EyeTrackVR/EyeTrackApp/eye_processor.py
Lorow 7e41a65aac
Feature/etvr module support (#106)
* initial changes

* Mostly clean up, refactor registering listeners to make sense, backport tests

* Add initial implementation of VRCFTModuleSender

* Add basic GUI for the modules settings

* Fix tooltip descriptions

# TODO:
# - there's ghosts in the machine - vrc osc is not working properly
# - min/maxing will require field combinators in the modules lmao

* Fix type validation bugs, fix typos

# TODO:
# - there's ghosts in the machine - vrc osc is not working properly
# - min/maxing will require field combinators in the modules lmao

* Add checkbox to switch to ETVR Module

# TODO:
# - there's ghosts in the machine - vrc osc is not working properly
# - min/maxing will require field combinators in the modules lmao

* Black stuff

# TODO:
# - there's ghosts in the machine - vrc osc is not working properly
# - min/maxing will require field combinators in the modules lmao

* Remove coverage by default

# TODO:
# - there's ghosts in the machine - vrc osc is not working properly
# - min/maxing will require field combinators in the modules lmao

* Fix timeout in tests

# TODO:
# - there's ghosts in the machine - vrc osc is not working properly
# - min/maxing will require field combinators in the modules lmao

* HEAVY WIP: Refactor native output,

NOTE:

I brought back the entire old OSC implementation as a live reference, this will be removed once I'm done.

This also lays ground for other modes as they're pretty similar

# TODO:
# - there's ghosts in the machine - vrc osc is not working properly
# - min/maxing will require field combinators in the modules lmao

* HEAVY WIP: Refactor v1 params output,

# TODO:
# - min/maxing will require field combinators in the modules lmao

* HEAVY WIP: Refactor v2 params output

# TODO:
# - min/maxing will require field combinators in the modules lmao

* Finish refactoring v2 and v1, fixup tests, refactor native

# TODO:
# - min/maxing will require field combinators in the modules lmao

* Add tests for v1 params

# TODO:
# - min/maxing will require field combinators in the modules lmao

* Add tests for native params

# TODO:
# - min/maxing will require field combinators in the modules lmao

* Fix OSC not getting up after config reset. Remove reset command, config sends everything changed anyway, sunset the idea of using single client and thus simplify the code a bit

# TODO:
# - min/maxing will require field combinators in the modules lmao

* Rename gui_PortNumber to gui_VRCFTModulePort for readability

# TODO:
# - min/maxing will require field combinators in the modules lmao

* Cleanup EyeID usage

# TODO:
# - min/maxing will require field combinators in the modules lmao

* Cleanup osc after rebase

# TODO:
# - min/maxing will require field combinators in the modules lmao

* Make VRChatOSCSender a bit more readable

# TODO:
# - min/maxing will require field combinators in the modules lmao

* Remove unsued VRChatOSCReceiver, this is taken care of by generic OSCReceiver

# TODO:
# - min/maxing will require field combinators in the modules lmao

* Commit crimes with try_convert_to_float to make osc, pysimplegui and pydantic happy

* Cleanup after merge

* Disable emulation by default

* Fix OSCReceiver crashing on unknown addresses

* Adjust VRCFT Module settings to look better in game

* Fix recalibrate and recenter for OSC only working for the right eye

* Fix save and restart button not restarting the tracking

* Fix broken tracking on v1 params for eye_x, clean up implementation

* Fix regular value being passed to OSC listeners instead of OSCMessage

* Add a TODO, probably to be ignored

* Add support for custom ETVR VRCFT Module listening address
2024-07-04 20:51:19 +02:00

736 lines
28 KiB
Python

"""
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Algorithm App Implementations By: Prohurtz, qdot (GUI, Initial Implementations), PallasNeko (Optimizations), Summer (Algorithim Engineer)
Additional Contributors: [Assassin], Summer404NotFound, lorow, ZanzyTHEbar
Copyright (c) 2023 EyeTrackVR <3
LICENSE: GNU GPLv3
------------------------------------------------------------------------------------------------------
"""
import sys
import asyncio
import os
os.environ["OMP_NUM_THREADS"] = "1"
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
from eye import EyeId
from osc_calibrate_filter import *
from daddy import External_Run_DADDY
from leap import External_Run_LEAP
from haar_surround_feature import External_Run_HSF
from blob import *
from ransac import *
from blink import *
from utils.img_utils import circle_crop
from eye import EyeInfo, EyeInfoOrigin
from intensity_based_openness import *
from ellipse_based_pupil_dilation import *
from AHSF import *
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(resource_path("Audio/completed.wav"), SND_FILENAME | SND_ASYNC)
class EyeProcessor:
def __init__(
self,
config: "EyeTrackCameraConfig",
settings: "EyeTrackSettingsConfig",
baseconfig: "EyetrackConfig",
cancellation_event: "threading.Event",
capture_event: "threading.Event",
capture_queue_incoming: "queue.Queue(maxsize=2)",
image_queue_outgoing: "queue.Queue(maxsize=2)",
eye_id,
):
self.main_config = EyeTrackSettingsConfig
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
self.baseconfig = baseconfig
self.filterlist = []
self.left_eye_data = [(0.351, 0.399, 1), (0.352, 0.400, 1)] # Example data
self.right_eye_data = [(0.351, 0.399, 1), (0.352, 0.400, 1)] # Example data
# Cross algo state
self.lkg_projected_sphere = None
self.xc = 20
self.yc = 20
self.cc_radius = 40
# 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
self.thresh = None
# Calibration Values
self.xoff = 1
self.yoff = 1
# Keep large in order to recenter correctly
self.calibration_frame_counter = None
self.calibration_3d_frame_counter = None
self.eyeoffx = 1
self.printcal = True
self.grab_3d_point = False
self.xmax = -69420
self.xmin = 69420
self.ymax = -69420
self.ymin = 69420
self.blink_clear = False
self.cct = 200
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.er_daddy = None
self.er_leap = None
self.ibo = IntensityBasedOpeness(self.eye_id)
self.ebpd = EllipseBasedPupilDilation(self.eye_id)
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
self.eyeopen = 0.9
self.max_ints = []
self.max_int = 0
self.min_int = 4000000000000
self.frames = 0
self.blinkvalue = False
self.hasrac_en = False
self.radius = 10
self.past_blink = 0.7
self.prev_x = None
self.prev_y = 0.1
self.prev_x_list = []
self.prev_y_list = []
self.blink_list = []
self.ran_blink_check_for_file = True
self.bd_blink = False
self.current_algo = EyeInfoOrigin.HSRAC
self.pupil_width = 0.0
self.pupil_height = 0.0
self.avg_velocity = 0.0
self.angle = 621
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: EyeInfo):
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")
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 avg color + 10.
try:
rows, cols, _ = self.current_image.shape
except:
rows, cols, _ = self.previous_image.shape
avg_color_per_row = np.average(self.current_image, axis=0)
avg_color = np.average(avg_color_per_row, axis=0)
ar, ag, ab = avg_color
avg_color = ar + 10
rows, cols = self.current_image.shape[:2]
rotation_matrix = cv2.getRotationMatrix2D((cols / 2, rows / 2), self.config.rotation_angle, 1)
cos_theta = np.abs(rotation_matrix[0, 0])
sin_theta = np.abs(rotation_matrix[0, 1])
new_cols = int((cols * cos_theta) + (rows * sin_theta))
new_rows = int((cols * sin_theta) + (rows * cos_theta))
rotation_matrix[0, 2] += (new_cols - cols) / 2
rotation_matrix[1, 2] += (new_rows - rows) / 2
# Perform the rotation without cropping
self.current_image = cv2.warpAffine(
self.current_image,
rotation_matrix,
(new_cols, new_rows),
borderMode=cv2.BORDER_CONSTANT,
borderValue=(avg_color, avg_color, avg_color),
flags=cv2.INTER_LINEAR,
)
self.current_image_white = cv2.warpAffine(
self.current_image,
rotation_matrix,
(cols, rows),
borderMode=cv2.BORDER_CONSTANT,
borderValue=(255, 255, 255),
)
return True
except:
pass
def UPDATE(self):
# print(self.eyeopen)
if self.settings.gui_BLINK:
self.eyeopen = BLINK(self)
if (
self.settings.gui_IBO and self.eyeopen != 0.0
): # TODO make ransac blink it's pwn self var to rid of this non-sense
self.eyeopen = self.ibo.intense(
self.rawx,
self.rawy,
self.current_image_white,
self.settings.ibo_filter_samples,
self.settings.ibo_average_output_samples,
)
# threshold so the eye fully closes
if self.eyeopen < float(self.settings.ibo_fully_close_eye_threshold):
self.eyeopen = 0.0
if self.bd_blink == True:
print("blinks")
pass
if self.settings.gui_IBO and self.eyeopen != 0.0:
ibo = self.ibo.intense(
self.rawx,
self.rawy,
self.current_image_white,
self.settings.ibo_filter_samples,
self.settings.ibo_average_output_samples,
)
if self.settings.gui_LEAP_lid and self.eyeopen != 0.0:
(
self.current_image_gray,
self.rawx,
self.rawy,
self.eyeopen,
) = self.er_leap.run(self.current_image_gray, self.current_image_gray_clean)
# print(self.eyeopen)
if len(self.prev_y_list) >= 100: # "lock" eye when close/blink IN TESTING, kinda broke
self.prev_y_list.pop(0)
self.prev_y_list.append(self.out_y)
else:
self.prev_y_list.append(self.out_y)
# print(abs(self.eyeopen - self.past_blink))
blink_vec = min(abs(self.eyeopen - self.past_blink), 1) # clamp to 1
# if blink_vec >= 0.2:
if blink_vec >= 0.18:
# self.out_x = sum(self.prev_x_list) / len(self.prev_x_list)
self.out_y = sum(self.prev_y_list) / len(self.prev_y_list)
# print('AVG', self.out_y, len(self.prev_y_list))
if self.settings.gui_pupil_dilation and self.eyeopen > 0.2:
self.pupil_dilation = self.ebpd.intense(
self.pupil_width,
self.pupil_height,
self.rawx,
self.rawy,
self.current_image_white,
self.settings.ibo_filter_samples,
self.settings.ibo_average_output_samples,
)
else:
self.pupil_dilation = 0.5
self.past_blink = self.eyeopen
self.prev_x = self.out_x
self.prev_y = self.out_y
self.output_images_and_update(
self.thresh,
EyeInfo(
self.current_algo,
self.out_x,
self.out_y,
self.pupil_dilation,
self.eyeopen,
self.avg_velocity,
),
)
if self.settings.gui_RANSACBLINK and self.eyeopen == 0.0:
pass
else:
self.eyeopen = 0.8
def BLINKM(self):
self.eyeopen = BLINK(self)
def LEAPM(self):
self.thresh = self.current_image_gray.copy()
(self.current_image_gray, self.rawx, self.rawy, self.eyeopen,) = self.er_leap.run(
self.current_image_gray, self.current_image_gray_clean
) # TODO: make own self var and LEAP toggle
self.thresh = self.current_image_gray.copy()
# todo: lorow, fix this as well
self.out_x, self.out_y, self.avg_velocity = cal.cal_osc(self, self.rawx, self.rawy, self.angle)
self.current_algorithm = EyeInfoOrigin.LEAP
# print(self.eyeopen)
def DADDYM(self):
# todo: We should have a proper variable for drawing.
# self.thresh = self.current_image_gray.copy()
self.thresh = self.current_image_gray.copy()
self.rawx, self.rawy, self.radius = self.er_daddy.run(self.current_image_gray)
# Daddy also uses a one euro filter, so I'll have to use it twice, but I'm not going to think too much about it.
self.out_x, self.out_y, self.avg_velocity = cal.cal_osc(self, self.rawx, self.rawy, self.angle)
self.current_algorithm = EyeInfoOrigin.DADDY
def AHSFRACM(self):
if self.eye_id in [EyeId.LEFT] and self.settings.gui_circular_crop_left:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
if self.eye_id in [EyeId.RIGHT] and self.settings.gui_circular_crop_right:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
self.hasrac_en = True
(
self.current_image_gray,
resize_img,
self.rawx,
self.rawy,
self.radius,
) = External_Run_AHSF(self.current_image_gray)
self.current_image_gray_clean = resize_img.copy()
self.thresh = resize_img
(
self.rawx,
self.rawy,
self.angle,
self.thresh,
ranblink,
self.pupil_width,
self.pupil_height,
) = RANSAC3D(self, True)
if self.settings.gui_RANSACBLINK: # might be redundant
self.eyeopen = ranblink
# print("RANBLINK", ranblink)
# print(self.radius)
# if self.prev_x is None:
# self.prev_x = self.rawx
# self.prev_y = self.rawy
self.out_x, self.out_y, self.avg_velocity = cal.cal_osc(self, self.rawx, self.rawy, self.angle)
self.current_algorithm = EyeInfoOrigin.HSRAC
def HSRACM(self):
if self.eye_id in [EyeId.LEFT] and self.settings.gui_circular_crop_left:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
if self.eye_id in [EyeId.RIGHT] and self.settings.gui_circular_crop_right:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
self.hasrac_en = True
self.rawx, self.rawy, self.thresh, self.radius = self.er_hsf.run(self.current_image_gray)
(
self.rawx,
self.rawy,
self.angle,
self.thresh,
ranblink,
self.pupil_width,
self.pupil_height,
) = RANSAC3D(self, True)
if self.settings.gui_RANSACBLINK: # might be redundant
self.eyeopen = ranblink
# print("RANBLINK", ranblink)
# print(self.radius)
# if self.prev_x is None:
# self.prev_x = self.rawx
# self.prev_y = self.rawy
self.out_x, self.out_y, self.avg_velocity = cal.cal_osc(self, self.rawx, self.rawy, self.angle)
self.current_algorithm = EyeInfoOrigin.HSRAC
def HSFM(self):
if self.eye_id in [EyeId.LEFT] and self.settings.gui_circular_crop_left:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
if self.eye_id in [EyeId.RIGHT] and self.settings.gui_circular_crop_right:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
# todo: add process to initialise er_hsf when resolution changes
self.rawx, self.rawy, self.thresh, self.radius = self.er_hsf.run(self.current_image_gray)
self.out_x, self.out_y, self.avg_velocity = cal.cal_osc(self, self.rawx, self.rawy, self.angle)
self.current_algorithm = EyeInfoOrigin.HSF
def RANSAC3DM(self):
if self.eye_id in [EyeId.LEFT] and self.settings.gui_circular_crop_left:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
if self.eye_id in [EyeId.RIGHT] and self.settings.gui_circular_crop_right:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
self.hasrac_en = False
current_image_gray_copy = self.current_image_gray.copy() # Duplicate before overwriting in RANSAC3D.
(
self.rawx,
self.rawy,
self.angle,
self.thresh,
ranblink,
self.pupil_width,
self.pupil_height,
) = RANSAC3D(self, True)
if self.settings.gui_RANSACBLINK:
self.eyeopen = ranblink
self.out_x, self.out_y, self.avg_velocity = cal.cal_osc(self, self.rawx, self.rawy, self.angle)
self.current_algorithm = EyeInfoOrigin.RANSAC
def AHSFM(self):
if self.eye_id in [EyeId.LEFT] and self.settings.gui_circular_crop_left:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
if self.eye_id in [EyeId.RIGHT] and self.settings.gui_circular_crop_right:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
(
self.current_image_gray,
resize_img,
self.rawx,
self.rawy,
self.radius,
) = External_Run_AHSF(self.current_image_gray)
self.thresh = self.current_image_gray
self.out_x, self.out_y, self.avg_velocity = cal.cal_osc(self, self.rawx, self.rawy, self.angle)
self.current_algorithm = EyeInfoOrigin.HSF
def BLOBM(self):
if self.eye_id in [EyeId.LEFT] and self.settings.gui_circular_crop_left:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
if self.eye_id in [EyeId.RIGHT] and self.settings.gui_circular_crop_right:
self.current_image_gray, self.cct = circle_crop(
self.current_image_gray, self.xc, self.yc, self.cc_radius, self.cct
)
else:
pass
self.rawx, self.rawy, self.thresh = BLOB(self)
self.out_x, self.out_y = cal.cal_osc(self, self.rawx, self.rawy, self.angle)
self.current_algorithm = EyeInfoOrigin.BLOB
def ALGOSELECT(self):
# send the tracking algos previous fail number, in algo if we pass set to 0, if fail, + 1
if self.failed == 0 and self.firstalgo != None:
self.firstalgo()
else:
self.failed = self.failed + 1
if self.failed == 1 and self.secondalgo != None:
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 = self.failed + 1
if self.failed == 4 and self.fithalgo != None:
self.fithalgo()
else:
self.failed = self.failed + 1
if self.failed == 5 and self.sixthalgo != None:
self.sixthalgo()
else:
self.failed = self.failed + 1
if self.failed == 6 and self.seventhalgo != None:
self.seventhalgo()
else:
self.failed = self.failed + 1
if self.failed == 7 and self.eigthalgo != None:
self.eigthalgo()
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
self.fithalgo = None
self.sixthalgo = None
self.seventhalgo = None
self.eigthalgo = None
algolist = [None, None, None, None, None, None, None, None, None]
# clear HSF values when page is opened to correctly reflect setting changes
self.er_hsf = None
# algolist[self.settings.gui_HSFP] = self.HSFM
# set algo priorities
if self.settings.gui_AHSFRAC:
algolist[self.settings.gui_AHSFRACP] = self.AHSFRACM
if self.settings.gui_AHSF:
algolist[self.settings.gui_AHSFP] = self.AHSFM
if self.settings.gui_HSF:
if self.er_hsf is None:
if self.eye_id in [EyeId.LEFT]:
self.er_hsf = External_Run_HSF(
self.settings.gui_skip_autoradius,
self.settings.gui_HSF_radius_left,
)
else:
pass
if self.eye_id in [EyeId.RIGHT]:
self.er_hsf = External_Run_HSF(
self.settings.gui_skip_autoradius,
self.settings.gui_HSF_radius_right,
)
else:
pass
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_hsf is None:
if self.eye_id in [EyeId.LEFT]:
self.er_hsf = External_Run_HSF(
self.settings.gui_skip_autoradius,
self.settings.gui_HSF_radius_left,
)
else:
pass
if self.eye_id in [EyeId.RIGHT]:
self.er_hsf = External_Run_HSF(
self.settings.gui_skip_autoradius,
self.settings.gui_HSF_radius_right,
)
else:
pass
algolist[self.settings.gui_HSRACP] = self.HSRACM
else:
if not self.settings.gui_HSF and self.er_hsf is not None:
self.er_hsf = None
if self.settings.gui_DADDY:
if self.er_daddy is None:
self.er_daddy = External_Run_DADDY()
algolist[self.settings.gui_DADDYP] = self.DADDYM
else:
if self.er_daddy is not None:
self.er_daddy = None
if self.settings.gui_LEAP or self.settings.gui_LEAP_lid:
if self.er_leap is None:
self.er_leap = External_Run_LEAP()
algolist[self.settings.gui_LEAP] = self.LEAPM
else:
if self.er_leap is not None:
self.er_leap = None
if self.settings.gui_RANSAC3D:
algolist[self.settings.gui_RANSAC3DP] = self.RANSAC3DM
if self.settings.gui_BLOB:
algolist[self.settings.gui_BLOBP] = self.BLOBM
(
_,
self.firstalgo,
self.secondalgo,
self.thirdalgo,
self.fourthalgo,
self.fithalgo,
self.sixthalgo,
self.seventhalgo,
self.eigthalgo,
) = algolist
f = True
while True:
# f = True
# print(self.capture_queue_incoming.qsize())
# 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=0.1)
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
if self.cancellation_event.is_set():
print("\033[94m[INFO] Exiting Tracking thread\033[0m")
return
else:
self.ALGOSELECT() # run our algos in priority order set in settings
self.UPDATE()