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
)
writer = AV_Writer(
output_file, fps=input_source.frame_rate, audio_dir=None, use_timestamps=True
)
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
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(EmptyGPool(), 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)
writer = AV_Writer(output_file,
fps=input_source.frame_rate,
audio_dir=None,
use_timestamps=True)
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 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"])
elif notification["subject"] == "recording.stopped":
self.stop_depth_recording()
def start_depth_recording(self, rec_loc):
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 = AV_Writer(video_path,
fps=self.depth_frame_rate,
use_timestamps=True)
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 _export_world_video(
rec_dir,
user_dir,
min_data_confidence,
start_frame,
end_frame,
plugin_initializers,
out_file_path,
pre_computed_eye_data,
):
"""
Simulates the generation for the world video and saves a certain time range as a video.
It simulates a whole g_pool such that all plugins run as normal.
"""
from glob import glob
from time import time
import file_methods as fm
import player_methods as pm
from av_writer import AV_Writer
# we are not importing manual gaze correction. In Player corrections have already been applied.
# in batch exporter this plugin makes little sense.
from fixation_detector import Offline_Fixation_Detector
# Plug-ins
from plugin import Plugin_List, import_runtime_plugins
from video_capture import EndofVideoError, File_Source
from vis_circle import Vis_Circle
from vis_cross import Vis_Cross
from vis_eye_video_overlay import Vis_Eye_Video_Overlay
from vis_light_points import Vis_Light_Points
from vis_polyline import Vis_Polyline
from vis_scan_path import Vis_Scan_Path
from vis_watermark import Vis_Watermark
PID = str(os.getpid())
logger = logging.getLogger(__name__ + " with pid: " + PID)
start_status = "Starting video export with pid: {}".format(PID)
logger.info(start_status)
yield start_status, 0
try:
vis_plugins = sorted(
[
Vis_Circle,
Vis_Cross,
Vis_Polyline,
Vis_Light_Points,
Vis_Watermark,
Vis_Scan_Path,
Vis_Eye_Video_Overlay,
],
key=lambda x: x.__name__,
)
analysis_plugins = [Offline_Fixation_Detector]
user_plugins = sorted(
import_runtime_plugins(os.path.join(user_dir, "plugins")),
key=lambda x: x.__name__,
)
available_plugins = vis_plugins + analysis_plugins + user_plugins
name_by_index = [p.__name__ for p in available_plugins]
plugin_by_name = dict(zip(name_by_index, available_plugins))
meta_info = pm.load_meta_info(rec_dir)
g_pool = GlobalContainer()
g_pool.app = "exporter"
g_pool.min_data_confidence = min_data_confidence
valid_ext = (".mp4", ".mkv", ".avi", ".h264", ".mjpeg", ".fake")
try:
video_path = next(f for f in glob(os.path.join(rec_dir, "world.*"))
if os.path.splitext(f)[1] in valid_ext)
except StopIteration:
raise FileNotFoundError("No Video world found")
cap = File_Source(g_pool,
source_path=video_path,
fill_gaps=True,
timing=None)
timestamps = cap.timestamps
file_name = os.path.basename(out_file_path)
dir_name = os.path.dirname(out_file_path)
out_file_path = os.path.expanduser(os.path.join(dir_name, file_name))
if os.path.isfile(out_file_path):
logger.warning("Video out file already exsists. I will overwrite!")
os.remove(out_file_path)
logger.debug("Saving Video to {}".format(out_file_path))
# Trim mark verification
# make sure the trim marks (start frame, end frame) make sense:
# We define them like python list slices, thus we can test them like such.
trimmed_timestamps = timestamps[start_frame:end_frame]
if len(trimmed_timestamps) == 0:
warn = "Start and end frames are set such that no video will be exported."
logger.warning(warn)
yield warn, 0.0
return
if start_frame is None:
start_frame = 0
# these two vars are shared with the launching process and give a job length and progress report.
frames_to_export = len(trimmed_timestamps)
current_frame = 0
exp_info = (
"Will export from frame {} to frame {}. This means I will export {} frames."
)
logger.debug(
exp_info.format(start_frame, start_frame + frames_to_export,
frames_to_export))
# setup of writer
writer = AV_Writer(out_file_path,
fps=cap.frame_rate,
audio_dir=rec_dir,
use_timestamps=True)
cap.seek_to_frame(start_frame)
start_time = time()
g_pool.plugin_by_name = plugin_by_name
g_pool.capture = cap
g_pool.rec_dir = rec_dir
g_pool.user_dir = user_dir
g_pool.meta_info = meta_info
g_pool.timestamps = timestamps
g_pool.delayed_notifications = {}
g_pool.notifications = []
for initializers in pre_computed_eye_data.values():
initializers["data"] = [
fm.Serialized_Dict(msgpack_bytes=serialized)
for serialized in initializers["data"]
]
g_pool.pupil_positions = pm.Bisector(**pre_computed_eye_data["pupil"])
g_pool.gaze_positions = pm.Bisector(**pre_computed_eye_data["gaze"])
g_pool.fixations = pm.Affiliator(**pre_computed_eye_data["fixations"])
# add plugins
g_pool.plugins = Plugin_List(g_pool, plugin_initializers)
while frames_to_export > current_frame:
try:
frame = cap.get_frame()
except EndofVideoError:
break
events = {"frame": frame}
# new positions and events
frame_window = pm.enclosing_window(g_pool.timestamps, frame.index)
events["gaze"] = g_pool.gaze_positions.by_ts_window(frame_window)
events["pupil"] = g_pool.pupil_positions.by_ts_window(frame_window)
# publish delayed notifications when their time has come.
for n in list(g_pool.delayed_notifications.values()):
if n["_notify_time_"] < time():
del n["_notify_time_"]
del g_pool.delayed_notifications[n["subject"]]
g_pool.notifications.append(n)
# notify each plugin if there are new notifications:
while g_pool.notifications:
n = g_pool.notifications.pop(0)
for p in g_pool.plugins:
p.on_notify(n)
# allow each Plugin to do its work.
for p in g_pool.plugins:
p.recent_events(events)
writer.write_video_frame(frame)
current_frame += 1
yield "Exporting with pid {}".format(PID), current_frame
writer.close(timestamp_export_format="all")
duration = time() - start_time
effective_fps = float(current_frame) / duration
result = "Export done: Exported {} frames to {}. This took {} seconds. Exporter ran at {} frames per second."
logger.info(
result.format(current_frame, out_file_path, duration,
effective_fps))
yield "Export done. This took {:.0f} seconds.".format(
duration), current_frame
except GeneratorExit:
logger.warning("Video export with pid {} was canceled.".format(
os.getpid()))
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"])
elif notification["subject"] == "recording.stopped":
self.stop_depth_recording()
def start_depth_recording(self, rec_loc):
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 = AV_Writer(
video_path, fps=self.depth_frame_rate, use_timestamps=True
)
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"
class Realsense_Source(Base_Source):
"""
Camera Capture is a class that encapsualtes pyrs.Device:
"""
def __init__(self, g_pool, device_id=0,
frame_size=(640, 480), frame_rate=30,
depth_frame_size=(640, 480), depth_frame_rate=30,
align_streams=False, preview_depth=False,
device_options=(), record_depth=True):
super().__init__(g_pool)
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._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()]
self.last_color_frame_ts = None
self.last_depth_frame_ts = None
self._recent_frame = None
self._recent_depth_frame = None
if not devices:
logger.error("Camera failed to initialize. No cameras connected.")
self.device = None
return
if self.device is not None:
self.device.stop()
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')
depthstream = DepthStream(width=depth_frame_size[0],
height=depth_frame_size[1], fps=depth_fps)
self.streams = [colorstream, depthstream]
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.deinit_gui()
self.init_gui()
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()
self.service.stop()
super().cleanup()
def get_init_dict(self):
return {'device_id': self.device.device_id,
'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()}
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):
try:
color_frame, depth_frame = self.get_frames()
except TimeoutError:
self._recent_frame = None
self._recent_depth_frame = None
# react to timeout
except pyrs.RealsenseError as err:
self._recent_frame = None
self._recent_depth_frame = None
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 init_gui(self):
from pyglui import ui
ui_elements = []
# avoid duplicated elements since _initialize_device() calls init_gui as well
self.deinit_gui()
if self.device is None:
ui_elements.append(ui.Info_Text('Capture initialization failed.'))
self.g_pool.capture_source_menu.extend(ui_elements)
return
def align_and_restart(val):
self.align_streams = val
self.restart_device()
ui_elements.append(ui.Switch('record_depth', self, label='Record Depth Stream'))
ui_elements.append(ui.Switch('preview_depth', self, label='Preview Depth'))
ui_elements.append(ui.Switch('align_streams', self, label='Align Streams',
setter=align_and_restart))
color_sizes = sorted(self._available_modes[rs_stream.RS_STREAM_COLOR], reverse=True)
ui_elements.append(ui.Selector(
'frame_size', self,
# setter=,
selection=color_sizes,
label= 'Resolution' if self.align_streams else 'Color Resolution'
))
def color_fps_getter():
avail_fps = self._available_modes[rs_stream.RS_STREAM_COLOR][self.frame_size]
return avail_fps, [str(fps) for fps in avail_fps]
ui_elements.append(ui.Selector(
'frame_rate', self,
# setter=,
selection_getter=color_fps_getter,
label='Color Frame Rate'
))
if not self.align_streams:
depth_sizes = sorted(self._available_modes[rs_stream.RS_STREAM_DEPTH], reverse=True)
ui_elements.append(ui.Selector(
'depth_frame_size', self,
# setter=,
selection=depth_sizes,
label='Depth Resolution'
))
def depth_fps_getter():
avail_fps = self._available_modes[rs_stream.RS_STREAM_DEPTH][self.depth_frame_size]
return avail_fps, [str(fps) for fps in avail_fps]
ui_elements.append(ui.Selector(
'depth_frame_rate', self,
selection_getter=depth_fps_getter,
label='Depth Frame Rate'
))
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()
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))
ui_elements.append(sensor_control)
self.g_pool.capture_source_menu.extend(ui_elements)
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()
elif not self.preview_depth and 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:
cygl.utils.draw_gl_texture(np.zeros((1, 1, 3), dtype=np.uint8), alpha=0.4)
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:
device_id = self.device.device_id
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()
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_notify(self, notification):
if notification['subject'] == 'realsense_source.restart':
kwargs = notification.copy()
del kwargs['subject']
self._initialize_device(**kwargs)
elif notification['subject'] == 'recording.started':
self.start_depth_recording(notification['rec_path'])
elif notification['subject'] == 'recording.stopped':
self.stop_depth_recording()
def start_depth_recording(self, rec_loc):
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 = AV_Writer(video_path, fps=self.depth_frame_rate, use_timestamps=True)
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 intrinsics(self):
return self._intrinsics
@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 export(
rec_dir,
user_dir,
min_data_confidence,
start_frame=None,
end_frame=None,
plugin_initializers=(),
out_file_path=None,
pre_computed={},
):
PID = str(os.getpid())
logger = logging.getLogger(__name__ + " with pid: " + PID)
start_status = "Starting video export with pid: {}".format(PID)
print(start_status)
yield start_status, 0
try:
pm.update_recording_to_recent(rec_dir)
vis_plugins = sorted(
[
Vis_Circle,
Vis_Cross,
Vis_Polyline,
Vis_Light_Points,
Vis_Watermark,
Vis_Scan_Path,
Vis_Eye_Video_Overlay,
],
key=lambda x: x.__name__,
)
analysis_plugins = [Offline_Fixation_Detector]
user_plugins = sorted(
import_runtime_plugins(os.path.join(user_dir, "plugins")),
key=lambda x: x.__name__,
)
available_plugins = vis_plugins + analysis_plugins + user_plugins
name_by_index = [p.__name__ for p in available_plugins]
plugin_by_name = dict(zip(name_by_index, available_plugins))
pm.update_recording_to_recent(rec_dir)
audio_path = os.path.join(rec_dir, "audio.mp4")
meta_info = pm.load_meta_info(rec_dir)
g_pool = Global_Container()
g_pool.app = "exporter"
g_pool.min_data_confidence = min_data_confidence
valid_ext = (".mp4", ".mkv", ".avi", ".h264", ".mjpeg", ".fake")
video_path = [
f for f in glob(os.path.join(rec_dir, "world.*"))
if os.path.splitext(f)[1] in valid_ext
][0]
cap = init_playback_source(g_pool, source_path=video_path, timing=None)
timestamps = cap.timestamps
# Out file path verification, we do this before but if one uses a separate tool, this will kick in.
if out_file_path is None:
out_file_path = os.path.join(rec_dir, "world_viz.mp4")
else:
file_name = os.path.basename(out_file_path)
dir_name = os.path.dirname(out_file_path)
if not dir_name:
dir_name = rec_dir
if not file_name:
file_name = "world_viz.mp4"
out_file_path = os.path.expanduser(
os.path.join(dir_name, file_name))
if os.path.isfile(out_file_path):
logger.warning("Video out file already exsists. I will overwrite!")
os.remove(out_file_path)
logger.debug("Saving Video to {}".format(out_file_path))
# Trim mark verification
# make sure the trim marks (start frame, endframe) make sense:
# We define them like python list slices, thus we can test them like such.
trimmed_timestamps = timestamps[start_frame:end_frame]
if len(trimmed_timestamps) == 0:
warn = "Start and end frames are set such that no video will be exported."
logger.warning(warn)
yield warn, 0.0
return
if start_frame is None:
start_frame = 0
# these two vars are shared with the lauching process and give a job length and progress report.
frames_to_export = len(trimmed_timestamps)
current_frame = 0
exp_info = (
"Will export from frame {} to frame {}. This means I will export {} frames."
)
logger.debug(
exp_info.format(start_frame, start_frame + frames_to_export,
frames_to_export))
# setup of writer
writer = AV_Writer(out_file_path,
fps=cap.frame_rate,
audio_loc=audio_path,
use_timestamps=True)
cap.seek_to_frame(start_frame)
start_time = time()
g_pool.plugin_by_name = plugin_by_name
g_pool.capture = cap
g_pool.rec_dir = rec_dir
g_pool.user_dir = user_dir
g_pool.meta_info = meta_info
g_pool.timestamps = timestamps
g_pool.delayed_notifications = {}
g_pool.notifications = []
for initializers in pre_computed.values():
initializers["data"] = [
fm.Serialized_Dict(msgpack_bytes=serialized)
for serialized in initializers["data"]
]
g_pool.pupil_positions = pm.Bisector(**pre_computed["pupil"])
g_pool.gaze_positions = pm.Bisector(**pre_computed["gaze"])
g_pool.fixations = pm.Affiliator(**pre_computed["fixations"])
# add plugins
g_pool.plugins = Plugin_List(g_pool, plugin_initializers)
while frames_to_export > current_frame:
try:
frame = cap.get_frame()
except EndofVideoError:
break
events = {"frame": frame}
# new positons and events
frame_window = pm.enclosing_window(g_pool.timestamps, frame.index)
events["gaze"] = g_pool.gaze_positions.by_ts_window(frame_window)
events["pupil"] = g_pool.pupil_positions.by_ts_window(frame_window)
# publish delayed notifiactions when their time has come.
for n in list(g_pool.delayed_notifications.values()):
if n["_notify_time_"] < time():
del n["_notify_time_"]
del g_pool.delayed_notifications[n["subject"]]
g_pool.notifications.append(n)
# notify each plugin if there are new notifactions:
while g_pool.notifications:
n = g_pool.notifications.pop(0)
for p in g_pool.plugins:
p.on_notify(n)
# allow each Plugin to do its work.
for p in g_pool.plugins:
p.recent_events(events)
writer.write_video_frame(frame)
current_frame += 1
yield "Exporting with pid {}".format(PID), current_frame
writer.close()
writer = None
duration = time() - start_time
effective_fps = float(current_frame) / duration
result = "Export done: Exported {} frames to {}. This took {} seconds. Exporter ran at {} frames per second."
print(
result.format(current_frame, out_file_path, duration,
effective_fps))
yield "Export done. This took {:.0f} seconds.".format(
duration), current_frame
except GeneratorExit:
print("Video export with pid {} was canceled.".format(os.getpid()))
except Exception as e:
from time import sleep
import traceback
trace = traceback.format_exc()
print("Process Export (pid: {}) crashed with trace:\n{}".format(
os.getpid(), trace))
yield e
sleep(1.0)
def export(rec_dir,
user_dir,
min_data_confidence,
start_frame=None,
end_frame=None,
plugin_initializers=(),
out_file_path=None,
pre_computed={}):
logger = logging.getLogger(__name__ + ' with pid: ' + str(os.getpid()))
start_status = 'Starting video export with pid: {}'.format(os.getpid())
print(start_status)
yield start_status, 0
try:
update_recording_to_recent(rec_dir)
vis_plugins = sorted([
Vis_Circle, Vis_Cross, Vis_Polyline, Vis_Light_Points,
Vis_Watermark, Vis_Scan_Path, Vis_Eye_Video_Overlay
],
key=lambda x: x.__name__)
analysis_plugins = [Offline_Fixation_Detector]
user_plugins = sorted(import_runtime_plugins(
os.path.join(user_dir, 'plugins')),
key=lambda x: x.__name__)
available_plugins = vis_plugins + analysis_plugins + user_plugins
name_by_index = [p.__name__ for p in available_plugins]
plugin_by_name = dict(zip(name_by_index, available_plugins))
update_recording_to_recent(rec_dir)
video_path = [
f for f in glob(os.path.join(rec_dir, "world.*"))
if os.path.splitext(f)[-1] in ('.mp4', '.mkv', '.avi', '.mjpeg')
][0]
pupil_data_path = os.path.join(rec_dir, "pupil_data")
audio_path = os.path.join(rec_dir, "audio.mp4")
meta_info = load_meta_info(rec_dir)
g_pool = Global_Container()
g_pool.app = 'exporter'
g_pool.min_data_confidence = min_data_confidence
cap = File_Source(g_pool, video_path)
timestamps = cap.timestamps
# Out file path verification, we do this before but if one uses a separate tool, this will kick in.
if out_file_path is None:
out_file_path = os.path.join(rec_dir, "world_viz.mp4")
else:
file_name = os.path.basename(out_file_path)
dir_name = os.path.dirname(out_file_path)
if not dir_name:
dir_name = rec_dir
if not file_name:
file_name = 'world_viz.mp4'
out_file_path = os.path.expanduser(
os.path.join(dir_name, file_name))
if os.path.isfile(out_file_path):
logger.warning("Video out file already exsists. I will overwrite!")
os.remove(out_file_path)
logger.debug("Saving Video to {}".format(out_file_path))
# Trim mark verification
# make sure the trim marks (start frame, endframe) make sense:
# We define them like python list slices, thus we can test them like such.
trimmed_timestamps = timestamps[start_frame:end_frame]
if len(trimmed_timestamps) == 0:
warn = "Start and end frames are set such that no video will be exported."
logger.warning(warn)
yield warn, 0.
return
if start_frame is None:
start_frame = 0
# these two vars are shared with the lauching process and give a job length and progress report.
frames_to_export = len(trimmed_timestamps)
current_frame = 0
exp_info = "Will export from frame {} to frame {}. This means I will export {} frames."
logger.debug(
exp_info.format(start_frame, start_frame + frames_to_export,
frames_to_export))
# setup of writer
writer = AV_Writer(out_file_path,
fps=cap.frame_rate,
audio_loc=audio_path,
use_timestamps=True)
cap.seek_to_frame(start_frame)
start_time = time()
g_pool.plugin_by_name = plugin_by_name
g_pool.capture = cap
g_pool.rec_dir = rec_dir
g_pool.user_dir = user_dir
g_pool.meta_info = meta_info
g_pool.timestamps = timestamps
g_pool.delayed_notifications = {}
g_pool.notifications = []
# load pupil_positions, gaze_positions
pupil_data = pre_computed.get("pupil_data") or load_object(
pupil_data_path)
g_pool.pupil_data = pupil_data
g_pool.pupil_positions = pre_computed.get(
"pupil_positions") or pupil_data['pupil_positions']
g_pool.gaze_positions = pre_computed.get(
"gaze_positions") or pupil_data['gaze_positions']
g_pool.fixations = [] # populated by the fixation detector plugin
g_pool.pupil_positions_by_frame = correlate_data(
g_pool.pupil_positions, g_pool.timestamps)
g_pool.gaze_positions_by_frame = correlate_data(
g_pool.gaze_positions, g_pool.timestamps)
g_pool.fixations_by_frame = [
[] for x in g_pool.timestamps
] # populated by the fixation detector plugin
# add plugins
g_pool.plugins = Plugin_List(g_pool, plugin_initializers)
while frames_to_export > current_frame:
try:
frame = cap.get_frame()
except EndofVideoFileError:
break
events = {'frame': frame}
# new positons and events
events['gaze_positions'] = g_pool.gaze_positions_by_frame[
frame.index]
events['pupil_positions'] = g_pool.pupil_positions_by_frame[
frame.index]
# publish delayed notifiactions when their time has come.
for n in list(g_pool.delayed_notifications.values()):
if n['_notify_time_'] < time():
del n['_notify_time_']
del g_pool.delayed_notifications[n['subject']]
g_pool.notifications.append(n)
# notify each plugin if there are new notifactions:
while g_pool.notifications:
n = g_pool.notifications.pop(0)
for p in g_pool.plugins:
p.on_notify(n)
# allow each Plugin to do its work.
for p in g_pool.plugins:
p.recent_events(events)
writer.write_video_frame(frame)
current_frame += 1
yield 'Exporting', current_frame
writer.close()
writer = None
duration = time() - start_time
effective_fps = float(current_frame) / duration
result = "Export done: Exported {} frames to {}. This took {} seconds. Exporter ran at {} frames per second."
print(
result.format(current_frame, out_file_path, duration,
effective_fps))
yield 'Export done. This took {:.0f} seconds.'.format(
duration), current_frame
except GeneratorExit:
print('Video export with pid {} was canceled.'.format(os.getpid()))
except:
from time import sleep
import traceback
trace = traceback.format_exc()
print('Process Export (pid: {}) crashed with trace:\n{}'.format(
os.getpid(), trace))
sleep(1.0)
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"])
elif notification["subject"] == "recording.stopped":
self.stop_depth_recording()
def start_depth_recording(self, rec_loc):
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 = AV_Writer(
video_path, fps=self.depth_frame_rate, use_timestamps=True
)
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"
def export(should_terminate,
frames_to_export,
current_frame,
rec_dir,
user_dir,
start_frame=None,
end_frame=None,
plugin_initializers=[],
out_file_path=None):
logger = logging.getLogger(__name__ + ' with pid: ' + str(os.getpid()))
#parse info.csv file
with open(rec_dir + "/info.csv") as info:
meta_info = dict(
((line.strip().split('\t')) for line in info.readlines()))
rec_version = read_rec_version(meta_info)
logger.debug("Exporting a video from recording with version: %s" %
rec_version)
if rec_version < VersionFormat('0.4'):
video_path = rec_dir + "/world.avi"
timestamps_path = rec_dir + "/timestamps.npy"
else:
video_path = rec_dir + "/world.mkv"
timestamps_path = rec_dir + "/world_timestamps.npy"
gaze_positions_path = rec_dir + "/gaze_positions.npy"
#load gaze information
gaze_list = np.load(gaze_positions_path)
timestamps = np.load(timestamps_path)
#correlate data
if rec_version < VersionFormat('0.4'):
gaze_positions_by_frame = correlate_gaze_legacy(gaze_list, timestamps)
else:
gaze_positions_by_frame = correlate_gaze(gaze_list, timestamps)
cap = autoCreateCapture(video_path, timestamps=timestamps_path)
width, height = cap.frame_size
#Out file path verification, we do this before but if one uses a seperate tool, this will kick in.
if out_file_path is None:
out_file_path = os.path.join(rec_dir, "world_viz.mp4")
else:
file_name = os.path.basename(out_file_path)
dir_name = os.path.dirname(out_file_path)
if not dir_name:
dir_name = rec_dir
if not file_name:
file_name = 'world_viz.mp4'
out_file_path = os.path.expanduser(os.path.join(dir_name, file_name))
if os.path.isfile(out_file_path):
logger.warning("Video out file already exsists. I will overwrite!")
os.remove(out_file_path)
logger.debug("Saving Video to %s" % out_file_path)
#Trim mark verification
#make sure the trim marks (start frame, endframe) make sense: We define them like python list slices,thus we can test them like such.
trimmed_timestamps = timestamps[start_frame:end_frame]
if len(trimmed_timestamps) == 0:
logger.warn(
"Start and end frames are set such that no video will be exported."
)
return False
if start_frame == None:
start_frame = 0
#these two vars are shared with the lauching process and give a job length and progress report.
frames_to_export.value = len(trimmed_timestamps)
current_frame.value = 0
logger.debug(
"Will export from frame %s to frame %s. This means I will export %s frames."
% (start_frame, start_frame + frames_to_export.value,
frames_to_export.value))
#setup of writer
writer = AV_Writer(out_file_path)
cap.seek_to_frame(start_frame)
start_time = time()
g = Global_Container()
g.app = 'exporter'
g.rec_dir = rec_dir
g.user_dir = user_dir
g.rec_version = rec_version
g.timestamps = timestamps
g.gaze_list = gaze_list
g.gaze_positions_by_frame = gaze_positions_by_frame
g.plugins = Plugin_List(g, plugin_by_name, plugin_initializers)
while frames_to_export.value - current_frame.value > 0:
if should_terminate.value:
logger.warning("User aborted export. Exported %s frames to %s." %
(current_frame.value, out_file_path))
#explicit release of VideoWriter
writer.close()
writer = None
return False
try:
frame = cap.get_frame()
except EndofVideoFileError:
break
events = {}
#new positons and events
events['gaze_positions'] = gaze_positions_by_frame[frame.index]
# allow each Plugin to do its work.
for p in g.plugins:
p.update(frame, events)
writer.write_video_frame(frame)
current_frame.value += 1
writer.close()
writer = None
duration = time() - start_time
effective_fps = float(current_frame.value) / duration
logger.info(
"Export done: Exported %s frames to %s. This took %s seconds. Exporter ran at %s frames per second"
% (current_frame.value, out_file_path, duration, effective_fps))
return True
def export(should_terminate, frames_to_export, current_frame, rec_dir, user_dir, min_data_confidence,
start_frame=None, end_frame=None, plugin_initializers=(), out_file_path=None,pre_computed={}):
vis_plugins = sorted([Vis_Circle,Vis_Cross,Vis_Polyline,Vis_Light_Points,
Vis_Watermark,Vis_Scan_Path,Vis_Eye_Video_Overlay], key=lambda x: x.__name__)
analysis_plugins = sorted([ Pupil_Angle_3D_Fixation_Detector,
Gaze_Position_2D_Fixation_Detector], key=lambda x: x.__name__)
user_plugins = sorted(import_runtime_plugins(os.path.join(user_dir, 'plugins')), key=lambda x: x.__name__)
available_plugins = vis_plugins + analysis_plugins + user_plugins
name_by_index = [p.__name__ for p in available_plugins]
plugin_by_name = dict(zip(name_by_index, available_plugins))
logger = logging.getLogger(__name__+' with pid: '+str(os.getpid()))
update_recording_to_recent(rec_dir)
video_path = [f for f in glob(os.path.join(rec_dir, "world.*")) if f[-3:] in ('mp4', 'mkv', 'avi')][0]
timestamps_path = os.path.join(rec_dir, "world_timestamps.npy")
pupil_data_path = os.path.join(rec_dir, "pupil_data")
audio_path = os.path.join(rec_dir, "audio.mp4")
meta_info = load_meta_info(rec_dir)
g_pool = Global_Container()
g_pool.app = 'exporter'
g_pool.min_data_confidence = min_data_confidence
timestamps = np.load(timestamps_path)
cap = File_Source(g_pool, video_path, timestamps=timestamps)
# Out file path verification, we do this before but if one uses a seperate tool, this will kick in.
if out_file_path is None:
out_file_path = os.path.join(rec_dir, "world_viz.mp4")
else:
file_name = os.path.basename(out_file_path)
dir_name = os.path.dirname(out_file_path)
if not dir_name:
dir_name = rec_dir
if not file_name:
file_name = 'world_viz.mp4'
out_file_path = os.path.expanduser(os.path.join(dir_name, file_name))
if os.path.isfile(out_file_path):
logger.warning("Video out file already exsists. I will overwrite!")
os.remove(out_file_path)
logger.debug("Saving Video to {}".format(out_file_path))
# Trim mark verification
# make sure the trim marks (start frame, endframe) make sense:
# We define them like python list slices, thus we can test them like such.
trimmed_timestamps = timestamps[start_frame:end_frame]
if len(trimmed_timestamps) == 0:
logger.warn("Start and end frames are set such that no video will be exported.")
return False
if start_frame is None:
start_frame = 0
# these two vars are shared with the lauching process and give a job length and progress report.
frames_to_export.value = len(trimmed_timestamps)
current_frame.value = 0
exp_info = "Will export from frame {} to frame {}. This means I will export {} frames."
logger.debug(exp_info.format(start_frame, start_frame + frames_to_export.value, frames_to_export.value))
# setup of writer
writer = AV_Writer(out_file_path, fps=cap.frame_rate, audio_loc=audio_path, use_timestamps=True)
cap.seek_to_frame(start_frame)
start_time = time()
g_pool.capture = cap
g_pool.rec_dir = rec_dir
g_pool.user_dir = user_dir
g_pool.meta_info = meta_info
g_pool.timestamps = timestamps
g_pool.delayed_notifications = {}
g_pool.notifications = []
# load pupil_positions, gaze_positions
pupil_data = pre_computed.get("pupil_data") or load_object(pupil_data_path)
g_pool.pupil_data = pupil_data
g_pool.pupil_positions = pre_computed.get("pupil_positions") or pupil_data['pupil_positions']
g_pool.gaze_positions = pre_computed.get("gaze_positions") or pupil_data['gaze_positions']
g_pool.fixations = [] # populated by the fixation detector plugin
g_pool.pupil_positions_by_frame = correlate_data(g_pool.pupil_positions,g_pool.timestamps)
g_pool.gaze_positions_by_frame = correlate_data(g_pool.gaze_positions,g_pool.timestamps)
g_pool.fixations_by_frame = [[] for x in g_pool.timestamps] # populated by the fixation detector plugin
# add plugins
g_pool.plugins = Plugin_List(g_pool, plugin_by_name, plugin_initializers)
while frames_to_export.value > current_frame.value:
if should_terminate.value:
logger.warning("User aborted export. Exported {} frames to {}.".format(current_frame.value, out_file_path))
# explicit release of VideoWriter
writer.close()
writer = None
return False
try:
frame = cap.get_frame()
except EndofVideoFileError:
break
events = {'frame':frame}
# new positons and events
events['gaze_positions'] = g_pool.gaze_positions_by_frame[frame.index]
events['pupil_positions'] = g_pool.pupil_positions_by_frame[frame.index]
# publish delayed notifiactions when their time has come.
for n in list(g_pool.delayed_notifications.values()):
if n['_notify_time_'] < time():
del n['_notify_time_']
del g_pool.delayed_notifications[n['subject']]
g_pool.notifications.append(n)
# notify each plugin if there are new notifactions:
while g_pool.notifications:
n = g_pool.notifications.pop(0)
for p in g_pool.plugins:
p.on_notify(n)
# allow each Plugin to do its work.
for p in g_pool.plugins:
p.recent_events(events)
writer.write_video_frame(frame)
current_frame.value += 1
writer.close()
writer = None
duration = time()-start_time
effective_fps = float(current_frame.value)/duration
result = "Export done: Exported {} frames to {}. This took {} seconds. Exporter ran at {} frames per second."
logger.info(result.format(current_frame.value, out_file_path, duration, effective_fps))
return True
def export(should_terminate,frames_to_export,current_frame, rec_dir,start_frame=None,end_frame=None,plugin_initializers=[],out_file_path=None):
logger = logging.getLogger(__name__+' with pid: '+str(os.getpid()) )
#parse info.csv file
with open(rec_dir + "/info.csv") as info:
meta_info = dict( ((line.strip().split('\t')) for line in info.readlines() ) )
rec_version = read_rec_version(meta_info)
logger.debug("Exporting a video from recording with version: %s"%rec_version)
if rec_version < VersionFormat('0.4'):
video_path = rec_dir + "/world.avi"
timestamps_path = rec_dir + "/timestamps.npy"
else:
video_path = rec_dir + "/world.mkv"
timestamps_path = rec_dir + "/world_timestamps.npy"
gaze_positions_path = rec_dir + "/gaze_positions.npy"
#load gaze information
gaze_list = np.load(gaze_positions_path)
timestamps = np.load(timestamps_path)
#correlate data
if rec_version < VersionFormat('0.4'):
positions_by_frame = correlate_gaze_legacy(gaze_list,timestamps)
else:
positions_by_frame = correlate_gaze(gaze_list,timestamps)
cap = autoCreateCapture(video_path,timestamps=timestamps_path)
width,height = cap.get_size()
#Out file path verification, we do this before but if one uses a seperate tool, this will kick in.
if out_file_path is None:
out_file_path = os.path.join(rec_dir, "world_viz.mp4")
else:
file_name = os.path.basename(out_file_path)
dir_name = os.path.dirname(out_file_path)
if not dir_name:
dir_name = rec_dir
if not file_name:
file_name = 'world_viz.mp4'
out_file_path = os.path.expanduser(os.path.join(dir_name,file_name))
if os.path.isfile(out_file_path):
logger.warning("Video out file already exsists. I will overwrite!")
os.remove(out_file_path)
logger.debug("Saving Video to %s"%out_file_path)
#Trim mark verification
#make sure the trim marks (start frame, endframe) make sense: We define them like python list slices,thus we can test them like such.
trimmed_timestamps = timestamps[start_frame:end_frame]
if len(trimmed_timestamps)==0:
logger.warn("Start and end frames are set such that no video will be exported.")
return False
if start_frame == None:
start_frame = 0
#these two vars are shared with the lauching process and give a job length and progress report.
frames_to_export.value = len(trimmed_timestamps)
current_frame.value = 0
logger.debug("Will export from frame %s to frame %s. This means I will export %s frames."%(start_frame,start_frame+frames_to_export.value,frames_to_export.value))
#setup of writer
writer = AV_Writer(out_file_path)
cap.seek_to_frame(start_frame)
start_time = time()
g = Global_Container()
g.app = 'exporter'
g.rec_dir = rec_dir
g.rec_version = rec_version
g.timestamps = timestamps
g.gaze_list = gaze_list
g.positions_by_frame = positions_by_frame
g.plugins = Plugin_List(g,plugin_by_name,plugin_initializers)
while frames_to_export.value - current_frame.value > 0:
if should_terminate.value:
logger.warning("User aborted export. Exported %s frames to %s."%(current_frame.value,out_file_path))
#explicit release of VideoWriter
writer.close()
writer = None
return False
try:
frame = cap.get_frame()
except EndofVideoFileError:
break
events = {}
#new positons and events
events['pupil_positions'] = positions_by_frame[frame.index]
# allow each Plugin to do its work.
for p in g.plugins:
p.update(frame,events)
writer.write_video_frame(frame)
current_frame.value +=1
writer.close()
writer = None
duration = time()-start_time
effective_fps = float(current_frame.value)/duration
logger.info("Export done: Exported %s frames to %s. This took %s seconds. Exporter ran at %s frames per second"%(current_frame.value,out_file_path,duration,effective_fps))
return True
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_click(self, pos, button, action):
pass
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"])
elif notification["subject"] == "recording.stopped":
self.stop_depth_recording()
def start_depth_recording(self, rec_loc):
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 = AV_Writer(video_path,
fps=self.depth_frame_rate,
use_timestamps=True)
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"
def export(should_terminate,
frames_to_export,
current_frame,
rec_dir,
user_dir,
min_data_confidence,
start_frame=None,
end_frame=None,
plugin_initializers=(),
out_file_path=None):
vis_plugins = sorted([
Vis_Circle, Vis_Cross, Vis_Polyline, Vis_Light_Points, Vis_Watermark,
Scan_Path
],
key=lambda x: x.__name__)
analysis_plugins = sorted([
Manual_Gaze_Correction, Eye_Video_Overlay,
Pupil_Angle_3D_Fixation_Detector, Gaze_Position_2D_Fixation_Detector
],
key=lambda x: x.__name__)
user_plugins = sorted(import_runtime_plugins(
os.path.join(user_dir, 'plugins')),
key=lambda x: x.__name__)
available_plugins = vis_plugins + analysis_plugins + user_plugins
name_by_index = [p.__name__ for p in available_plugins]
index_by_name = dict(zip(name_by_index, range(len(name_by_index))))
plugin_by_name = dict(zip(name_by_index, available_plugins))
logger = logging.getLogger(__name__ + ' with pid: ' + str(os.getpid()))
update_recording_to_recent(rec_dir)
video_path = [
f for f in glob(os.path.join(rec_dir, "world.*"))
if f[-3:] in ('mp4', 'mkv', 'avi')
][0]
timestamps_path = os.path.join(rec_dir, "world_timestamps.npy")
pupil_data_path = os.path.join(rec_dir, "pupil_data")
meta_info = load_meta_info(rec_dir)
rec_version = read_rec_version(meta_info)
g_pool = Global_Container()
g_pool.app = 'exporter'
g_pool.min_data_confidence = min_data_confidence
timestamps = np.load(timestamps_path)
cap = File_Source(g_pool, video_path, timestamps=timestamps)
#Out file path verification, we do this before but if one uses a seperate tool, this will kick in.
if out_file_path is None:
out_file_path = os.path.join(rec_dir, "world_viz.mp4")
else:
file_name = os.path.basename(out_file_path)
dir_name = os.path.dirname(out_file_path)
if not dir_name:
dir_name = rec_dir
if not file_name:
file_name = 'world_viz.mp4'
out_file_path = os.path.expanduser(os.path.join(dir_name, file_name))
if os.path.isfile(out_file_path):
logger.warning("Video out file already exsists. I will overwrite!")
os.remove(out_file_path)
logger.debug("Saving Video to %s" % out_file_path)
#Trim mark verification
#make sure the trim marks (start frame, endframe) make sense: We define them like python list slices,thus we can test them like such.
trimmed_timestamps = timestamps[start_frame:end_frame]
if len(trimmed_timestamps) == 0:
logger.warn(
"Start and end frames are set such that no video will be exported."
)
return False
if start_frame == None:
start_frame = 0
#these two vars are shared with the lauching process and give a job length and progress report.
frames_to_export.value = len(trimmed_timestamps)
current_frame.value = 0
logger.debug(
"Will export from frame %s to frame %s. This means I will export %s frames."
% (start_frame, start_frame + frames_to_export.value,
frames_to_export.value))
#setup of writer
writer = AV_Writer(out_file_path, fps=cap.frame_rate, use_timestamps=True)
cap.seek_to_frame(start_frame)
start_time = time()
g_pool.capture = cap
g_pool.rec_dir = rec_dir
g_pool.user_dir = user_dir
g_pool.rec_version = rec_version
g_pool.timestamps = timestamps
g_pool.delayed_notifications = {}
g_pool.notifications = []
# load pupil_positions, gaze_positions
pupil_data = load_object(pupil_data_path)
pupil_list = pupil_data['pupil_positions']
gaze_list = pupil_data['gaze_positions']
g_pool.pupil_positions_by_frame = correlate_data(pupil_list,
g_pool.timestamps)
g_pool.gaze_positions_by_frame = correlate_data(gaze_list,
g_pool.timestamps)
g_pool.fixations_by_frame = [[] for x in g_pool.timestamps
] #populated by the fixation detector plugin
#add plugins
g_pool.plugins = Plugin_List(g_pool, plugin_by_name, plugin_initializers)
while frames_to_export.value > current_frame.value:
if should_terminate.value:
logger.warning("User aborted export. Exported %s frames to %s." %
(current_frame.value, out_file_path))
#explicit release of VideoWriter
writer.close()
writer = None
return False
try:
frame = cap.get_frame_nowait()
except EndofVideoFileError:
break
events = {}
#new positons and events
events['gaze_positions'] = g_pool.gaze_positions_by_frame[frame.index]
events['pupil_positions'] = g_pool.pupil_positions_by_frame[
frame.index]
# publish delayed notifiactions when their time has come.
for n in g_pool.delayed_notifications.values():
if n['_notify_time_'] < time():
del n['_notify_time_']
del g_pool.delayed_notifications[n['subject']]
g_pool.notifications.append(n)
# notify each plugin if there are new notifactions:
while g_pool.notifications:
n = g_pool.notifications.pop(0)
for p in g_pool.plugins:
p.on_notify(n)
# allow each Plugin to do its work.
for p in g_pool.plugins:
p.update(frame, events)
writer.write_video_frame(frame)
current_frame.value += 1
writer.close()
writer = None
duration = time() - start_time
effective_fps = float(current_frame.value) / duration
logger.info(
"Export done: Exported %s frames to %s. This took %s seconds. Exporter ran at %s frames per second"
% (current_frame.value, out_file_path, duration, effective_fps))
return True
def export(should_terminate,frames_to_export,current_frame, rec_dir,user_dir,start_frame=None,end_frame=None,plugin_initializers=[],out_file_path=None):
logger = logging.getLogger(__name__+' with pid: '+str(os.getpid()) )
#parse info.csv file
meta_info_path = os.path.join(rec_dir,"info.csv")
with open(meta_info_path) as info:
meta_info = dict( ((line.strip().split('\t')) for line in info.readlines() ) )
video_path = [f for f in glob(os.path.join(rec_dir,"world.*")) if f[-3:] in ('mp4','mkv','avi')][0]
timestamps_path = os.path.join(rec_dir, "world_timestamps.npy")
pupil_data_path = os.path.join(rec_dir, "pupil_data")
rec_version = read_rec_version(meta_info)
if rec_version >= VersionFormat('0.5'):
pass
elif rec_version >= VersionFormat('0.4'):
update_recording_0v4_to_current(rec_dir)
elif rec_version >= VersionFormat('0.3'):
update_recording_0v3_to_current(rec_dir)
timestamps_path = os.path.join(rec_dir, "timestamps.npy")
else:
logger.Error("This recording is to old. Sorry.")
return
timestamps = np.load(timestamps_path)
cap = File_Capture(video_path,timestamps=timestamps)
#Out file path verification, we do this before but if one uses a seperate tool, this will kick in.
if out_file_path is None:
out_file_path = os.path.join(rec_dir, "world_viz.mp4")
else:
file_name = os.path.basename(out_file_path)
dir_name = os.path.dirname(out_file_path)
if not dir_name:
dir_name = rec_dir
if not file_name:
file_name = 'world_viz.mp4'
out_file_path = os.path.expanduser(os.path.join(dir_name,file_name))
if os.path.isfile(out_file_path):
logger.warning("Video out file already exsists. I will overwrite!")
os.remove(out_file_path)
logger.debug("Saving Video to %s"%out_file_path)
#Trim mark verification
#make sure the trim marks (start frame, endframe) make sense: We define them like python list slices,thus we can test them like such.
trimmed_timestamps = timestamps[start_frame:end_frame]
if len(trimmed_timestamps)==0:
logger.warn("Start and end frames are set such that no video will be exported.")
return False
if start_frame == None:
start_frame = 0
#these two vars are shared with the lauching process and give a job length and progress report.
frames_to_export.value = len(trimmed_timestamps)
current_frame.value = 0
logger.debug("Will export from frame %s to frame %s. This means I will export %s frames."%(start_frame,start_frame+frames_to_export.value,frames_to_export.value))
#setup of writer
writer = AV_Writer(out_file_path,fps=cap.frame_rate,use_timestamps=True)
cap.seek_to_frame(start_frame)
start_time = time()
g = Global_Container()
g.app = 'exporter'
g.capture = cap
g.rec_dir = rec_dir
g.user_dir = user_dir
g.rec_version = rec_version
g.timestamps = timestamps
# load pupil_positions, gaze_positions
pupil_data = load_object(pupil_data_path)
pupil_list = pupil_data['pupil_positions']
gaze_list = pupil_data['gaze_positions']
g.pupil_positions_by_frame = correlate_data(pupil_list,g.timestamps)
g.gaze_positions_by_frame = correlate_data(gaze_list,g.timestamps)
g.fixations_by_frame = [[] for x in g.timestamps] #populated by the fixation detector plugin
#add plugins
g.plugins = Plugin_List(g,plugin_by_name,plugin_initializers)
while frames_to_export.value - current_frame.value > 0:
if should_terminate.value:
logger.warning("User aborted export. Exported %s frames to %s."%(current_frame.value,out_file_path))
#explicit release of VideoWriter
writer.close()
writer = None
return False
try:
frame = cap.get_frame_nowait()
except EndofVideoFileError:
break
events = {}
#new positons and events
events['gaze_positions'] = g.gaze_positions_by_frame[frame.index]
events['pupil_positions'] = g.pupil_positions_by_frame[frame.index]
# allow each Plugin to do its work.
for p in g.plugins:
p.update(frame,events)
writer.write_video_frame(frame)
current_frame.value +=1
writer.close()
writer = None
duration = time()-start_time
effective_fps = float(current_frame.value)/duration
logger.info("Export done: Exported %s frames to %s. This took %s seconds. Exporter ran at %s frames per second"%(current_frame.value,out_file_path,duration,effective_fps))
return True
def export(should_terminate,
frames_to_export,
current_frame,
rec_dir,
user_dir,
start_frame=None,
end_frame=None,
plugin_initializers=[],
out_file_path=None):
logger = logging.getLogger(__name__ + ' with pid: ' + str(os.getpid()))
#parse info.csv file
meta_info_path = os.path.join(rec_dir, "info.csv")
with open(meta_info_path) as info:
meta_info = dict(
((line.strip().split('\t')) for line in info.readlines()))
video_path = glob(os.path.join(rec_dir, "world.*"))[0]
timestamps_path = os.path.join(rec_dir, "world_timestamps.npy")
pupil_data_path = os.path.join(rec_dir, "pupil_data")
rec_version = read_rec_version(meta_info)
if rec_version >= VersionFormat('0.5'):
pass
elif rec_version >= VersionFormat('0.4'):
update_recording_0v4_to_current(rec_dir)
elif rec_version >= VersionFormat('0.3'):
update_recording_0v3_to_current(rec_dir)
timestamps_path = os.path.join(rec_dir, "timestamps.npy")
else:
logger.Error("This recording is to old. Sorry.")
return
timestamps = np.load(timestamps_path)
cap = File_Capture(video_path, timestamps=timestamps_path)
#Out file path verification, we do this before but if one uses a seperate tool, this will kick in.
if out_file_path is None:
out_file_path = os.path.join(rec_dir, "world_viz.mp4")
else:
file_name = os.path.basename(out_file_path)
dir_name = os.path.dirname(out_file_path)
if not dir_name:
dir_name = rec_dir
if not file_name:
file_name = 'world_viz.mp4'
out_file_path = os.path.expanduser(os.path.join(dir_name, file_name))
if os.path.isfile(out_file_path):
logger.warning("Video out file already exsists. I will overwrite!")
os.remove(out_file_path)
logger.debug("Saving Video to %s" % out_file_path)
#Trim mark verification
#make sure the trim marks (start frame, endframe) make sense: We define them like python list slices,thus we can test them like such.
trimmed_timestamps = timestamps[start_frame:end_frame]
if len(trimmed_timestamps) == 0:
logger.warn(
"Start and end frames are set such that no video will be exported."
)
return False
if start_frame == None:
start_frame = 0
#these two vars are shared with the lauching process and give a job length and progress report.
frames_to_export.value = len(trimmed_timestamps)
current_frame.value = 0
logger.debug(
"Will export from frame %s to frame %s. This means I will export %s frames."
% (start_frame, start_frame + frames_to_export.value,
frames_to_export.value))
#setup of writer
writer = AV_Writer(out_file_path)
cap.seek_to_frame(start_frame)
start_time = time()
g = Global_Container()
g.app = 'exporter'
g.capture = cap
g.rec_dir = rec_dir
g.user_dir = user_dir
g.rec_version = rec_version
g.timestamps = timestamps
# load pupil_positions, gaze_positions
pupil_data = load_object(pupil_data_path)
pupil_list = pupil_data['pupil_positions']
gaze_list = pupil_data['gaze_positions']
g.pupil_positions_by_frame = correlate_data(pupil_list, g.timestamps)
g.gaze_positions_by_frame = correlate_data(gaze_list, g.timestamps)
g.fixations_by_frame = [[] for x in g.timestamps
] #populated by the fixation detector plugin
#add plugins
g.plugins = Plugin_List(g, plugin_by_name, plugin_initializers)
while frames_to_export.value - current_frame.value > 0:
if should_terminate.value:
logger.warning("User aborted export. Exported %s frames to %s." %
(current_frame.value, out_file_path))
#explicit release of VideoWriter
writer.close()
writer = None
return False
try:
frame = cap.get_frame_nowait()
except EndofVideoFileError:
break
events = {}
#new positons and events
events['gaze_positions'] = g.gaze_positions_by_frame[frame.index]
events['pupil_positions'] = g.pupil_positions_by_frame[frame.index]
# allow each Plugin to do its work.
for p in g.plugins:
p.update(frame, events)
writer.write_video_frame(frame)
current_frame.value += 1
writer.close()
writer = None
duration = time() - start_time
effective_fps = float(current_frame.value) / duration
logger.info(
"Export done: Exported %s frames to %s. This took %s seconds. Exporter ran at %s frames per second"
% (current_frame.value, out_file_path, duration, effective_fps))
return True
def _export_world_video(
rec_dir,
user_dir,
min_data_confidence,
start_frame,
end_frame,
plugin_initializers,
out_file_path,
pre_computed_eye_data,
):
"""
Simulates the generation for the world video and saves a certain time range as a video.
It simulates a whole g_pool such that all plugins run as normal.
"""
from glob import glob
from time import time
import file_methods as fm
import player_methods as pm
from av_writer import AV_Writer
# we are not importing manual gaze correction. In Player corrections have already been applied.
# in batch exporter this plugin makes little sense.
from fixation_detector import Offline_Fixation_Detector
from eye_movement import Offline_Eye_Movement_Detector
# Plug-ins
from plugin import Plugin_List, import_runtime_plugins
from video_capture import EndofVideoError, File_Source
from video_overlay.plugins import Video_Overlay, Eye_Overlay
from vis_circle import Vis_Circle
from vis_cross import Vis_Cross
from vis_light_points import Vis_Light_Points
from vis_polyline import Vis_Polyline
from vis_scan_path import Vis_Scan_Path
from vis_watermark import Vis_Watermark
PID = str(os.getpid())
logger = logging.getLogger(__name__ + " with pid: " + PID)
start_status = "Starting video export with pid: {}".format(PID)
logger.info(start_status)
yield start_status, 0
try:
vis_plugins = sorted(
[
Vis_Circle,
Vis_Cross,
Vis_Polyline,
Vis_Light_Points,
Vis_Watermark,
Vis_Scan_Path,
Eye_Overlay,
Video_Overlay,
],
key=lambda x: x.__name__,
)
analysis_plugins = [Offline_Fixation_Detector, Offline_Eye_Movement_Detector]
user_plugins = sorted(
import_runtime_plugins(os.path.join(user_dir, "plugins")),
key=lambda x: x.__name__,
)
available_plugins = vis_plugins + analysis_plugins + user_plugins
name_by_index = [p.__name__ for p in available_plugins]
plugin_by_name = dict(zip(name_by_index, available_plugins))
meta_info = pm.load_meta_info(rec_dir)
g_pool = GlobalContainer()
g_pool.app = "exporter"
g_pool.min_data_confidence = min_data_confidence
valid_ext = (".mp4", ".mkv", ".avi", ".h264", ".mjpeg", ".fake")
try:
video_path = next(
f
for f in glob(os.path.join(rec_dir, "world.*"))
if os.path.splitext(f)[1] in valid_ext
)
except StopIteration:
raise FileNotFoundError("No Video world found")
cap = File_Source(g_pool, source_path=video_path, fill_gaps=True, timing=None)
timestamps = cap.timestamps
file_name = os.path.basename(out_file_path)
dir_name = os.path.dirname(out_file_path)
out_file_path = os.path.expanduser(os.path.join(dir_name, file_name))
if os.path.isfile(out_file_path):
logger.warning("Video out file already exsists. I will overwrite!")
os.remove(out_file_path)
logger.debug("Saving Video to {}".format(out_file_path))
# Trim mark verification
# make sure the trim marks (start frame, end frame) make sense:
# We define them like python list slices, thus we can test them like such.
trimmed_timestamps = timestamps[start_frame:end_frame]
if len(trimmed_timestamps) == 0:
warn = "Start and end frames are set such that no video will be exported."
logger.warning(warn)
yield warn, 0.0
return
if start_frame is None:
start_frame = 0
# these two vars are shared with the launching process and give a job length and progress report.
frames_to_export = len(trimmed_timestamps)
current_frame = 0
exp_info = (
"Will export from frame {} to frame {}. This means I will export {} frames."
)
logger.debug(
exp_info.format(
start_frame, start_frame + frames_to_export, frames_to_export
)
)
# setup of writer
writer = AV_Writer(
out_file_path, fps=cap.frame_rate, audio_dir=rec_dir, use_timestamps=True
)
cap.seek_to_frame(start_frame)
start_time = time()
g_pool.plugin_by_name = plugin_by_name
g_pool.capture = cap
g_pool.rec_dir = rec_dir
g_pool.user_dir = user_dir
g_pool.meta_info = meta_info
g_pool.timestamps = timestamps
g_pool.delayed_notifications = {}
g_pool.notifications = []
for initializers in pre_computed_eye_data.values():
initializers["data"] = [
fm.Serialized_Dict(msgpack_bytes=serialized)
for serialized in initializers["data"]
]
g_pool.pupil_positions = pm.Bisector(**pre_computed_eye_data["pupil"])
g_pool.pupil_positions_by_id = (
pm.Bisector(**pre_computed_eye_data["pupil_by_id_0"]),
pm.Bisector(**pre_computed_eye_data["pupil_by_id_1"]),
)
g_pool.gaze_positions = pm.Bisector(**pre_computed_eye_data["gaze"])
g_pool.fixations = pm.Affiliator(**pre_computed_eye_data["fixations"])
# add plugins
g_pool.plugins = Plugin_List(g_pool, plugin_initializers)
while frames_to_export > current_frame:
try:
frame = cap.get_frame()
except EndofVideoError:
break
events = {"frame": frame}
# new positions and events
frame_window = pm.enclosing_window(g_pool.timestamps, frame.index)
events["gaze"] = g_pool.gaze_positions.by_ts_window(frame_window)
events["pupil"] = g_pool.pupil_positions.by_ts_window(frame_window)
# publish delayed notifications when their time has come.
for n in list(g_pool.delayed_notifications.values()):
if n["_notify_time_"] < time():
del n["_notify_time_"]
del g_pool.delayed_notifications[n["subject"]]
g_pool.notifications.append(n)
# notify each plugin if there are new notifications:
while g_pool.notifications:
n = g_pool.notifications.pop(0)
for p in g_pool.plugins:
p.on_notify(n)
# allow each Plugin to do its work.
for p in g_pool.plugins:
p.recent_events(events)
writer.write_video_frame(frame)
current_frame += 1
yield "Exporting with pid {}".format(PID), current_frame
writer.close(timestamp_export_format="all")
duration = time() - start_time
effective_fps = float(current_frame) / duration
result = "Export done: Exported {} frames to {}. This took {} seconds. Exporter ran at {} frames per second."
logger.info(
result.format(current_frame, out_file_path, duration, effective_fps)
)
yield "Export done. This took {:.0f} seconds.".format(duration), current_frame
except GeneratorExit:
logger.warning("Video export with pid {} was canceled.".format(os.getpid()))