EyeTrackVR/EyeTrackApp/Camera/camera.py
2025-03-07 23:06:45 +01:00

285 lines
12 KiB
Python

"""
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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