pupil coordinates into g_pool.pupil_queue
"""
# modify the root logger for this process
logger = logging.getLogger()
# remove inherited handlers
logger.handlers = []
# create file handler which logs even debug messages
fh = logging.FileHandler(os.path.join(g_pool.user_dir, 'eye.log'),
mode='w')
fh.setLevel(logging.INFO)
# create console handler with a higher log level
ch = logging.StreamHandler()
ch.setLevel(logging.WARNING)
# create formatter and add it to the handlers
formatter = logging.Formatter(
'EYE Process: %(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
formatter = logging.Formatter(
'E Y E Process [%(levelname)s] %(name)s : %(message)s')
ch.setFormatter(formatter)
# add the handlers to the logger
logger.addHandler(fh)
logger.addHandler(ch)
# create logger for the context of this function
logger = logging.getLogger(__name__)
# Callback functions
def on_resize(window, w, h):
adjust_gl_view(w, h)
atb.TwWindowSize(w, h)
def on_key(window, key, scancode, action, mods):
if not atb.TwEventKeyboardGLFW(key, int(action == GLFW_PRESS)):
if action == GLFW_PRESS:
if key == GLFW_KEY_ESCAPE:
on_close(window)
def on_char(window, char):
if not atb.TwEventCharGLFW(char, 1):
pass
def on_button(window, button, action, mods):
if not atb.TwEventMouseButtonGLFW(button, int(action == GLFW_PRESS)):
if action == GLFW_PRESS:
pos = glfwGetCursorPos(window)
pos = normalize(pos, glfwGetWindowSize(window))
pos = denormalize(
pos, (frame.img.shape[1],
frame.img.shape[0])) # pos in frame.img pixels
u_r.setStart(pos)
bar.draw_roi.value = 1
else:
bar.draw_roi.value = 0
def on_pos(window, x, y):
if atb.TwMouseMotion(int(x), int(y)):
pass
if bar.draw_roi.value == 1:
pos = x, y
pos = normalize(pos, glfwGetWindowSize(window))
pos = denormalize(pos,
(frame.img.shape[1],
frame.img.shape[0])) # pos in frame.img pixels
u_r.setEnd(pos)
def on_scroll(window, x, y):
if not atb.TwMouseWheel(int(x)):
pass
def on_close(window):
g_pool.quit.value = True
logger.info('Process closing from window')
# Helper functions called by the main atb bar
def start_roi():
bar.display.value = 1
bar.draw_roi.value = 2
def update_fps():
old_time, bar.timestamp = bar.timestamp, time()
dt = bar.timestamp - old_time
if dt:
bar.fps.value += .05 * (1. / dt - bar.fps.value)
bar.dt.value = dt
def get_from_data(data):
"""
helper for atb getter and setter use
"""
return data.value
# load session persistent settings
session_settings = shelve.open(os.path.join(g_pool.user_dir,
'user_settings_eye'),
protocol=2)
def load(var_name, default):
return session_settings.get(var_name, default)
def save(var_name, var):
session_settings[var_name] = var
# Initialize capture
cap = autoCreateCapture(cap_src, cap_size)
if cap is None:
logger.error("Did not receive valid Capture")
return
# check if it works
frame = cap.get_frame()
if frame.img is None:
logger.error("Could not retrieve image from capture")
cap.close()
return
height, width = frame.img.shape[:2]
cap.auto_rewind = False
u_r = Roi(frame.img.shape)
u_r.set(load('roi', default=None))
writer = None
pupil_detector = Canny_Detector(g_pool)
atb.init()
# Create main ATB Controls
bar = atb.Bar(name="Eye",
label="Display",
help="Scene controls",
color=(50, 50, 50),
alpha=100,
text='light',
position=(10, 10),
refresh=.3,
size=(200, 100))
bar.fps = c_float(0.0)
bar.timestamp = time()
bar.dt = c_float(0.0)
bar.sleep = c_float(0.0)
bar.display = c_int(load('bar.display', 0))
bar.draw_pupil = c_bool(load('bar.draw_pupil', True))
bar.draw_roi = c_int(0)
dispay_mode_enum = atb.enum("Mode", {
"Camera Image": 0,
"Region of Interest": 1,
"Algorithm": 2
})
bar.add_var("FPS", bar.fps, step=1., readonly=True)
bar.add_var("Mode",
bar.display,
vtype=dispay_mode_enum,
help="select the view-mode")
bar.add_var("Show_Pupil_Point", bar.draw_pupil)
bar.add_button("Draw_ROI",
start_roi,
help="drag on screen to select a region of interest")
bar.add_var("SlowDown", bar.sleep, step=0.01, min=0.0)
bar.add_var("SaveSettings&Exit", g_pool.quit)
cap.create_atb_bar(pos=(220, 10))
# create a bar for the detector
pupil_detector.create_atb_bar(pos=(10, 120))
glfwInit()
window = glfwCreateWindow(width, height, "Eye", None, None)
glfwMakeContextCurrent(window)
# Register callbacks window
glfwSetWindowSizeCallback(window, on_resize)
glfwSetWindowCloseCallback(window, on_close)
glfwSetKeyCallback(window, on_key)
glfwSetCharCallback(window, on_char)
glfwSetMouseButtonCallback(window, on_button)
glfwSetCursorPosCallback(window, on_pos)
glfwSetScrollCallback(window, on_scroll)
glfwSetWindowPos(window, 800, 0)
on_resize(window, width, height)
# gl_state settings
basic_gl_setup()
# refresh speed settings
glfwSwapInterval(0)
# event loop
while not g_pool.quit.value:
frame = cap.get_frame()
if frame.img is None:
break
update_fps()
sleep(bar.sleep.value) # for debugging only
if pupil_detector.should_sleep:
sleep(16)
pupil_detector.should_sleep = False
### RECORDING of Eye Video (on demand) ###
# Setup variables and lists for recording
if g_pool.eye_rx.poll():
command = g_pool.eye_rx.recv()
if command is not None:
record_path = command
logger.info("Will save eye video to: %(record_path)s")
video_path = os.path.join(record_path, "eye.avi")
timestamps_path = os.path.join(record_path,
"eye_timestamps.npy")
writer = cv2.VideoWriter(
video_path, cv2.cv.CV_FOURCC(*'DIVX'), bar.fps.value,
(frame.img.shape[1], frame.img.shape[0]))
timestamps = []
else:
logger.info("Done recording eye.")
writer = None
np.save(timestamps_path, np.asarray(timestamps))
del timestamps
if writer:
writer.write(frame.img)
timestamps.append(frame.timestamp)
# pupil ellipse detection
result = pupil_detector.detect(frame,
user_roi=u_r,
visualize=bar.display.value == 2)
# stream the result
g_pool.pupil_queue.put(result)
# VISUALIZATION direct visualizations on the frame.img data
if bar.display.value == 1:
# and a solid (white) frame around the user defined ROI
r_img = frame.img[u_r.lY:u_r.uY, u_r.lX:u_r.uX]
r_img[:, 0] = 255, 255, 255
r_img[:, -1] = 255, 255, 255
r_img[0, :] = 255, 255, 255
r_img[-1, :] = 255, 255, 255
# GL-drawing
clear_gl_screen()
draw_gl_texture(frame.img)
if result['norm_pupil'] is not None and bar.draw_pupil.value:
if result.has_key('axes'):
pts = cv2.ellipse2Poly(
(int(result['center'][0]), int(result['center'][1])),
(int(result["axes"][0] / 2), int(result["axes"][1] / 2)),
int(result["angle"]), 0, 360, 15)
draw_gl_polyline(pts, (1., 0, 0, .5))
draw_gl_point_norm(result['norm_pupil'], color=(1., 0., 0., 0.5))
atb.draw()
glfwSwapBuffers(window)
glfwPollEvents()
# END while running
# in case eye reconding was still runnnig: Save&close
if writer:
logger.info("Done recording eye.")
writer = None
np.save(timestamps_path, np.asarray(timestamps))
# save session persistent settings
save('roi', u_r.get())
save('bar.display', bar.display.value)
save('bar.draw_pupil', bar.draw_pupil.value)
session_settings.close()
pupil_detector.cleanup()
cap.close()
atb.terminate()
glfwDestroyWindow(window)
glfwTerminate()
#flushing queue incase world process did not exit gracefully
while not g_pool.pupil_queue.empty():
g_pool.pupil_queue.get()
g_pool.pupil_queue.close()
logger.debug("Process done")
def world(g_pool):
"""world
"""
# Callback functions
def on_resize(w, h):
atb.TwWindowSize(w, h);
adjust_gl_view(w,h)
def on_key(key, pressed):
if not atb.TwEventKeyboardGLFW(key,pressed):
if pressed:
if key == GLFW_KEY_ESC:
on_close()
def on_char(char, pressed):
if not atb.TwEventCharGLFW(char,pressed):
pass
def on_button(button, pressed):
if not atb.TwEventMouseButtonGLFW(button,pressed):
if pressed:
pos = glfwGetMousePos()
pos = normalize(pos,glfwGetWindowSize())
pos = denormalize(pos,(frame.img.shape[1],frame.img.shape[0]) ) # Position in img pixels
for p in g.plugins:
p.on_click(pos)
def on_pos(x, y):
if atb.TwMouseMotion(x,y):
pass
def on_scroll(pos):
if not atb.TwMouseWheel(pos):
pass
def on_close():
g_pool.quit.value = True
print "WORLD Process closing from window"
# load session persistent settings
session_settings = shelve.open('user_settings_world',protocol=2)
def load(var_name,default):
try:
return session_settings[var_name]
except:
return default
def save(var_name,var):
session_settings[var_name] = var
# gaze object
gaze = Temp()
gaze.map_coords = (0., 0.)
gaze.image_coords = (0., 0.)
# Initialize capture, check if it works
cap = autoCreateCapture(g_pool.world_src, g_pool.world_size,24)
if cap is None:
print "WORLD: Error could not create Capture"
return
frame = cap.get_frame()
if frame.img is None:
print "WORLD: Error could not get image"
return
height,width = frame.img.shape[:2]
# helpers called by the main atb bar
def update_fps():
old_time, bar.timestamp = bar.timestamp, time()
dt = bar.timestamp - old_time
if dt:
bar.fps.value += .05 * (1 / dt - bar.fps.value)
def set_window_size(mode,data):
height,width = frame.img.shape[:2]
ratio = (1,.75,.5,.25)[mode]
w,h = int(width*ratio),int(height*ratio)
glfwSetWindowSize(w,h)
data.value=mode # update the bar.value
def get_from_data(data):
"""
helper for atb getter and setter use
"""
return data.value
def open_calibration(selection,data):
# prepare destruction of old ref_detector.
if g.current_ref_detector:
g.current_ref_detector.alive = False
# remove old ref detector from list of plugins
g.plugins = [p for p in g.plugins if p.alive]
print "selected: ",reference_detectors.name_by_index[selection]
g.current_ref_detector = reference_detectors.detector_by_index[selection](global_calibrate=g_pool.calibrate,
shared_pos=g_pool.ref,
screen_marker_pos = g_pool.marker,
screen_marker_state = g_pool.marker_state,
atb_pos=bar.next_atb_pos)
g.plugins.append(g.current_ref_detector)
# save the value for atb bar
data.value=selection
def toggle_record_video():
if any([True for p in g.plugins if isinstance(p,recorder.Recorder)]):
for p in g.plugins:
if isinstance(p,recorder.Recorder):
p.alive = False
else:
# set up folder within recordings named by user input in atb
if not bar.rec_name.value:
bar.rec_name.value = recorder.get_auto_name()
recorder_instance = recorder.Recorder(bar.rec_name.value, bar.fps.value, frame.img.shape, g_pool.pos_record, g_pool.eye_tx)
g.plugins.append(recorder_instance)
def toggle_show_calib_result():
if any([True for p in g.plugins if isinstance(p,Show_Calibration)]):
for p in g.plugins:
if isinstance(p,Show_Calibration):
p.alive = False
else:
calib = Show_Calibration(frame.img.shape)
g.plugins.append(calib)
def show_calib_result():
# kill old if any
if any([True for p in g.plugins if isinstance(p,Show_Calibration)]):
for p in g.plugins:
if isinstance(p,Show_Calibration):
p.alive = False
g.plugins = [p for p in g.plugins if p.alive]
# make new
calib = Show_Calibration(frame.img.shape)
g.plugins.append(calib)
def hide_calib_result():
if any([True for p in g.plugins if isinstance(p,Show_Calibration)]):
for p in g.plugins:
if isinstance(p,Show_Calibration):
p.alive = False
# Initialize ant tweak bar - inherits from atb.Bar
atb.init()
bar = atb.Bar(name = "World", label="Controls",
help="Scene controls", color=(50, 50, 50), alpha=100,valueswidth=150,
text='light', position=(10, 10),refresh=.3, size=(300, 200))
bar.next_atb_pos = (10,220)
bar.fps = c_float(0.0)
bar.timestamp = time()
bar.calibration_type = c_int(load("calibration_type",0))
bar.show_calib_result = c_bool(0)
bar.record_video = c_bool(0)
bar.record_running = c_bool(0)
bar.play = g_pool.play
bar.window_size = c_int(load("window_size",0))
window_size_enum = atb.enum("Display Size",{"Full":0, "Medium":1,"Half":2,"Mini":3})
bar.calibrate_type_enum = atb.enum("Calibration Method",reference_detectors.index_by_name)
bar.rec_name = create_string_buffer(512)
bar.rec_name.value = recorder.get_auto_name()
# play and record can be tied together via pointers to the objects
# bar.play = bar.record_video
bar.add_var("fps", bar.fps, step=1., readonly=True)
bar.add_var("display size", vtype=window_size_enum,setter=set_window_size,getter=get_from_data,data=bar.window_size)
bar.add_var("calibration method",setter=open_calibration,getter=get_from_data,data=bar.calibration_type, vtype=bar.calibrate_type_enum,group="Calibration", help="Please choose your desired calibration method.")
bar.add_button("show calibration result",toggle_show_calib_result, group="Calibration", help="Click to show calibration result.")
bar.add_var("session name",bar.rec_name, group="Recording", help="creates folder Data_Name_XXX, where xxx is an increasing number")
bar.add_button("record", toggle_record_video, key="r", group="Recording", help="Start/Stop Recording")
bar.add_separator("Sep1")
bar.add_var("play video", bar.play, help="play a video in the Player window")
bar.add_var("exit", g_pool.quit)
# add uvc camera controls to a seperate ATB bar
cap.create_atb_bar(pos=(320,10))
# create container for globally scoped vars (within world)
g = Temp()
g.plugins = []
g.current_ref_detector = None
open_calibration(bar.calibration_type.value,bar.calibration_type)
# Initialize glfw
glfwInit()
height,width = frame.img.shape[:2]
glfwOpenWindow(width, height, 0, 0, 0, 8, 0, 0, GLFW_WINDOW)
glfwSetWindowTitle("World")
glfwSetWindowPos(0,0)
#set the last saved window size
set_window_size(bar.window_size.value,bar.window_size)
# Register callbacks
glfwSetWindowSizeCallback(on_resize)
glfwSetWindowCloseCallback(on_close)
glfwSetKeyCallback(on_key)
glfwSetCharCallback(on_char)
glfwSetMouseButtonCallback(on_button)
glfwSetMousePosCallback(on_pos)
glfwSetMouseWheelCallback(on_scroll)
# gl_state settings
import OpenGL.GL as gl
gl.glEnable(gl.GL_POINT_SMOOTH)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glEnable(gl.GL_BLEND)
del gl
# Event loop
while glfwGetWindowParam(GLFW_OPENED) and not g_pool.quit.value:
# Get input characters entered in player
if g_pool.player_input.value:
player_input = g_pool.player_input.value
g_pool.player_input.value = 0
on_char(player_input,True)
# Get an image from the grabber
frame = cap.get_frame()
update_fps()
for p in g.plugins:
p.update(frame)
g.plugins = [p for p in g.plugins if p.alive]
g_pool.player_refresh.set()
# render the screen
clear_gl_screen()
draw_gl_texture(frame.img)
# render visual feedback from loaded plugins
for p in g.plugins:
p.gl_display()
# update gaze point from shared variable pool and draw on screen. If both coords are 0: no pupil pos was detected.
if not g_pool.gaze[:] == [0.,0.]:
draw_gl_point_norm(g_pool.gaze[:],color=(1.,0.,0.,0.5))
atb.draw()
glfwSwapBuffers()
# end while running and clean-up
# de-init all running plugins
for p in g.plugins:
p.alive = False
g.plugins = [p for p in g.plugins if p.alive]
save('window_size',bar.window_size.value)
save('calibration_type',bar.calibration_type.value)
session_settings.close()
cap.close()
glfwCloseWindow()
glfwTerminate()
print "WORLD Process closed"
def eye(g_pool):
"""
this process needs a docstring
"""
# # callback functions
def on_resize(w, h):
atb.TwWindowSize(w, h)
adjust_gl_view(w, h)
def on_key(key, pressed):
if not atb.TwEventKeyboardGLFW(key, pressed):
if pressed:
if key == GLFW_KEY_ESC:
on_close()
def on_char(char, pressed):
if not atb.TwEventCharGLFW(char, pressed):
pass
def on_button(button, pressed):
if not atb.TwEventMouseButtonGLFW(button, pressed):
if bar.draw_roi.value:
if pressed:
pos = glfwGetMousePos()
pos = normalize(pos, glfwGetWindowSize())
pos = denormalize(pos, (img.shape[1], img.shape[0])) # pos in img pixels
r.setStart(pos)
bar.draw_roi.value = 1
else:
bar.draw_roi.value = 0
def on_pos(x, y):
if atb.TwMouseMotion(x, y):
pass
if bar.draw_roi.value == 1:
pos = glfwGetMousePos()
pos = normalize(pos, glfwGetWindowSize())
pos = denormalize(pos, (img.shape[1], img.shape[0])) # pos in img pixels
r.setEnd(pos)
def on_scroll(pos):
if not atb.TwMouseWheel(pos):
pass
def on_close():
g_pool.quit.value = True
print "EYE Process closing from window"
# initialize capture, check if it works
cap = autoCreateCapture(g_pool.eye_src, g_pool.eye_size)
if cap is None:
print "EYE: Error could not create Capture"
return
s, img = cap.read_RGB()
if not s:
print "EYE: Error could not get image"
return
height, width = img.shape[:2]
# pupil object
pupil = Temp()
pupil.norm_coords = (0.0, 0.0)
pupil.image_coords = (0.0, 0.0)
pupil.ellipse = None
pupil.gaze_coords = (0.0, 0.0)
try:
pupil.pt_cloud = np.load("cal_pt_cloud.npy")
map_pupil = get_map_from_cloud(pupil.pt_cloud, g_pool.world_size) ###world video size here
except:
pupil.pt_cloud = None
def map_pupil(vector):
return vector
r = Roi(img.shape)
p_r = Roi(img.shape)
# local object
l_pool = Temp()
l_pool.calib_running = False
l_pool.record_running = False
l_pool.record_positions = []
l_pool.record_path = None
l_pool.writer = None
l_pool.region_r = 20
atb.init()
bar = Bar(
"Eye",
g_pool,
dict(
label="Controls",
help="eye detection controls",
color=(50, 50, 50),
alpha=100,
text="light",
position=(10, 10),
refresh=0.1,
size=(200, 300),
),
)
# add 4vl2 camera controls to a seperate ATB bar
if cap.controls is not None:
c_bar = atb.Bar(
name="Camera_Controls",
label=cap.name,
help="UVC Camera Controls",
color=(50, 50, 50),
alpha=100,
text="light",
position=(220, 10),
refresh=2.0,
size=(200, 200),
)
# c_bar.add_var("auto_refresher",vtype=atb.TW_TYPE_BOOL8,getter=cap.uvc_refresh_all,setter=None,readonly=True)
# c_bar.define(definition='visible=0', varname="auto_refresher")
sorted_controls = [c for c in cap.controls.itervalues()]
sorted_controls.sort(key=lambda c: c.order)
for control in sorted_controls:
name = control.atb_name
if control.type == "bool":
c_bar.add_var(name, vtype=atb.TW_TYPE_BOOL8, getter=control.get_val, setter=control.set_val)
elif control.type == "int":
c_bar.add_var(name, vtype=atb.TW_TYPE_INT32, getter=control.get_val, setter=control.set_val)
c_bar.define(definition="min=" + str(control.min), varname=name)
c_bar.define(definition="max=" + str(control.max), varname=name)
c_bar.define(definition="step=" + str(control.step), varname=name)
elif control.type == "menu":
if control.menu is None:
vtype = None
else:
vtype = atb.enum(name, control.menu)
c_bar.add_var(name, vtype=vtype, getter=control.get_val, setter=control.set_val)
if control.menu is None:
c_bar.define(definition="min=" + str(control.min), varname=name)
c_bar.define(definition="max=" + str(control.max), varname=name)
c_bar.define(definition="step=" + str(control.step), varname=name)
else:
pass
if control.flags == "inactive":
pass
# c_bar.define(definition='readonly=1',varname=control.name)
c_bar.add_button("refresh", cap.update_from_device)
c_bar.add_button("load defaults", cap.load_defaults)
else:
c_bar = None
# Initialize glfw
glfwInit()
glfwOpenWindow(width, height, 0, 0, 0, 8, 0, 0, GLFW_WINDOW)
glfwSetWindowTitle("Eye")
glfwSetWindowPos(800, 0)
if isinstance(g_pool.eye_src, str):
glfwSwapInterval(0) # turn of v-sync when using video as src for benchmarking
# register callbacks
glfwSetWindowSizeCallback(on_resize)
glfwSetWindowCloseCallback(on_close)
glfwSetKeyCallback(on_key)
glfwSetCharCallback(on_char)
glfwSetMouseButtonCallback(on_button)
glfwSetMousePosCallback(on_pos)
glfwSetMouseWheelCallback(on_scroll)
# gl_state settings
import OpenGL.GL as gl
gl.glEnable(gl.GL_POINT_SMOOTH)
gl.glPointSize(20)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glEnable(gl.GL_BLEND)
del gl
# event loop
while glfwGetWindowParam(GLFW_OPENED) and not g_pool.quit.value:
bar.update_fps()
s, img = cap.read_RGB()
sleep(bar.sleep.value) # for debugging only
###IMAGE PROCESSING
gray_img = grayscale(img[r.lY : r.uY, r.lX : r.uX])
integral = cv2.integral(gray_img)
integral = np.array(integral, dtype=c_float)
x, y, w = eye_filter(integral)
if w > 0:
p_r.set((y, x, y + w, x + w))
else:
p_r.set((0, 0, -1, -1))
# create view into the gray_img with the bounds of the rough pupil estimation
pupil_img = gray_img[p_r.lY : p_r.uY, p_r.lX : p_r.uX]
# pupil_img = cv2.morphologyEx(pupil_img, cv2.MORPH_OPEN, cv2.getStructuringElement(cv2.MORPH_RECT,(5,5)),iterations=2)
if True:
hist = cv2.calcHist(
[pupil_img], [0], None, [256], [0, 256]
) # (images, channels, mask, histSize, ranges[, hist[, accumulate]])
bins = np.arange(hist.shape[0])
spikes = bins[hist[:, 0] > 40] # every color seen in more than 40 pixels
if spikes.shape[0] > 0:
lowest_spike = spikes.min()
offset = 40
##display the histogram
sx, sy = 100, 1
colors = ((255, 0, 0), (0, 0, 255), (0, 255, 255))
h, w, chan = img.shape
# normalize
hist *= 1.0 / hist.max()
for i, h in zip(bins, hist[:, 0]):
c = colors[1]
cv2.line(img, (w, int(i * sy)), (w - int(h * sx), int(i * sy)), c)
cv2.line(img, (w, int(lowest_spike * sy)), (int(w - 0.5 * sx), int(lowest_spike * sy)), colors[0])
cv2.line(
img,
(w, int((lowest_spike + offset) * sy)),
(int(w - 0.5 * sx), int((lowest_spike + offset) * sy)),
colors[2],
)
# # k-means on the histogram finds peaks but thats no good for us...
# term_crit = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 10, 1.0)
# compactness, bestLabels, centers = cv2.kmeans(data=hist, K=2, criteria=term_crit, attempts=10, flags=cv2.KMEANS_RANDOM_CENTERS)
# cv2.line(img,(0,1),(int(compactness),1),(0,0,0))
# good_cluster = np.argmax(centers)
# # A = hist[bestLabels.ravel() == good_cluster]
# # B = hist[bestLabels.ravel() != good_cluster]
# bins = np.arange(hist.shape[0])
# good_bins = bins[bestLabels.ravel() == good_cluster]
# good_bins_mean = good_bins.sum()/good_bins.shape[0]
# good_bins_min = good_bins.min()
# h,w,chan = img.shape
# for h, i, label in zip(hist[:,0],range(hist.shape[0]), bestLabels.ravel()):
# c = colors[label]
# cv2.line(img,(w,int(i*sy)),(w-int(h*sx),int(i*sy)),c)
else:
# direct k-means on the image is best but expensive
Z = pupil_img[:: w / 30 + 1, :: w / 30 + 1].reshape((-1, 1))
Z = np.float32(Z)
# define criteria, number of clusters(K) and apply kmeans()
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 20, 2.0)
K = 5
ret, label, center = cv2.kmeans(Z, K, criteria, 10, cv2.KMEANS_RANDOM_CENTERS)
offset = 0
center.sort(axis=0)
lowest_spike = int(center[1])
# # Now convert back into uint8, and make original image
# center = np.uint8(center)
# res = center[label.flatten()]
# binary_img = res.reshape((pupil_img.shape))
# binary_img = bin_thresholding(binary_img,image_upper=res.min()+1)
# bar.bin_thresh.value = res.min()+1
bar.bin_thresh.value = lowest_spike
binary_img = bin_thresholding(pupil_img, image_upper=lowest_spike + offset)
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (7, 7))
cv2.dilate(binary_img, kernel, binary_img, iterations=2)
spec_mask = bin_thresholding(pupil_img, image_upper=250)
cv2.erode(spec_mask, kernel, spec_mask, iterations=1)
if bar.blur.value > 1:
pupil_img = cv2.medianBlur(pupil_img, bar.blur.value)
# create contours using Canny edge dectetion
contours = cv2.Canny(
pupil_img,
bar.canny_thresh.value,
bar.canny_thresh.value * bar.canny_ratio.value,
apertureSize=bar.canny_aperture.value,
)
# remove contours in areas not dark enough and where the glint (spectral refelction from IR leds)
contours = cv2.min(contours, spec_mask)
contours = cv2.min(contours, binary_img)
# Ellipse fitting from countours
result = fit_ellipse(
img[r.lY : r.uY, r.lX : r.uX][p_r.lY : p_r.uY, p_r.lX : p_r.uX],
contours,
binary_img,
target_size=bar.pupil_size.value,
size_tolerance=bar.pupil_size_tolerance.value,
)
# # Vizualizations
overlay = cv2.cvtColor(pupil_img, cv2.COLOR_GRAY2RGB) # create an RGB view onto the gray pupil ROI
overlay[:, :, 0] = cv2.max(pupil_img, contours) # green channel
overlay[:, :, 2] = cv2.max(pupil_img, binary_img) # blue channel
overlay[:, :, 1] = cv2.min(pupil_img, spec_mask) # red channel
# draw a blue dotted frame around the automatic pupil ROI in overlay...
overlay[::2, 0] = 0, 0, 255
overlay[::2, -1] = 0, 0, 255
overlay[0, ::2] = 0, 0, 255
overlay[-1, ::2] = 0, 0, 255
# and a solid (white) frame around the user defined ROI
gray_img[:, 0] = 255
gray_img[:, -1] = 255
gray_img[0, :] = 255
gray_img[-1, :] = 255
if bar.display.value == 0:
img = img
elif bar.display.value == 1:
img[r.lY : r.uY, r.lX : r.uX] = cv2.cvtColor(gray_img, cv2.COLOR_GRAY2RGB)
elif bar.display.value == 2:
img[r.lY : r.uY, r.lX : r.uX] = cv2.cvtColor(gray_img, cv2.COLOR_GRAY2RGB)
img[r.lY : r.uY, r.lX : r.uX][p_r.lY : p_r.uY, p_r.lX : p_r.uX] = overlay
elif bar.display.value == 3:
img = cv2.cvtColor(pupil_img, cv2.COLOR_GRAY2RGB)
else:
pass
if result is not None:
pupil.ellipse, others = result
pupil.image_coords = r.add_vector(p_r.add_vector(pupil.ellipse["center"]))
# update pupil size,angle and ratio for the ellipse filter algorithm
bar.pupil_size.value = bar.pupil_size.value + 0.5 * (pupil.ellipse["major"] - bar.pupil_size.value)
bar.pupil_ratio.value = bar.pupil_ratio.value + 0.7 * (pupil.ellipse["ratio"] - bar.pupil_ratio.value)
bar.pupil_angle.value = bar.pupil_angle.value + 1.0 * (pupil.ellipse["angle"] - bar.pupil_angle.value)
# if pupil found tighten the size tolerance
bar.pupil_size_tolerance.value -= 1
bar.pupil_size_tolerance.value = max(10, min(50, bar.pupil_size_tolerance.value))
# clamp pupil size
bar.pupil_size.value = max(20, min(300, bar.pupil_size.value))
# normalize
pupil.norm_coords = normalize(pupil.image_coords, (img.shape[1], img.shape[0]), flip_y=True)
# from pupil to gaze
pupil.gaze_coords = map_pupil(pupil.norm_coords)
g_pool.gaze_x.value, g_pool.gaze_y.value = pupil.gaze_coords
else:
pupil.ellipse = None
g_pool.gaze_x.value, g_pool.gaze_y.value = 0.0, 0.0
pupil.gaze_coords = None # whithout this line the last know pupil position is recorded if none is found
bar.pupil_size_tolerance.value += 1
###CALIBRATION###
# Initialize Calibration (setup variables and lists)
if g_pool.calibrate.value and not l_pool.calib_running:
l_pool.calib_running = True
pupil.pt_cloud = []
# While Calibrating...
if l_pool.calib_running and ((g_pool.ref_x.value != 0) or (g_pool.ref_y.value != 0)) and pupil.ellipse:
pupil.pt_cloud.append([pupil.norm_coords[0], pupil.norm_coords[1], g_pool.ref_x.value, g_pool.ref_y.value])
# Calculate mapping coefs
if not g_pool.calibrate.value and l_pool.calib_running:
l_pool.calib_running = 0
if pupil.pt_cloud: # some data was actually collected
print "Calibrating with", len(pupil.pt_cloud), "collected data points."
map_pupil = get_map_from_cloud(np.array(pupil.pt_cloud), g_pool.world_size, verbose=True)
np.save("cal_pt_cloud.npy", np.array(pupil.pt_cloud))
###RECORDING###
# Setup variables and lists for recording
if g_pool.pos_record.value and not l_pool.record_running:
l_pool.record_path = g_pool.eye_rx.recv()
print "l_pool.record_path: ", l_pool.record_path
video_path = path.join(l_pool.record_path, "eye.avi")
# FFV1 -- good speed lossless big file
# DIVX -- good speed good compression medium file
if bar.record_eye.value:
l_pool.writer = cv2.VideoWriter(
video_path, cv2.cv.CV_FOURCC(*"DIVX"), bar.fps.value, (img.shape[1], img.shape[0])
)
l_pool.record_positions = []
l_pool.record_running = True
# While recording...
if l_pool.record_running:
if pupil.gaze_coords is not None:
l_pool.record_positions.append(
[
pupil.gaze_coords[0],
pupil.gaze_coords[1],
pupil.norm_coords[0],
pupil.norm_coords[1],
bar.dt,
g_pool.frame_count_record.value,
]
)
if l_pool.writer is not None:
l_pool.writer.write(cv2.cvtColor(img, cv2.cv.COLOR_BGR2RGB))
# Done Recording: Save values and flip switch to off for recording
if not g_pool.pos_record.value and l_pool.record_running:
positions_path = path.join(l_pool.record_path, "gaze_positions.npy")
cal_pt_cloud_path = path.join(l_pool.record_path, "cal_pt_cloud.npy")
np.save(positions_path, np.asarray(l_pool.record_positions))
try:
np.save(cal_pt_cloud_path, np.asarray(pupil.pt_cloud))
except:
print "Warning: No calibration data associated with this recording."
l_pool.writer = None
l_pool.record_running = False
### GL-drawing
clear_gl_screen()
draw_gl_texture(img)
if bar.draw_pupil and pupil.ellipse:
pts = cv2.ellipse2Poly(
(int(pupil.image_coords[0]), int(pupil.image_coords[1])),
(int(pupil.ellipse["axes"][0] / 2), int(pupil.ellipse["axes"][1] / 2)),
int(pupil.ellipse["angle"]),
0,
360,
15,
)
draw_gl_polyline(pts, (1.0, 0, 0, 0.5))
draw_gl_point_norm(pupil.norm_coords, (1.0, 0.0, 0.0, 0.5))
atb.draw()
glfwSwapBuffers()
# end while running
print "EYE Process closed"
r.save()
bar.save()
atb.terminate()
glfwCloseWindow()
glfwTerminate()
def world(g_pool):
"""world
"""
###Callback funtions
def on_resize(w, h):
atb.TwWindowSize(w, h);
adjust_gl_view(w,h)
def on_key(key, pressed):
if not atb.TwEventKeyboardGLFW(key,pressed):
if pressed:
if key == GLFW_KEY_ESC:
on_close()
def on_char(char, pressed):
if not atb.TwEventCharGLFW(char,pressed):
pass
def on_button(button, pressed):
if not atb.TwEventMouseButtonGLFW(button,pressed):
if pressed:
pos = glfwGetMousePos()
pos = normalize(pos,glfwGetWindowSize())
pos = denormalize(pos,(img.shape[1],img.shape[0]) ) #pos in img pixels
ref.detector.new_ref(pos)
def on_pos(x, y):
if atb.TwMouseMotion(x,y):
pass
def on_scroll(pos):
if not atb.TwMouseWheel(pos):
pass
def on_close():
g_pool.quit.value = True
print "WORLD Process closing from window"
ref = Temp()
ref.detector = no_Detector(g_pool.calibrate,g_pool.ref_x,g_pool.ref_y)
###objects as variable containers
# pattern object
pattern = Temp()
pattern.centers = None
pattern.obj_grid = gen_pattern_grid((4, 11)) # calib grid
pattern.obj_points = []
pattern.img_points = []
pattern.map = (0, 2, 7, 16, 21, 23, 39, 40, 42)
pattern.board_centers = None
# gaze object
gaze = Temp()
gaze.map_coords = (0., 0.)
gaze.image_coords = (0., 0.)
# record object
record = Temp()
record.writer = None
record.path_parent = os.path.dirname(os.path.abspath(sys.argv[0]))
record.path = None
record.counter = 0
# initialize capture, check if it works
cap = autoCreateCapture(g_pool.world_src, g_pool.world_size)
if cap is None:
print "WORLD: Error could not create Capture"
return
s, img = cap.read_RGB()
if not s:
print "WORLD: Error could not get image"
return
height,width = img.shape[:2]
###helpers called by the main atb bar
def update_fps():
old_time, bar.timestamp = bar.timestamp, time()
dt = bar.timestamp - old_time
if dt:
bar.fps.value += .05 * (1 / dt - bar.fps.value)
def set_window_size(mode,data):
height,width = img.shape[:2]
ratio = (1,.75,.5,.25)[mode]
w,h = int(width*ratio),int(height*ratio)
glfwSetWindowSize(w,h)
data.value=mode #update the bar.value
def get_from_data(data):
"""
helper for atb getter and setter use
"""
return data.value
def start_calibration():
c_type = bar.calibration_type.value
if c_type == cal_type["Directed 9-Point"]:
print 'WORLD: Starting Directed 9-Point calibration.'
ref.detector = Nine_Point_Detector(global_calibrate=g_pool.calibrate,
shared_x=g_pool.ref_x,
shared_y=g_pool.ref_y,
shared_stage=g_pool.cal9_stage,
shared_step=g_pool.cal9_step,
shared_cal9_active=g_pool.cal9,
shared_circle_id=g_pool.cal9_circle_id,
auto_advance=False)
elif c_type == cal_type["Automated 9-Point"]:
print 'WORLD: Starting Automated 9-Point calibration.'
ref.detector = Nine_Point_Detector(global_calibrate=g_pool.calibrate,
shared_x=g_pool.ref_x,
shared_y=g_pool.ref_y,
shared_stage=g_pool.cal9_stage,
shared_step=g_pool.cal9_step,
shared_cal9_active=g_pool.cal9,
shared_circle_id=g_pool.cal9_circle_id,
auto_advance=True)
elif c_type == cal_type["Natural Features"]:
print 'WORLD: Starting Natural Features calibration.'
ref.detector = Natural_Features_Detector(global_calibrate=g_pool.calibrate,
shared_x=g_pool.ref_x,
shared_y=g_pool.ref_y)
elif c_type == cal_type["Black Dot"]:
print 'WORLD: Starting Black Dot calibration.'
ref.detector = Black_Dot_Detector(global_calibrate=g_pool.calibrate,
shared_x=g_pool.ref_x,
shared_y=g_pool.ref_y)
def advance_calibration():
ref.detector.advance()
def stop_calibration():
ref.detector = no_Detector(global_calibrate=g_pool.calibrate,
shared_x=g_pool.ref_x,
shared_y=g_pool.ref_y)
### Initialize ant tweak bar inherits from atb.Bar
atb.init()
bar = atb.Bar(name = "World", label="Controls",
help="Scene controls", color=(50, 50, 50), alpha=100,
text='light', position=(10, 10),refresh=.3, size=(200, 200))
bar.fps = c_float(0.0)
bar.timestamp = time()
bar.calibration_type = c_int(1)
bar.show_calib_result = c_bool(0)
bar.calibration_images = False
bar.record_video = c_bool(0)
bar.record_running = c_bool(0)
bar.play = g_pool.play
bar.window_size = c_int(0)
window_size_enum = atb.enum("Display Size",{"Full":0, "Medium":1,"Half":2,"Mini":3})
cal_type = {"Directed 9-Point":0,"Automated 9-Point":1,"Natural Features":3,"Black Dot":4}#"Manual 9-Point":2
calibrate_type_enum = atb.enum("Calibration Method",cal_type)
bar.rec_name = create_string_buffer(512)
# play and record can be tied together via pointers to the objects
# bar.play = bar.record_video
bar.add_var("FPS", bar.fps, step=1., readonly=True)
bar.add_var("Display_Size", vtype=window_size_enum,setter=set_window_size,getter=get_from_data,data=bar.window_size)
bar.add_var("Cal/Calibration_Method",bar.calibration_type, vtype=calibrate_type_enum)
bar.add_button("Cal/Start_Calibration",start_calibration, key='c')
bar.add_button("Cal/Next_Point",advance_calibration,key="SPACE", help="Hit space to calibrate on next dot")
bar.add_button("Cal/Stop_Calibration",stop_calibration, key='d')
bar.add_var("Cal/show_calibration_result",bar.show_calib_result, help="yellow lines indecate fit error, red outline shows the calibrated area.")
bar.add_var("Rec/rec_name",bar.rec_name)
bar.add_var("Rec/Record_Video", bar.record_video, key="r", help="Start/Stop Recording")
bar.add_separator("Sep1")
bar.add_var("Play Source Video", bar.play)
bar.add_var("Exit", g_pool.quit)
#add 4vl2 camera controls to a seperate ATB bar
if cap.controls is not None:
c_bar = atb.Bar(name="Camera_Controls", label=cap.name,
help="UVC Camera Controls", color=(50,50,50), alpha=100,
text='light',position=(220, 10),refresh=2., size=(200, 200))
# c_bar.add_var("auto_refresher",vtype=atb.TW_TYPE_BOOL8,getter=cap.uvc_refresh_all,setter=None,readonly=True)
# c_bar.define(definition='visible=0', varname="auto_refresher")
sorted_controls = [c for c in cap.controls.itervalues()]
sorted_controls.sort(key=lambda c: c.order)
for control in sorted_controls:
name = control.atb_name
if control.type=="bool":
c_bar.add_var(name,vtype=atb.TW_TYPE_BOOL8,getter=control.get_val,setter=control.set_val)
elif control.type=='int':
c_bar.add_var(name,vtype=atb.TW_TYPE_INT32,getter=control.get_val,setter=control.set_val)
c_bar.define(definition='min='+str(control.min), varname=name)
c_bar.define(definition='max='+str(control.max), varname=name)
c_bar.define(definition='step='+str(control.step), varname=name)
elif control.type=="menu":
if control.menu is None:
vtype = None
else:
vtype= atb.enum(name,control.menu)
c_bar.add_var(name,vtype=vtype,getter=control.get_val,setter=control.set_val)
if control.menu is None:
c_bar.define(definition='min='+str(control.min), varname=name)
c_bar.define(definition='max='+str(control.max), varname=name)
c_bar.define(definition='step='+str(control.step), varname=name)
else:
pass
if control.flags == "inactive":
pass
# c_bar.define(definition='readonly=1',varname=control.name)
c_bar.add_button("refresh",cap.update_from_device)
c_bar.add_button("load defaults",cap.load_defaults)
else:
c_bar = None
### Initialize glfw
glfwInit()
height,width = img.shape[:2]
glfwOpenWindow(width, height, 0, 0, 0, 8, 0, 0, GLFW_WINDOW)
glfwSetWindowTitle("World")
glfwSetWindowPos(0,0)
#register callbacks
glfwSetWindowSizeCallback(on_resize)
glfwSetWindowCloseCallback(on_close)
glfwSetKeyCallback(on_key)
glfwSetCharCallback(on_char)
glfwSetMouseButtonCallback(on_button)
glfwSetMousePosCallback(on_pos)
glfwSetMouseWheelCallback(on_scroll)
#gl_state settings
import OpenGL.GL as gl
gl.glEnable(gl.GL_POINT_SMOOTH)
gl.glPointSize(20)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glEnable(gl.GL_BLEND)
###event loop
while glfwGetWindowParam(GLFW_OPENED) and not g_pool.quit.value:
update_fps()
# get an image from the grabber
s, img = cap.read()
ref.detector.detect(img)
if ref.detector.is_done():
stop_calibration()
g_pool.player_refresh.set()
# #gather pattern centers and find cam intrisics
# if bar.screen_shot and pattern.centers is not None:
# bar.screen_shot = False
# # calibrate the camera intrinsics if the board is found
# # append list of circle grid center points to pattern.img_points
# # append generic list of circle grid pattern type to pattern.obj_points
# pattern.centers = circle_grid(img)
# pattern.img_points.append(pattern.centers)
# pattern.obj_points.append(pattern.obj_grid)
# print "Number of Patterns Captured:", len(pattern.img_points)
# #if pattern.img_points.shape[0] > 10:
# if len(pattern.img_points) > 10:
# camera_matrix, dist_coefs = calibrate_camera(np.asarray(pattern.img_points),
# np.asarray(pattern.obj_points),
# (img.shape[1], img.shape[0]))
# np.save("camera_matrix.npy", camera_matrix)
# np.save("dist_coefs.npy", dist_coefs)
# pattern.img_points = []
# bar.find_pattern.value = False
### Setup recording process
if bar.record_video and not bar.record_running:
record.path = os.path.join(record.path_parent, "data%03d/" % record.counter)
while True:
try:
os.mkdir(record.path)
break
except:
print "We dont want to overwrite data, incrementing counter & trying to make new data folder"
record.counter += 1
record.path = os.path.join(record.path_parent, "data%03d/" % record.counter)
#video
video_path = os.path.join(record.path, "world.avi")
#FFV1 -- good speed lossless big file
#DIVX -- good speed good compression medium file
record.writer = cv2.VideoWriter(video_path, cv2.cv.CV_FOURCC(*'DIVX'), bar.fps.value, (img.shape[1], img.shape[0]))
# positions data to eye process
g_pool.pos_record.value = True
g_pool.eye_tx.send(record.path)
bar.record_running = 1
g_pool.frame_count_record.value = 0
# While Recording...
if bar.record_video and bar.record_running:
# Save image frames to video writer
# increment the frame_count_record value
# Eye positions can be associated with frames of recording even if different framerates are used
record.writer.write(img)
g_pool.frame_count_record.value += 1
# Finish all recordings, clean up.
if not bar.record_video and bar.record_running:
# for conviniece: copy camera intrinsics into each data folder at the end of a recording.
try:
camera_matrix = np.load("camera_matrix.npy")
dist_coefs = np.load("dist_coefs.npy")
cam_path = os.path.join(record.path, "camera_matrix.npy")
dist_path = os.path.join(record.path, "dist_coefs.npy")
np.save(cam_path, camera_matrix)
np.save(dist_path, dist_coefs)
except:
print "no camera intrinsics found, will not copy them into data folder"
g_pool.pos_record.value = 0
del record.writer
bar.record_running = 0
###render the screen
clear_gl_screen()
cv2.cvtColor(img, cv2.COLOR_BGR2RGB,img)
draw_gl_texture(img)
###render calibration results:
if bar.show_calib_result.value:
cal_pt_cloud = np.load("cal_pt_cloud.npy")
pX,pY,wX,wY = cal_pt_cloud.transpose()
map_fn = get_map_from_cloud(cal_pt_cloud,(width,height))
modelled_world_pts = map_fn((pX,pY))
pts = np.array(modelled_world_pts,dtype=np.float32).transpose()
calib_bounds = cv2.convexHull(pts)[:,0]
for observed,modelled in zip(zip(wX,wY),np.array(modelled_world_pts).transpose()):
draw_gl_polyline_norm((modelled,observed),(1.,0.5,0.,.5))
draw_gl_polyline_norm(calib_bounds,(1.0,0,0,.5))
#render visual feedback from detector
ref.detector.display(img)
# render detector point
if ref.detector.pos[0] or ref.detector.pos[1]:
draw_gl_point_norm(ref.detector.pos,(0.,1.,0.,0.5))
# update gaze point from shared variable pool and draw on screen. If both coords are 0: no pupil pos was detected.
if g_pool.gaze_x.value !=0 or g_pool.gaze_y.value !=0:
draw_gl_point_norm((g_pool.gaze_x.value, g_pool.gaze_y.value),(1.,0.,0.,0.5))
atb.draw()
glfwSwapBuffers()
###end while running clean-up
print "WORLD Process closed"
glfwCloseWindow()
glfwTerminate()
