import PySimpleGUI as sg from config import EyeTrackConfig from config import EyeTrackSettingsConfig from collections import deque from threading import Event, Thread from eye_processor import EyeProcessor, EyeInfoOrigin from enum import Enum from queue import Queue, Empty from camera import Camera, CameraState from osc import EyeId import cv2 import sys from utils.misc_utils import PlaySound, SND_FILENAME, SND_ASYNC, resource_path import traceback import math import numpy as np class CameraWidget: def __init__(self, widget_id: EyeId, main_config: EyeTrackConfig, osc_queue: Queue): self.gui_camera_addr = f"-CAMERAADDR{widget_id}-" self.gui_rotation_slider = f"-ROTATIONSLIDER{widget_id}-" self.gui_rotation_ui_padding = f"-ROTATIONUIPADDING{widget_id}-" self.gui_roi_button = f"-ROIMODE{widget_id}-" self.gui_roi_layout = f"-ROILAYOUT{widget_id}-" self.gui_roi_selection = f"-GRAPH{widget_id}-" self.gui_tracking_button = f"-TRACKINGMODE{widget_id}-" self.gui_save_tracking_button = f"-SAVETRACKINGBUTTON{widget_id}-" self.gui_tracking_layout = f"-TRACKINGLAYOUT{widget_id}-" self.gui_tracking_image = f"-IMAGE{widget_id}-" self.gui_tracking_fps = f"-TRACKINGFPS{widget_id}-" self.gui_tracking_bps = f"-TRACKINGBPS{widget_id}-" self.gui_output_graph = f"-OUTPUTGRAPH{widget_id}-" self.gui_restart_calibration = f"-RESTARTCALIBRATION{widget_id}-" self.gui_stop_calibration = f"-STOPCALIBRATION{widget_id}-" self.gui_recenter_eyes = f"-RECENTEREYES{widget_id}-" self.gui_mode_readout = f"-APPMODE{widget_id}-" self.gui_roi_message = f"-ROIMESSAGE{widget_id}-" self.gui_mask_markup = f"-MARKUP{widget_id}-" self.gui_mask_lighten = f"-LIGHTEN{widget_id}-" self.last_eye_info = None self.osc_queue = osc_queue self.main_config = main_config self.eye_id = widget_id self.settings_config = main_config.settings self.configl = main_config.left_eye self.configr = main_config.right_eye self.settings = main_config.settings if self.eye_id == EyeId.RIGHT: self.config = main_config.right_eye elif self.eye_id == EyeId.LEFT: self.config = main_config.left_eye else: raise RuntimeError( "\033[91m[WARN] Cannot have a camera widget represent both eyes!\033[0m" ) self.cancellation_event = Event() # Set the event until start is called, otherwise we can block if shutdown is called. self.cancellation_event.set() self.capture_event = Event() self.capture_queue = Queue() self.roi_queue = Queue() self.image_queue = Queue() self.ransac = EyeProcessor( self.config, self.settings_config, main_config, self.cancellation_event, self.capture_event, self.capture_queue, self.image_queue, self.eye_id, ) self.camera_status_queue = Queue() self.camera = Camera( self.config, 0, self.cancellation_event, self.capture_event, self.camera_status_queue, self.capture_queue, ) self.roi_layout = [ [ sg.Button( "Mark Out", key=self.gui_mask_markup, button_color="#6f4ca1", tooltip="Mark out stuff that is not your eye.", ), sg.Button( "Lighten", key=self.gui_mask_lighten, button_color="#6f4ca1", tooltip="Lighten shadowed areas.", ), sg.Checkbox( "Camera Widget Padding", default=self.config.gui_rotation_ui_padding, tooltip="Pad the camera view widget enough to allow a full rotation.", key=self.gui_rotation_ui_padding, background_color="#424042", ), ], [ sg.Graph( (640, 480), (0, 480), (640, 0), key=self.gui_roi_selection, drag_submits=True, enable_events=True, motion_events=True, background_color="#424042", ), ], ] # Define the window's contents self.tracking_layout = [ [ sg.Button( "Start Calibration", key=self.gui_restart_calibration, button_color="#6f4ca1", tooltip="Start eye calibration. Look all arround to all extreams without blinking until sound is heard.", ), sg.Button( "Stop Calibration", key=self.gui_stop_calibration, button_color="#6f4ca1", tooltip="Stop eye calibration manualy.", ), sg.Button( "Recenter Eyes", key=self.gui_recenter_eyes, button_color="#6f4ca1", tooltip="Make your eyes center again.", ), ], [ sg.Text("Mode:", background_color="#424042"), sg.Text( "Calibrating", key=self.gui_mode_readout, background_color="#424042" ), sg.Text("", key=self.gui_tracking_fps, background_color="#424042"), sg.Text("", key=self.gui_tracking_bps, background_color="#424042"), # sg.Checkbox( # "Circle crop:", # default=self.config.gui_circular_crop, # key=self.gui_circular_crop, # background_color='#424042', # tooltip = "Circle crop only applies to RANSAC3D and Blob.", # ), ], [sg.Image(filename="", key=self.gui_tracking_image)], [ sg.Graph( (200, 200), (-100, 100), (100, -100), background_color="white", key=self.gui_output_graph, drag_submits=True, enable_events=True, ), sg.Text( "Please set an Eye Cropping.", key=self.gui_roi_message, background_color="#424042", visible=False, ), ], ] self.widget_layout = [ [ sg.Text("Camera Address", background_color="#424042"), sg.InputText( self.config.capture_source, key=self.gui_camera_addr, tooltip="Enter the IP address or UVC port of your camera. (Include the 'http://')", ), ], [ sg.Button( "Save and Restart Tracking", key=self.gui_save_tracking_button, button_color="#6f4ca1", ), ], [ sg.Button( "Tracking Mode", key=self.gui_tracking_button, button_color="#6f4ca1", tooltip="Go here to track your eye.", ), sg.Button( "Cropping Mode", key=self.gui_roi_button, button_color="#6f4ca1", tooltip="Go here to crop out your eye.", ), ], [ sg.Text("Rotation", background_color="#424042"), sg.Slider( range=(0, 360), default_value=self.config.rotation_angle, orientation="h", key=self.gui_rotation_slider, background_color="#424042", tooltip="Adjust the rotation of your cameras, make them level.", ), ], [ sg.Column( self.tracking_layout, key=self.gui_tracking_layout, background_color="#424042", ), sg.Column( self.roi_layout, key=self.gui_roi_layout, background_color="#424042", visible=False, ), ], ] self.hover_x, self.hover_y = None, None # cartesian co-ordinates in widget space are used during selection self.x0, self.y0 = None, None self.x1, self.y1 = None, None self.cartesian_needs_update = False # polar co-ordinates from the image center are the canonical representation self.cr, self.ca = None, None self.w, self.h = None, None self.clip_w, self.clip_h = None, None self.clip_left, self.clip_top = None, None self.pad_w, self.pad_h = None, None self.pad_left, self.pad_top = None, None self.roi_image_center = (None, None) self.is_mouse_up = True self.in_roi_mode = False self.movavg_fps_queue = deque(maxlen=120) self.movavg_bps_queue = deque(maxlen=120) def _movavg_fps(self, next_fps): self.movavg_fps_queue.append(next_fps) fps = round(sum(self.movavg_fps_queue) / len(self.movavg_fps_queue)) millisec = round((1 / fps if fps else 0) * 1000) return f"{fps} Fps {millisec} ms" def _movavg_bps(self, next_bps): self.movavg_bps_queue.append(next_bps) return f"{sum(self.movavg_bps_queue) / len(self.movavg_bps_queue) * 0.001 * 0.001 * 8:.3f} Mbps" def _cartesian_to_polar(self): if None not in (self.x0, self.y0, self.x1, self.y1): image_center_x, image_center_y = self.roi_image_center roi_center_x = image_center_x - (self.x0 + self.x1) / 2. roi_center_y = image_center_y - (self.y0 + self.y1) / 2. self.cr = (roi_center_x**2 + roi_center_y**2)**0.5 self.ca = math.atan2(roi_center_x, roi_center_y) - \ math.radians(self.config.rotation_angle) self.w = abs(self.x1 - self.x0) self.h = abs(self.y1 - self.y0) def _polar_to_cartesian_at_angle(self, rotation_angle_radians): if None not in (self.cr, self.ca, self.w, self.h): image_center_x, image_center_y = self.roi_image_center ca = self.ca + rotation_angle_radians cx = -math.sin(ca) * self.cr + image_center_x cy = -math.cos(ca) * self.cr + image_center_y return ((int(cx - self.w/2), int(cy - self.h/2)), (int(cx + self.w/2), int(cy + self.h/2))) else: return 4 * (None,) def _polar_to_cartesian(self): if None not in (self.cr, self.ca, self.w, self.h): (self.x0, self.y0), (self.x1, self.y1) = \ self._polar_to_cartesian_at_angle( math.radians(self.config.rotation_angle)) def started(self): return not self.cancellation_event.is_set() def start(self): # If we're already running, bail if not self.cancellation_event.is_set(): return self.cancellation_event.clear() self.ransac_thread = Thread(target=self.ransac.run) self.ransac_thread.start() self.camera_thread = Thread(target=self.camera.run) self.camera_thread.start() def stop(self): # If we're not running yet, bail if self.cancellation_event.is_set(): return self.cancellation_event.set() self.ransac_thread.join() self.camera_thread.join() def render(self, window, event, values): changed = False # If anything has changed in our configuration settings, change/update those. if ( event == self.gui_save_tracking_button and values[self.gui_camera_addr] != self.config.capture_source ): print( "\033[94m[INFO] New value: {}\033[0m".format( values[self.gui_camera_addr] ) ) try: # Try storing ints as ints, for those using wired cameras. self.config.capture_source = int(values[self.gui_camera_addr]) except ValueError: if values[self.gui_camera_addr] == "": self.config.capture_source = None else: if ( len(values[self.gui_camera_addr]) > 5 and "http" not in values[self.gui_camera_addr] and ".mp4" not in values[self.gui_camera_addr] ): # If http is not in camera address, add it. self.config.capture_source = ( f"http://{values[self.gui_camera_addr]}/" ) else: self.config.capture_source = values[self.gui_camera_addr] changed = True if self.config.rotation_angle != int(values[self.gui_rotation_slider]): self.config.rotation_angle = int(values[self.gui_rotation_slider]) changed = True self.cartesian_needs_update = True if self.config.gui_rotation_ui_padding != bool(values[self.gui_rotation_ui_padding]): self.config.gui_rotation_ui_padding = bool(values[self.gui_rotation_ui_padding]) changed = True self.cartesian_needs_update = True # if self.config.gui_circular_crop != values[self.gui_circular_crop]: # self.config.gui_circular_crop = values[self.gui_circular_crop] # changed = True if changed: self.main_config.save() if event == self.gui_tracking_button: print("\033[94m[INFO] Moving to tracking mode\033[0m") self.in_roi_mode = False self.camera.set_output_queue(self.capture_queue) window[self.gui_roi_layout].update(visible=False) window[self.gui_tracking_layout].update(visible=True) if event == self.gui_roi_button: print("\033[94m[INFO] Move to roi mode\033[0m") self.in_roi_mode = True self.camera.set_output_queue(self.roi_queue) window[self.gui_roi_layout].update(visible=True) window[self.gui_tracking_layout].update(visible=False) if event == "{}+UP".format(self.gui_roi_selection): # Event for mouse button up in ROI mode self.is_mouse_up = True print("UP") self.x0 = np.clip(self.x0, self.clip_left, self.clip_left + self.clip_w) self.y0 = np.clip(self.y0, self.clip_top, self.clip_top + self.clip_h) self.x1 = np.clip(self.x1, self.clip_left, self.clip_left + self.clip_w) self.y1 = np.clip(self.y1, self.clip_top, self.clip_top + self.clip_h) self._cartesian_to_polar() if abs(self.x0 - self.x1) != 0 and abs(self.y0 - self.y1) != 0: (x0, y0), (x1, y1) = self._polar_to_cartesian_at_angle(0) self.config.roi_window_x = min([x0, x1]) - self.pad_left self.config.roi_window_y = min([y0, y1]) - self.pad_top self.config.roi_window_w = abs(x0 - x1) self.config.roi_window_h = abs(y0 - y1) self.main_config.save() if event == self.gui_roi_selection: # Event for mouse button down or mouse drag in ROI mode (self.hover_x, self.hover_y) = (None, None) if self.is_mouse_up: self.is_mouse_up = False self.x0, self.y0 = values[self.gui_roi_selection] self.x1, self.y1 = values[self.gui_roi_selection] self._cartesian_to_polar() if event == "{}+MOVE".format(self.gui_roi_selection): if self.is_mouse_up: (self.hover_x, self.hover_y) = values[self.gui_roi_selection] if self.hover_x > self.pad_w or self.hover_y > self.pad_h: (self.hover_x, self.hover_y) = (None, None) if event == self.gui_restart_calibration: self.ransac.calibration_frame_counter = self.settings.calibration_samples self.ransac.ibo.clear_filter() PlaySound(resource_path("Audio/start.wav"), SND_FILENAME | SND_ASYNC) if event == self.gui_stop_calibration: self.ransac.calibration_frame_counter = 0 if event == self.gui_recenter_eyes: self.settings.gui_recenter_eyes = True needs_roi_set = self.config.roi_window_h <= 0 or self.config.roi_window_w <= 0 # TODO: Refactor if statements below... window[self.gui_tracking_fps].update("") window[self.gui_tracking_bps].update("") if self.config.capture_source is None or self.config.capture_source == "": window[self.gui_mode_readout].update("Waiting for camera address") window[self.gui_roi_message].update(visible=False) window[self.gui_output_graph].update(visible=False) elif self.camera.camera_status == CameraState.CONNECTING: window[self.gui_mode_readout].update("Camera Connecting") elif self.camera.camera_status == CameraState.DISCONNECTED: window[self.gui_mode_readout].update("Camera Reconnecting...") elif needs_roi_set: window[self.gui_mode_readout].update("Awaiting Eye Crop") elif self.ransac.calibration_frame_counter != None: window[self.gui_mode_readout].update("Calibration") else: window[self.gui_mode_readout].update("Tracking") window[self.gui_tracking_fps].update(self._movavg_fps(self.camera.fps)) window[self.gui_tracking_bps].update(self._movavg_bps(self.camera.bps)) if event == self.gui_mask_lighten: while True: try: maybe_image = self.roi_queue.get(block=False) imgbytes = cv2.imencode(".ppm", maybe_image[0])[1].tobytes() image = cv2.imdecode( np.frombuffer(imgbytes, np.uint8), cv2.IMREAD_COLOR ) cv2.imshow("Image", image) cv2.waitKey(1) cv2.destroyAllWindows() print("lighen") except Empty: pass if event == self.gui_mask_markup: print("markup") if self.in_roi_mode: try: if self.roi_queue.empty(): self.capture_event.set() maybe_image = self.roi_queue.get(block=False) if maybe_image: image = maybe_image[0] img_w, img_h, _ = image.shape hyp = math.ceil((img_w**2 + img_h**2)**0.5) rotation_matrix = cv2.getRotationMatrix2D( ((img_w/2), (img_h/2)), self.config.rotation_angle, 1 ) # calculate position of all four corners of image # calculate crop corner locations in original image space x_coords, y_coords = np.matmul( rotation_matrix, np.transpose([ [0, 0, 1], [img_w, 0, 1], [0, img_h, 1], [img_w, img_h, 1]]), ) self.clip_w = math.ceil(max(x_coords) - min(x_coords)) self.clip_h = math.ceil(max(y_coords) - min(y_coords)) if self.config.gui_rotation_ui_padding: self.pad_w = hyp self.pad_h = hyp else: self.pad_w = self.clip_w self.pad_h = self.clip_h self.pad_left = round((self.pad_w - img_w)/2) self.pad_top = round((self.pad_h - img_h)/2) self.clip_left = round((self.pad_w - self.clip_w)/2) self.clip_top = round((self.pad_h - self.clip_h)/2) self.roi_image_center = (self.pad_w / 2, self.pad_h / 2) # deferred to after roi_image_center is updated if self.cartesian_needs_update: self._polar_to_cartesian() self.cartesian_needs_update = False pad_matrix = np.float32([[1, 0, self.pad_left], [0, 1, self.pad_top], [0, 0, 1]]) rotation_matrix_padded = cv2.getRotationMatrix2D( self.roi_image_center, self.config.rotation_angle, 1 ) matrix = np.matmul(rotation_matrix_padded, pad_matrix) image = cv2.warpAffine( image, matrix, (self.pad_w, self.pad_h), borderMode=cv2.BORDER_CONSTANT, borderValue=(128, 128, 128), ) maybe_image = (image, *maybe_image[1:]) imgbytes = cv2.imencode(".ppm", maybe_image[0])[1].tobytes() graph = window[self.gui_roi_selection] # INCREDIBLY IMPORTANT ERASE. Drawing images does NOT overwrite the buffer, the fucking # graph keeps every image fed in until you call this. Therefore we have to make sure we # erase before we redraw, otherwise we'll leak memory *very* quickly. graph.erase() graph.draw_image(data=imgbytes, location=(0, 0)) def make_dashed(spawn_item, dark="#000000", light="#ffffff", duty=1): pixel_duty = math.floor(4 * duty) for (color, dashoffset) in [(dark, 0), (light, 4)]: item = spawn_item(color) graph._TKCanvas2.itemconfig(item, dash=(pixel_duty, 8 - pixel_duty), dashoffset=dashoffset) if None not in (self.x0, self.y0, self.x1, self.y1): style = {} if self.is_mouse_up: style = {"dark": "#7f78ff", "light": "#d002ff", "duty": 0.5} make_dashed(lambda color: graph.draw_rectangle( (self.x0, self.y0), (self.x1, self.y1), line_color=color, ), **style) if self.is_mouse_up and None not in (self.hover_x, self.hover_y): make_dashed(lambda color: graph.draw_line( (self.hover_x, 0), (self.hover_x, self.pad_h), color=color )) make_dashed(lambda color: graph.draw_line( (0, self.hover_y), (self.pad_w, self.hover_y), color=color )) except Empty: pass else: if needs_roi_set: window[self.gui_roi_message].update(visible=True) window[self.gui_output_graph].update(visible=False) return try: window[self.gui_roi_message].update(visible=False) window[self.gui_output_graph].update(visible=True) (maybe_image, eye_info) = self.image_queue.get(block=False) imgbytes = cv2.imencode(".ppm", maybe_image)[1].tobytes() window[self.gui_tracking_image].update(data=imgbytes) # Update the GUI graph = window[self.gui_output_graph] graph.erase() if ( eye_info.info_type != EyeInfoOrigin.FAILURE ): # and not eye_info.blink: graph.update(background_color="white") if not np.isnan(eye_info.x) and not np.isnan(eye_info.y): graph.draw_circle( (eye_info.x * -100, eye_info.y * -100), eye_info.pupil_dilation * 25, fill_color="black", line_color="white", ) else: graph.draw_circle( (0.0 * -100, 0.0 * -100), 20, fill_color="black", line_color="white", ) if not np.isnan(eye_info.blink): graph.draw_line( (-100, abs(eye_info.blink) * 2 * 200), (-100, 100), color="#6f4ca1", width=10, ) else: graph.draw_line( (-100, 0.5 * 200), (-100, 100), color="#6f4ca1", width=10 ) if eye_info.blink <= 0.0: graph.update(background_color="#6f4ca1") elif eye_info.info_type == EyeInfoOrigin.FAILURE: graph.update(background_color="red") # Relay information to OSC if eye_info.info_type != EyeInfoOrigin.FAILURE: self.osc_queue.put((self.eye_id, eye_info)) except Empty: pass