mirror of
https://github.com/EyeTrackVR/EyeTrackVR.git
synced 2025-09-26 23:09:28 +08:00
518 lines
19 KiB
Python
518 lines
19 KiB
Python
'''
|
|
------------------------------------------------------------------------------------------------------
|
|
|
|
,@@@@@@
|
|
@@@@@@@@@@@ @@@
|
|
@@@@@@@@@@@@ @@@@@@@@@@@
|
|
@@@@@@@@@@@@@ @@@@@@@@@@@@@@
|
|
@@@@@@@/ ,@@@@@@@@@@@@@
|
|
/@@@@@@@@@@@@@@@ @@@@@@@@
|
|
@@@@@@@@@@@@@@@@@@@@@@@@ @@@@@
|
|
@@@@@@@@ @@@@@
|
|
,@@@ @@@@&
|
|
@@@@@@. @@@@
|
|
@@@ @@@@@@@@@/ @@@@@
|
|
,@@@. @@@@@@((@ @@@@(
|
|
//@@@ ,, @@@@ @@@@@
|
|
@@@( @@@@@@@
|
|
@@@ @ @@@@@@@@#
|
|
@@@@@@@@@@@@@@@@@
|
|
@@@@@@@@@@@@@(
|
|
|
|
HSR By: PallasNeko (Optimization Wizard, Contributor), Summer#2406 (Main Algorithm Engineer)
|
|
RANSAC 3D By: Summer#2406 (Main Algorithm Engineer), Pupil Labs (pye3d), PallasNeko (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
|
|
from utils.misc_utils import PlaySound, SND_FILENAME, SND_ASYNC
|
|
import importlib
|
|
from osc import EyeId
|
|
from osc_calibrate_filter import *
|
|
from daddy import External_Run_DADDY
|
|
from haar_surround_feature import External_Run_HSF
|
|
from blob import *
|
|
from ransac import *
|
|
from hsrac import External_Run_HSRACS
|
|
from blink import *
|
|
|
|
|
|
from intensity_eye_open 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
|
|
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
|
|
self.eye_id = eye_id
|
|
# 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.camera_model = None
|
|
self.detector_3d = None
|
|
|
|
self.er_hsf = None
|
|
self.er_hsrac = None
|
|
|
|
self.ibo = IntensityBasedOpeness(eyeside=EyeLR.LEFT if self.eye_id is EyeId.LEFT else EyeLR.RIGHT if eye_id is EyeId.RIGHT else -1)
|
|
self.roi_include_set = {"rotation_angle", "roi_window_x", "roi_window_y"}
|
|
|
|
self.failed = 0
|
|
|
|
self.skip_blink_detect = False
|
|
|
|
self.out_y = 0.0
|
|
self.out_x = 0.0
|
|
self.rawx = 0.0
|
|
self.rawy = 0.0
|
|
#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
|
|
|
|
self.daddy = None
|
|
self.current_algo = InformationOrigin.HSRAC
|
|
|
|
|
|
try:
|
|
min_cutoff = float(self.settings.gui_min_cutoff) # 0.0004
|
|
beta = float(self.settings.gui_speed_coefficient) # 0.9
|
|
except:
|
|
print('\033[93m[WARN] OneEuroFilter values must be a legal number.\033[0m')
|
|
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('\033[91m[ERROR] Size of frames to display are of unequal sizes.\033[0m')
|
|
|
|
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
|
|
),
|
|
]
|
|
self.ibo.change_roi(self.config.dict(include=self.roi_include_set))
|
|
|
|
except:
|
|
# Failure to process frame, reuse previous frame.
|
|
self.current_image = self.previous_image
|
|
print("\033[91m[ERROR] Frame capture issue detected.\033[0m")
|
|
|
|
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=(64, 64, 64),#(255, 255, 255),
|
|
)
|
|
return True
|
|
except:
|
|
pass
|
|
|
|
|
|
def UPDATE(self):
|
|
if self.settings.gui_BLINK:
|
|
self.eyeopen = BLINK(self)
|
|
|
|
if self.settings.gui_IBO:
|
|
self.eyeopen = self.ibo.intense(self.rawx, self.rawy, self.current_image)
|
|
if self.eyeopen < 0.35: #threshold so the eye fully closes
|
|
self.eyeopen = 0.0
|
|
|
|
if self.settings.gui_IBO and self.settings.gui_BLINK:
|
|
ibo = self.ibo.intense(self.rawx, self.rawy, self.current_image)
|
|
|
|
blink = BLINK(self)
|
|
if blink == 0.0:
|
|
self.eyeopen = 0.0
|
|
else:
|
|
self.eyeopen = ibo
|
|
|
|
self.output_images_and_update(self.thresh, EyeInformation(self.current_algo, self.out_x, self.out_y, 0, self.eyeopen))
|
|
|
|
|
|
|
|
def BLINKM(self):
|
|
self.eyeopen = BLINK(self)
|
|
|
|
def DADDYM(self):
|
|
landmark = self.daddy.run(self.current_image_gray)
|
|
|
|
def HSRACM(self):
|
|
# todo: added process to initialise er_hsrac when resolution changes
|
|
self.rawx, self.rawy, self.thresh, gray_frame = self.er_hsrac.run(self.current_image_gray)
|
|
self.current_image_gray = gray_frame
|
|
if self.prev_x is None:
|
|
self.prev_x = self.rawx
|
|
self.prev_y = self.rawy
|
|
#print(self.prev_x, self.prev_y, cx, cy)
|
|
# #filter values with too much movement
|
|
# if (cx - self.prev_x) <= 45 and (cy - self.prev_y) <= 45 :
|
|
# self.prev_x = cx
|
|
# self.prev_y = cy
|
|
# self.eyeopen = intense(cx, cy, uncropframe, self.eye_id)
|
|
# self.eyeopen = self.ibo.intense(cx,cy,uncropframe)
|
|
self.out_x, self.out_y = cal_osc(self, self.rawx, self.rawy)
|
|
#print(self.eyeoffx, self.eyeopen)
|
|
self.current_algorithm = InformationOrigin.HSRAC
|
|
|
|
# else:
|
|
# print("EYE MOVED TOO FAST")
|
|
# self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, 0, 0, 0, False))
|
|
def HSFM(self):
|
|
# todo: added process to initialise er_hsf when resolution changes
|
|
|
|
self.rawx, self.rawy, self.thresh = self.er_hsf.run(self.current_image_gray)
|
|
self.eyeopen = self.ibo.intense(self.rawx, self.rawy, self.current_image_gray)
|
|
out_x, out_y = cal_osc(self, self.rawx, self.rawy)
|
|
self.current_algorithm = InformationOrigin.HSF
|
|
|
|
def RANSAC3DM(self):
|
|
self.rawx, self.rawy, self.thresh = RANSAC3D(self)
|
|
self.eyeopen = self.ibo.intense(self.rawx, self.rawy, self.current_image_gray)
|
|
out_x, out_y = cal_osc(self, self.rawx, self.rawy)
|
|
self.current_algorithm = InformationOrigin.RANSAC
|
|
|
|
def BLOBM(self):
|
|
self.rawx, self.rawy, self.thresh = BLOB(self)
|
|
self.eyeopen = self.ibo.intense(self.rawx, self.rawy, self.current_image_gray)
|
|
out_x, out_y = cal_osc(self, self.rawx, self.rawy)
|
|
self.current_algorithm = InformationOrigin.BLOB
|
|
|
|
|
|
|
|
def ALGOSELECT(self):
|
|
# self.DADDYM()
|
|
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):
|
|
# Run the following somewhere
|
|
# self.daddy = External_Run_DADDY()
|
|
|
|
self.firstalgo = None
|
|
self.secondalgo = None
|
|
self.thirdalgo = None
|
|
self.fourthalgo = None
|
|
algolist = [None, None, None, None, None]
|
|
|
|
#set algo priorities
|
|
|
|
|
|
|
|
|
|
|
|
if self.settings.gui_HSF:
|
|
if self.er_hsf is None:
|
|
self.er_hsf = External_Run_HSF(self.settings.gui_skip_autoradius, self.settings.gui_HSF_radius)
|
|
algolist[self.settings.gui_HSFP] = self.HSFM
|
|
else:
|
|
if self.er_hsf is not None:
|
|
self.er_hsf = None
|
|
|
|
if self.settings.gui_HSRAC:
|
|
if self.er_hsrac is None:
|
|
self.er_hsrac = External_Run_HSRACS(self.settings.gui_skip_autoradius, self.settings.gui_HSF_radius, self.settings.gui_thresh_add)
|
|
algolist[self.settings.gui_HSRACP] = self.HSRACM
|
|
else:
|
|
if self.er_hsrac is not None:
|
|
self.er_hsrac = None
|
|
|
|
_, self.firstalgo, self.secondalgo, self.thirdalgo, self.fourthalgo = algolist
|
|
|
|
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 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
|
|
|
|
#try:
|
|
# (self.eye_id, eye_info) = self.msg_queue.get(block=True, timeout=0.1)
|
|
# print(self.eye_id)
|
|
#except:
|
|
#print('eeeeeeee')
|
|
#pass
|
|
|
|
|
|
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
|
|
self.UPDATE()
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|