EyeTrackVR/EyeTrackApp/camera.py
2023-06-17 12:25:06 -05:00

263 lines
11 KiB
Python

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 EyeTrackConfig
from enum import Enum
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
class CameraState(Enum):
CONNECTING = 0
CONNECTED = 1
DISCONNECTED = 2
class Camera:
def __init__(
self,
config: EyeTrackConfig,
camera_index: int,
cancellation_event: "threading.Event",
capture_event: "threading.Event",
camera_status_outgoing: "queue.Queue[CameraState]",
camera_output_outgoing: "queue.Queue",
):
self.camera_status = CameraState.CONNECTING
self.config = config
self.camera_index = camera_index
self.camera_address = config.capture_source
self.camera_status_outgoing = camera_status_outgoing
self.camera_output_outgoing = camera_output_outgoing
self.capture_event = capture_event
self.cancellation_event = cancellation_event
self.current_capture_source = config.capture_source
self.cv2_camera: "cv2.VideoCapture" = None
self.serial_connection = None
self.last_frame_time = time.time()
self.frame_number = 0
self.fps = 0
self.bps = 0
self.start = True
self.buffer = b''
self.pf_fps = 0
self.prevft = 0
self.newft = 0
self.fl = [0]
self.error_message = f"{Fore.YELLOW}[WARN] Capture source {{}} not found, retrying...{Fore.RESET}"
def __del__(self):
if self.serial_connection is not None:
self.serial_connection.close()
def set_output_queue(self, camera_output_outgoing: "queue.Queue"):
self.camera_output_outgoing = camera_output_outgoing
def run(self):
while True:
if self.cancellation_event.is_set():
print(f"{Fore.CYAN}[INFO] Exiting Capture thread{Fore.RESET}")
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 != ""
):
if "COM" in str(self.current_capture_source):
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)
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=0.02):
continue
if self.config.capture_source != None:
if "COM" in str(self.current_capture_source):
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()
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)
# Calculate the fps.
current_frame_time = time.time()
delta_time = current_frame_time - self.last_frame_time
self.last_frame_time = current_frame_time
if delta_time > 0:
self.bps = len(image) / delta_time
self.frame_number = self.frame_number + 1
self.fps = (self.fps + self.pf_fps) / 2
self.newft = time.time()
self.fps = 1 / (self.newft - self.prevft)
self.prevft = self.newft
self.fps = int(self.fps)
if len(self.fl) < 60:
self.fl.append(self.fps)
else:
self.fl.pop(0)
self.fl.append(self.fps)
self.fps = sum(self.fl) / len(self.fl)
#self.bps = image.nbytes
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
if delta_time > 0:
self.bps = len(jpeg) / delta_time
self.fps = (self.fps + self.pf_fps) / 2
self.newft = time.time()
self.fps = 1 / (self.newft - self.prevft)
self.prevft = self.newft
self.fps = int(self.fps)
if len(self.fl) < 60:
self.fl.append(self.fps)
else:
self.fl.pop(0)
self.fl.append(self.fps)
self.fps = sum(self.fl) / len(self.fl)
self.frame_number = 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:
conn = serial.Serial(
baudrate = 3000000,
port = port,
xonxoff=False,
dsrdtr=False,
rtscts=False)
# Set explicit buffer size for serial.
conn.set_buffer_size(rx_size = 32768, tx_size = 32768)
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
def push_image_to_queue(self, image, frame_number, fps):
# If there's backpressure, just yell. We really shouldn't have this unless we start getting
# some sort of capture event conflict though.
qsize = self.camera_output_outgoing.qsize()
if qsize > 1:
print(
f"{Fore.YELLOW}[WARN] CAPTURE QUEUE BACKPRESSURE OF {qsize}. CHECK FOR CRASH OR TIMING ISSUES IN ALGORITHM.{Fore.RESET}")
self.camera_output_outgoing.put((image, frame_number, fps))
self.capture_event.clear()