mirror of
https://github.com/EyeTrackVR/EyeTrackVR.git
synced 2025-11-04 14:39:42 +08:00
Forgot to delete camera.py
This commit is contained in:
parent
51dfac5ea3
commit
d8253388e5
@ -1,284 +0,0 @@
|
||||
"""
|
||||
------------------------------------------------------------------------------------------------------
|
||||
|
||||
,@@@@@@
|
||||
@@@@@@@@@@@ @@@
|
||||
@@@@@@@@@@@@ @@@@@@@@@@@
|
||||
@@@@@@@@@@@@@ @@@@@@@@@@@@@@
|
||||
@@@@@@@/ ,@@@@@@@@@@@@@
|
||||
/@@@@@@@@@@@@@@@ @@@@@@@@
|
||||
@@@@@@@@@@@@@@@@@@@@@@@@ @@@@@
|
||||
@@@@@@@@ @@@@@
|
||||
,@@@ @@@@&
|
||||
@@@@@@. @@@@
|
||||
@@@ @@@@@@@@@/ @@@@@
|
||||
,@@@. @@@@@@((@ @@@@(
|
||||
//@@@ ,, @@@@ @@@@@
|
||||
@@@( @@@@@@@
|
||||
@@@ @ @@@@@@@@#
|
||||
@@@@@@@@@@@@@@@@@
|
||||
@@@@@@@@@@@@@(
|
||||
|
||||
Copyright (c) 2025 EyeTrackVR <3
|
||||
LICENSE: Babble Software Distribution License 1.0
|
||||
------------------------------------------------------------------------------------------------------
|
||||
"""
|
||||
|
||||
import cv2
|
||||
import numpy as np
|
||||
import queue
|
||||
import serial
|
||||
import serial.tools.list_ports
|
||||
import threading
|
||||
import time
|
||||
from colorama import Fore
|
||||
from config import EyeTrackCameraConfig
|
||||
from enum import Enum
|
||||
import psutil, os
|
||||
import sys
|
||||
from Camera.CameraState import CameraState
|
||||
from Camera.ICameraSource import ICameraSource
|
||||
|
||||
|
||||
WAIT_TIME = 0.1
|
||||
# Serial communication protocol:
|
||||
# header-begin (2 bytes)
|
||||
# header-type (2 bytes)
|
||||
# packet-size (2 bytes)
|
||||
# packet (packet-size bytes)
|
||||
ETVR_HEADER = b"\xff\xa0"
|
||||
ETVR_HEADER_FRAME = b"\xff\xa1"
|
||||
ETVR_HEADER_LEN = 6
|
||||
|
||||
|
||||
|
||||
def is_serial_capture_source(addr: str) -> bool:
|
||||
"""
|
||||
Returns True if the capture source address is a serial port.
|
||||
"""
|
||||
return (
|
||||
addr.startswith("COM") or addr.startswith("/dev/cu") or addr.startswith("/dev/tty") # Windows # macOS # Linux
|
||||
)
|
||||
|
||||
def is_udp(addr: str) -> bool:
|
||||
return addr.find("UDP") >= 0
|
||||
|
||||
|
||||
class Camera(ICameraSource):
|
||||
|
||||
def run(self):
|
||||
OPENCV_PARAMS = [
|
||||
cv2.CAP_PROP_OPEN_TIMEOUT_MSEC,
|
||||
5000,
|
||||
cv2.CAP_PROP_READ_TIMEOUT_MSEC,
|
||||
5000,
|
||||
]
|
||||
while True:
|
||||
if self.cancellation_event.is_set():
|
||||
print(f"{Fore.CYAN}[INFO] Exiting Capture thread{Fore.RESET}")
|
||||
# openCV won't switch to a new source if provided with one
|
||||
# so, we have to manually release the camera on exit
|
||||
|
||||
addr = str(self.current_capture_source)
|
||||
if is_serial_capture_source(addr):
|
||||
pass # TODO: find a nicer way to stop the com port
|
||||
# self.serial_connection.close()
|
||||
else:
|
||||
self.cv2_camera.release()
|
||||
|
||||
return
|
||||
should_push = True
|
||||
# If things aren't open, retry until they are. Don't let read requests come in any earlier
|
||||
# than this, otherwise we can deadlock ourselves.
|
||||
if self.config.capture_source != None and self.config.capture_source != "":
|
||||
self.current_capture_source = self.config.capture_source
|
||||
addr = str(self.current_capture_source)
|
||||
|
||||
if is_serial_capture_source(addr):
|
||||
if (
|
||||
self.serial_connection is None
|
||||
or self.camera_status == CameraState.DISCONNECTED
|
||||
or self.config.capture_source != self.current_capture_source
|
||||
):
|
||||
port = self.config.capture_source
|
||||
self.current_capture_source = port
|
||||
self.start_serial_connection(port)
|
||||
else:
|
||||
if (
|
||||
self.cv2_camera is None
|
||||
or not self.cv2_camera.isOpened()
|
||||
or self.camera_status == CameraState.DISCONNECTED
|
||||
or self.config.capture_source != self.current_capture_source
|
||||
):
|
||||
print(self.error_message.format(self.config.capture_source))
|
||||
# This requires a wait, otherwise we can error and possible screw up the camera
|
||||
# firmware. Fickle things.
|
||||
if self.cancellation_event.wait(WAIT_TIME):
|
||||
return
|
||||
self.current_capture_source = self.config.capture_source
|
||||
# self.cv2_camera = cv2.VideoCapture(self.current_capture_source)
|
||||
|
||||
self.cv2_camera = cv2.VideoCapture()
|
||||
self.cv2_camera.setExceptionMode(True)
|
||||
# https://github.com/opencv/opencv/blob/4.8.0/modules/videoio/include/opencv2/videoio.hpp#L803
|
||||
self.cv2_camera.open(self.current_capture_source)
|
||||
should_push = False
|
||||
else:
|
||||
# We don't have a capture source to try yet, wait for one to show up in the GUI.
|
||||
if self.cancellation_event.wait(WAIT_TIME):
|
||||
self.camera_status = CameraState.DISCONNECTED
|
||||
return
|
||||
# Assuming we can access our capture source, wait for another thread to request a capture.
|
||||
# Cycle every so often to see if our cancellation token has fired. This basically uses a
|
||||
# python event as a context-less, resettable one-shot channel.
|
||||
if should_push and not self.capture_event.wait(timeout=0.001):
|
||||
continue
|
||||
if self.config.capture_source != None:
|
||||
addr = str(self.current_capture_source)
|
||||
if is_serial_capture_source(addr):
|
||||
self.get_serial_camera_picture(should_push)
|
||||
else:
|
||||
self.get_cv2_camera_picture(should_push)
|
||||
if not should_push:
|
||||
# if we get all the way down here, consider ourselves connected
|
||||
self.camera_status = CameraState.CONNECTED
|
||||
|
||||
def get_cv2_camera_picture(self, should_push):
|
||||
try:
|
||||
ret, image = self.cv2_camera.read()
|
||||
height, width = image.shape[:2] # Calculate the aspect ratio
|
||||
if int(width) > 680:
|
||||
aspect_ratio = float(width) / float(
|
||||
height
|
||||
) # Determine the new height based on the desired maximum width
|
||||
new_height = int(680 / aspect_ratio)
|
||||
image = cv2.resize(image, (680, new_height))
|
||||
if not ret:
|
||||
self.cv2_camera.set(cv2.CAP_PROP_POS_FRAMES, 0)
|
||||
raise RuntimeError("Problem while getting frame")
|
||||
frame_number = self.cv2_camera.get(cv2.CAP_PROP_POS_FRAMES)
|
||||
current_frame_time = time.time()
|
||||
delta_time = current_frame_time - self.last_frame_time
|
||||
if delta_time > 0:
|
||||
current_fps = 1 / delta_time
|
||||
else:
|
||||
current_fps = 0
|
||||
self.last_frame_time = current_frame_time
|
||||
|
||||
if len(self.fl) < 60:
|
||||
self.fl.append(current_fps)
|
||||
else:
|
||||
self.fl.pop(0)
|
||||
self.fl.append(current_fps)
|
||||
|
||||
self.fps = sum(self.fl) / len(self.fl)
|
||||
self.bps = image.nbytes * self.fps
|
||||
|
||||
|
||||
if should_push:
|
||||
self.push_image_to_queue(image, frame_number, self.fps)
|
||||
except:
|
||||
print(
|
||||
f"{Fore.YELLOW}[WARN] Capture source problem, assuming camera disconnected, waiting for reconnect.{Fore.RESET}"
|
||||
)
|
||||
self.camera_status = CameraState.DISCONNECTED
|
||||
pass
|
||||
|
||||
def get_next_packet_bounds(self):
|
||||
beg = -1
|
||||
while beg == -1:
|
||||
self.buffer += self.serial_connection.read(2048)
|
||||
beg = self.buffer.find(ETVR_HEADER + ETVR_HEADER_FRAME)
|
||||
# Discard any data before the frame header.
|
||||
if beg > 0:
|
||||
self.buffer = self.buffer[beg:]
|
||||
beg = 0
|
||||
# We know exactly how long the jpeg packet is
|
||||
end = int.from_bytes(self.buffer[4:6], signed=False, byteorder="little")
|
||||
self.buffer += self.serial_connection.read(end - len(self.buffer))
|
||||
return beg, end
|
||||
|
||||
def get_next_jpeg_frame(self):
|
||||
beg, end = self.get_next_packet_bounds()
|
||||
jpeg = self.buffer[beg + ETVR_HEADER_LEN : end + ETVR_HEADER_LEN]
|
||||
self.buffer = self.buffer[end + ETVR_HEADER_LEN :]
|
||||
return jpeg
|
||||
|
||||
def get_serial_camera_picture(self, should_push):
|
||||
conn = self.serial_connection
|
||||
if conn is None:
|
||||
return
|
||||
try:
|
||||
if conn.in_waiting:
|
||||
jpeg = self.get_next_jpeg_frame()
|
||||
if jpeg:
|
||||
# Create jpeg frame from byte string
|
||||
image = cv2.imdecode(np.fromstring(jpeg, dtype=np.uint8), cv2.IMREAD_UNCHANGED)
|
||||
if image is None:
|
||||
print(f"{Fore.YELLOW}[WARN] Frame drop. Corrupted JPEG.{Fore.RESET}")
|
||||
return
|
||||
# Discard the serial buffer. This is due to the fact that it
|
||||
# may build up some outdated frames. A bit of a workaround here tbh.
|
||||
if conn.in_waiting >= 32768:
|
||||
print(f"{Fore.CYAN}[INFO] Discarding the serial buffer ({conn.in_waiting} bytes){Fore.RESET}")
|
||||
conn.reset_input_buffer()
|
||||
self.buffer = b""
|
||||
# Calculate the fps.
|
||||
current_frame_time = time.time()
|
||||
delta_time = current_frame_time - self.last_frame_time
|
||||
self.last_frame_time = current_frame_time
|
||||
|
||||
# Avoid division by zero
|
||||
if delta_time > 0:
|
||||
fps = 1.0 / delta_time
|
||||
else:
|
||||
fps = 0
|
||||
|
||||
# Smooth the FPS using a moving average
|
||||
self.fl.append(fps)
|
||||
if len(self.fl) > 60:
|
||||
self.fl.pop(0) # Keep the list length constant
|
||||
|
||||
# Compute average FPS
|
||||
self.fps = sum(self.fl) / len(self.fl)
|
||||
|
||||
# Compute bandwidth per second (bps)
|
||||
self.bps = image.nbytes * self.fps
|
||||
|
||||
# Increment frame count
|
||||
self.frame_number += 1
|
||||
if should_push:
|
||||
self.push_image_to_queue(image, self.frame_number, self.fps)
|
||||
except Exception:
|
||||
print(
|
||||
f"{Fore.YELLOW}[WARN] Serial capture source problem, assuming camera disconnected, waiting for reconnect.{Fore.RESET}"
|
||||
)
|
||||
conn.close()
|
||||
self.camera_status = CameraState.DISCONNECTED
|
||||
pass
|
||||
|
||||
def start_serial_connection(self, port):
|
||||
if self.serial_connection is not None and self.serial_connection.is_open:
|
||||
# Do nothing. The connection is already open on this port.
|
||||
if self.serial_connection.port == port:
|
||||
return
|
||||
# Otherwise, close the connection before trying to reopen.
|
||||
self.serial_connection.close()
|
||||
com_ports = [tuple(p) for p in list(serial.tools.list_ports.comports())]
|
||||
# Do not try connecting if no such port i.e. device was unplugged.
|
||||
if not any(p for p in com_ports if port in p):
|
||||
return
|
||||
try:
|
||||
rate = 115200 if sys.platform == "darwin" else 3000000 # Higher baud rate not working on macOS
|
||||
conn = serial.Serial(baudrate=rate, port=port, xonxoff=False, dsrdtr=False, rtscts=False)
|
||||
# Set explicit buffer size for serial.
|
||||
if sys.platform == "win32":
|
||||
buffer_size = 32768
|
||||
conn.set_buffer_size(rx_size=buffer_size, tx_size=buffer_size)
|
||||
|
||||
print(f"{Fore.CYAN}[INFO] ETVR Serial Tracker device connected on {port}{Fore.RESET}")
|
||||
self.serial_connection = conn
|
||||
self.camera_status = CameraState.CONNECTED
|
||||
except Exception:
|
||||
print(f"{Fore.CYAN}[INFO] Failed to connect on {port}{Fore.RESET}")
|
||||
self.camera_status = CameraState.DISCONNECTED
|
||||
@ -32,7 +32,7 @@ import math
|
||||
from eye import EyeId
|
||||
from eye_processor import EyeProcessor, EyeInfoOrigin
|
||||
from queue import Queue, Empty
|
||||
from Camera.camera import CameraState
|
||||
from Camera.CameraState import CameraState
|
||||
from Camera.CameraFactory import CameraFactory
|
||||
import cv2
|
||||
from osc.OSCMessage import OSCMessageType, OSCMessage
|
||||
|
||||
Loading…
Reference in New Issue
Block a user