''' ------------------------------------------------------------------------------------------------------ ,@@@@@@ @@@@@@@@@@@ @@@ @@@@@@@@@@@@ @@@@@@@@@@@ @@@@@@@@@@@@@ @@@@@@@@@@@@@@ @@@@@@@/ ,@@@@@@@@@@@@@ /@@@@@@@@@@@@@@@ @@@@@@@@ @@@@@@@@@@@@@@@@@@@@@@@@ @@@@@ @@@@@@@@ @@@@@ ,@@@ @@@@& @@@@@@. @@@@ @@@ @@@@@@@@@/ @@@@@ ,@@@. @@@@@@((@ @@@@( //@@@ ,, @@@@ @@@@@ @@@( @@@@@@@ @@@ @ @@@@@@@@# @@@@@@@@@@@@@@@@@ @@@@@@@@@@@@@( HSR By: Sean.Denka (Optimization Wizard, Contributor), Summer#2406 (Main Algorithm Engineer) RANSAC 3D By: Summer#2406 (Main Algorithm Engineer), Pupil Labs (pye3d), Sean.Denka (Optimization) BLOB By: Prohurtz#0001 (Main App Developer) Algorithm App Implimentations By: Prohurtz#0001, qdot (Inital App Creator) Additional Contributors: [Assassin], Summer404NotFound, lorow, ZanzyTHEbar Copyright (c) 2022 EyeTrackVR <3 ------------------------------------------------------------------------------------------------------ ''' from operator import truth from dataclasses import dataclass import sys import asyncio sys.path.append(".") from config import EyeTrackCameraConfig from config import EyeTrackSettingsConfig from pye3d.camera import CameraModel from pye3d.detector_3d import Detector3D, DetectorMode import queue import threading import numpy as np import cv2 from enum import Enum from one_euro_filter import OneEuroFilter if sys.platform.startswith("win"): from winsound import PlaySound, SND_FILENAME, SND_ASYNC import importlib from osc_calibrate_filter import * from haar_surround_feature import * from blob import * from ransac import * from hsrac import * from blink import * class InformationOrigin(Enum): RANSAC = 1 BLOB = 2 FAILURE = 3 HSF = 4 HSRAC = 5 bbb = 0 @dataclass class EyeInformation: info_type: InformationOrigin x: float y: float pupil_dialation: int blink: bool lowb = np.array(0) def run_once(f): def wrapper(*args, **kwargs): if not wrapper.has_run: wrapper.has_run = True return f(*args, **kwargs) wrapper.has_run = False return wrapper async def delayed_setting_change(setting, value): await asyncio.sleep(5) setting = value if sys.platform.startswith("win"): PlaySound('Audio/compleated.wav', SND_FILENAME | SND_ASYNC) class EyeProcessor: def __init__( self, config: "EyeTrackCameraConfig", settings: "EyeTrackSettingsConfig", cancellation_event: "threading.Event", capture_event: "threading.Event", capture_queue_incoming: "queue.Queue", image_queue_outgoing: "queue.Queue", eye_id, ): self.config = config self.settings = settings # Cross-thread communication management self.capture_queue_incoming = capture_queue_incoming self.image_queue_outgoing = image_queue_outgoing self.cancellation_event = cancellation_event self.capture_event = capture_event self.eye_id = eye_id # Cross algo state self.lkg_projected_sphere = None self.xc = None self.yc = None # Image state self.previous_image = None self.current_image = None self.current_image_gray = None self.current_frame_number = None self.current_fps = None self.threshold_image = None # Calibration Values self.xoff = 1 self.yoff = 1 # Keep large in order to recenter correctly self.calibration_frame_counter = None self.eyeoffx = 1 self.xmax = -69420 self.xmin = 69420 self.ymax = -69420 self.ymin = 69420 self.cct = 300 self.cccs = False self.ts = 10 self.previous_rotation = self.config.rotation_angle self.calibration_frame_counter self.camera_model = None self.detector_3d = None self.camera_model = None self.detector_3d = None self.failed = 0 self.skip_blink_detect = False #blink self.max_ints = [] self.max_int = 0 self.min_int = 4000000000000 self.frames = 0 self.blinkvalue = False self.prev_x = None self.prev_y = None try: min_cutoff = float(self.settings.gui_min_cutoff) # 0.0004 beta = float(self.settings.gui_speed_coefficient) # 0.9 except: print('[WARN] OneEuroFilter values must be a legal number.') min_cutoff = 0.0004 beta = 0.9 noisy_point = np.array([1, 1]) self.one_euro_filter = OneEuroFilter( noisy_point, min_cutoff=min_cutoff, beta=beta ) def output_images_and_update(self, threshold_image, output_information: EyeInformation): try: image_stack = np.concatenate( ( cv2.cvtColor(self.current_image_gray, cv2.COLOR_GRAY2BGR), cv2.cvtColor(threshold_image, cv2.COLOR_GRAY2BGR), ), axis=1, ) self.image_queue_outgoing.put((image_stack, output_information)) self.previous_image = self.current_image self.previous_rotation = self.config.rotation_angle except: # If this fails it likely means that the images are not the same size for some reason. print('[ERROR] Size of frames to display are of unequal sizes.') pass def capture_crop_rotate_image(self): # Get our current frame try: # Get frame from capture source, crop to ROI self.current_image = self.current_image[ int(self.config.roi_window_y): int( self.config.roi_window_y + self.config.roi_window_h ), int(self.config.roi_window_x): int( self.config.roi_window_x + self.config.roi_window_w ), ] except: # Failure to process frame, reuse previous frame. self.current_image = self.previous_image print("[ERROR] Frame capture issue detected.") try: # Apply rotation to cropped area. For any rotation area outside of the bounds of the image, # fill with white. try: rows, cols, _ = self.current_image.shape except: rows, cols, _ = self.previous_image.shape img_center = (cols / 2, rows / 2) rotation_matrix = cv2.getRotationMatrix2D( img_center, self.config.rotation_angle, 1 ) self.current_image = cv2.warpAffine( self.current_image, rotation_matrix, (cols, rows), borderMode=cv2.BORDER_CONSTANT, borderValue=(255, 255, 255), ) return True except: pass def HSRACM(self): cx, cy, thresh, gray_frame = External_Run.HSRACS(self) self.current_image_gray = gray_frame # thresh = gray_frame if self.prev_x == None: self.prev_x = cx self.prev_y = cy #print(self.prev_x, self.prev_y, cx, cy) # if (cx - self.prev_x) <= 45 and (cy - self.prev_y) <= 45 : # self.prev_x = cx # self.prev_y = cy out_x, out_y = cal_osc(self, cx, cy) if cx == 0: self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, False)) #update app else: self.blinkvalue = False self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, False)) # else: # print("EYE MOVED TOO FAST") # self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, 0, 0, 0, False)) def HSFM(self): cx, cy, frame = External_Run_HSF.HSFS(self) out_x, out_y = cal_osc(self, cx, cy) if cx == 0: self.output_images_and_update(frame, EyeInformation(InformationOrigin.HSF, out_x, out_y, 0, True)) #update app else: self.output_images_and_update(frame, EyeInformation(InformationOrigin.HSF, out_x, out_y, 0, self.blinkvalue)) def RANSAC3DM(self): cx, cy, thresh = RANSAC3D(self) out_x, out_y = cal_osc(self, cx, cy) if cx == 0: self.output_images_and_update(thresh, EyeInformation(InformationOrigin.RANSAC, out_x, out_y, 0, True)) #update app else: self.output_images_and_update(thresh, EyeInformation(InformationOrigin.RANSAC, out_x, out_y, 0, self.blinkvalue)) def BLOBM(self): cx, cy, thresh = BLOB(self) out_x, out_y = cal_osc(self, cx, cy) if cx == 0: self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, True)) #update app else: self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, self.blinkvalue)) def ALGOSELECT(self): if self.failed == 0 and self.firstalgo != None: self.firstalgo() else: self.failed = self.failed + 1 if self.failed == 1 and self.secondalgo != None: #send the tracking algos previous fail number, in algo if we pass set to 0, if fail, + 1 self.secondalgo() else: self.failed = self.failed + 1 if self.failed == 2 and self.thirdalgo != None: self.thirdalgo() else: self.failed = self.failed + 1 if self.failed == 3 and self.fourthalgo != None: self.fourthalgo() else: self.failed = 0 # we have reached last possible algo and it is disabled, move to first algo def run(self): self.firstalgo = None self.secondalgo = None self.thirdalgo = None self.fourthalgo = None #set algo priorities if self.settings.gui_HSF and self.settings.gui_HSFP == 1: #I feel like this is super innefficient though it only runs at startup and no solution is coming to me atm self.firstalgo = self.HSFM elif self.settings.gui_HSF and self.settings.gui_HSFP == 2: self.secondalgo = self.HSFM elif self.settings.gui_HSF and self.settings.gui_HSFP == 3: self.thirdalgo = self.HSFM elif self.settings.gui_HSF and self.settings.gui_HSFP == 4: self.fourthalgo = self.HSFM if self.settings.gui_RANSAC3D and self.settings.gui_RANSAC3DP == 1: self.firstalgo = self.RANSAC3DM elif self.settings.gui_RANSAC3D and self.settings.gui_RANSAC3DP == 2: self.secondalgo = self.RANSAC3DM elif self.settings.gui_RANSAC3D and self.settings.gui_RANSAC3DP == 3: self.thirdalgo = self.RANSAC3DM elif self.settings.gui_RANSAC3D and self.settings.gui_RANSAC3DP == 4: self.fourthalgo = self.RANSAC3DM if self.settings.gui_HSRAC == True and self.settings.gui_HSRACP == 1: self.firstalgo = self.HSRACM elif self.settings.gui_HSRAC and self.settings.gui_HSRACP == 2: self.secondalgo = self.HSRACM elif self.settings.gui_HSRAC and self.settings.gui_HSRACP == 3: self.thirdalgo = self.HSRACM elif self.settings.gui_HSRAC and self.settings.gui_HSRACP == 4: self.fourthalgo = self.HSRACM if self.settings.gui_BLOB and self.settings.gui_BLOBP == 1: self.firstalgo = self.BLOBM elif self.settings.gui_BLOB and self.settings.gui_BLOBP == 2: self.secondalgo = self.BLOBM elif self.settings.gui_BLOB and self.settings.gui_BLOBP == 3: self.thirdalgo = self.BLOBM elif self.settings.gui_BLOB and self.settings.gui_BLOBP == 4: self.fourthalgo = self.BLOBM f = True while True: # f = True # Check to make sure we haven't been requested to close if self.cancellation_event.is_set(): print("\033[94m[INFO] Exiting Tracking thread\033[0m") return if self.config.roi_window_w <= 0 or self.config.roi_window_h <= 0: # At this point, we're waiting for the user to set up the ROI window in the GUI. # Sleep a bit while we wait. if self.cancellation_event.wait(0.1): return continue # If our ROI configuration has changed, reset our model and detector if (self.camera_model is None or self.detector_3d is None or self.camera_model.resolution != ( self.config.roi_window_w, self.config.roi_window_h, ) ): self.camera_model = CameraModel( focal_length=self.config.focal_length, resolution=(self.config.roi_window_w, self.config.roi_window_h), ) self.detector_3d = Detector3D( camera=self.camera_model, long_term_mode=DetectorMode.blocking ) try: if self.capture_queue_incoming.empty(): self.capture_event.set() # Wait a bit for images here. If we don't get one, just try again. ( self.current_image, self.current_frame_number, self.current_fps, ) = self.capture_queue_incoming.get(block=True, timeout=0.2) except queue.Empty: # print("No image available") continue if not self.capture_crop_rotate_image(): continue self.current_image_gray = cv2.cvtColor( self.current_image, cv2.COLOR_BGR2GRAY ) self.current_image_gray_clean = self.current_image_gray.copy() #copy this frame to have a clean image for blink algo # print(self.settings.gui_RANSAC3D) # BLINK(self) # cx, cy, thresh = HSRAC(self) # out_x, out_y = cal_osc(self, cx, cy) # if cx == 0: # self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, True)) #update app # else: # self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, self.blinkvalue)) # cx, cy, thresh = RANSAC3D(self) # out_x, out_y = cal_osc(self, cx, cy) # self.output_images_and_update(thresh, EyeInformation(InformationOrigin.RANSAC, out_x, out_y, 0, False)) #update app # cx, cy, larger_threshold = BLOB(self) # out_x, out_y = cal_osc(self, cx, cy) # self.output_images_and_update(larger_threshold, EyeInformation(InformationOrigin.BLOB, out_x, out_y, 0, False)) #update app #center_x, center_y, frame = HSF(self) #run algo #out_x, out_y = cal_osc(self, center_x, center_y) #filter and calibrate #self.output_images_and_update(frame, EyeInformation(InformationOrigin.HSF, out_x, out_y, 0, False)) #update app self.ALGOSELECT() #run our algos in priority order set in settings