mirror of
https://github.com/EyeTrackVR/EyeTrackVR.git
synced 2025-09-26 23:09:28 +08:00
443 lines
17 KiB
Python
443 lines
17 KiB
Python
'''
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,@@@@@@
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,@@@ @@@@&
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@@@ @@@@@@@@@/ @@@@@
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,@@@. @@@@@@((@ @@@@(
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//@@@ ,, @@@@ @@@@@
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@@@( @@@@@@@
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@@@ @ @@@@@@@@#
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@@@@@@@@@@@@@@@@@
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@@@@@@@@@@@@@(
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HSR By: PallasNeko (Optimization Wizard, Contributor), Summer#2406 (Main Algorithm Engineer)
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RANSAC 3D By: Summer#2406 (Main Algorithm Engineer), Pupil Labs (pye3d), PallasNeko (Optimization)
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BLOB By: Prohurtz (Main App Developer)
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Algorithm App Implementations By: Prohurtz, qdot (Initial App Creator), PallasNeko
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Additional Contributors: [Assassin], Summer404NotFound, lorow, ZanzyTHEbar
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Copyright (c) 2023 EyeTrackVR <3
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------------------------------------------------------------------------------------------------------
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'''
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from operator import truth
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from dataclasses import dataclass
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import sys
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import asyncio
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sys.path.append(".")
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from config import EyeTrackCameraConfig
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from config import EyeTrackSettingsConfig
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from pye3d.camera import CameraModel
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from pye3d.detector_3d import Detector3D, DetectorMode
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import queue
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import threading
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import numpy as np
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import cv2
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from enum import Enum
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from one_euro_filter import OneEuroFilter
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from utils.misc_utils import PlaySound, SND_FILENAME, SND_ASYNC
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import importlib
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from osc import EyeId
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from osc_calibrate_filter import *
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from daddy import External_Run_DADDY
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from haar_surround_feature import External_Run_HSF
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from blob import *
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from ransac import *
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from hsrac import External_Run_HSRACS
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from blink import *
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from eye import EyeInfo, EyeInfoOrigin
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from intensity_based_openness import *
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def run_once(f):
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def wrapper(*args, **kwargs):
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if not wrapper.has_run:
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wrapper.has_run = True
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return f(*args, **kwargs)
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wrapper.has_run = False
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return wrapper
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async def delayed_setting_change(setting, value):
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await asyncio.sleep(5)
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setting = value
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PlaySound('Audio/completed.wav', SND_FILENAME | SND_ASYNC)
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class EyeProcessor:
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def __init__(
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self,
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config: "EyeTrackCameraConfig",
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settings: "EyeTrackSettingsConfig",
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cancellation_event: "threading.Event",
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capture_event: "threading.Event",
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capture_queue_incoming: "queue.Queue",
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image_queue_outgoing: "queue.Queue",
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eye_id,
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):
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self.config = config
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self.settings = settings
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self.eye_id = eye_id
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# Cross-thread communication management
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self.capture_queue_incoming = capture_queue_incoming
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self.image_queue_outgoing = image_queue_outgoing
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self.cancellation_event = cancellation_event
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self.capture_event = capture_event
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self.eye_id = eye_id
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# Cross algo state
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self.lkg_projected_sphere = None
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self.xc = None
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self.yc = None
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# Image state
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self.previous_image = None
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self.current_image = None
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self.current_image_gray = None
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self.current_frame_number = None
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self.current_fps = None
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self.threshold_image = None
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self.thresh = None
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# Calibration Values
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self.xoff = 1
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self.yoff = 1
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# Keep large in order to recenter correctly
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self.calibration_frame_counter = None
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self.eyeoffx = 1
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self.xmax = -69420
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self.xmin = 69420
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self.ymax = -69420
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self.ymin = 69420
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self.blink_clear = False
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self.cct = 300
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self.cccs = False
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self.ts = 10
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self.previous_rotation = self.config.rotation_angle
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self.camera_model = None
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self.detector_3d = None
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self.er_hsf = None
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self.er_hsrac = None
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self.er_daddy = None
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self.ibo = IntensityBasedOpeness(eyeside=EyeLR.LEFT if self.eye_id is EyeId.LEFT else EyeLR.RIGHT if eye_id is EyeId.RIGHT else -1)
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self.roi_include_set = {"rotation_angle", "roi_window_x", "roi_window_y"}
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self.failed = 0
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self.skip_blink_detect = False
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self.out_y = 0.0
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self.out_x = 0.0
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self.rawx = 0.0
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self.rawy = 0.0
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self.eyeopen = 0.7
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#blink
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self.max_ints = []
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self.max_int = 0
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self.min_int = 4000000000000
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self.frames = 0
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self.blinkvalue = False
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self.prev_x = None
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self.prev_y = None
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self.bd_blink = False
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self.current_algo = EyeInfoOrigin.HSRAC
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try:
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min_cutoff = float(self.settings.gui_min_cutoff) # 0.0004
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beta = float(self.settings.gui_speed_coefficient) # 0.9
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except:
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print('\033[93m[WARN] OneEuroFilter values must be a legal number.\033[0m')
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min_cutoff = 0.0004
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beta = 0.9
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noisy_point = np.array([1, 1])
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self.one_euro_filter = OneEuroFilter(
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noisy_point,
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min_cutoff=min_cutoff,
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beta=beta
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)
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def output_images_and_update(self, threshold_image, output_information: EyeInfo):
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try:
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image_stack = np.concatenate(
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(
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cv2.cvtColor(self.current_image_gray, cv2.COLOR_GRAY2BGR),
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cv2.cvtColor(threshold_image, cv2.COLOR_GRAY2BGR),
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),
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axis=1,
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)
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self.image_queue_outgoing.put((image_stack, output_information))
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self.previous_image = self.current_image
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self.previous_rotation = self.config.rotation_angle
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except: # If this fails it likely means that the images are not the same size for some reason.
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print('\033[91m[ERROR] Size of frames to display are of unequal sizes.\033[0m')
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pass
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def capture_crop_rotate_image(self):
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# Get our current frame
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try:
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# Get frame from capture source, crop to ROI
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self.current_image = self.current_image[
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int(self.config.roi_window_y): int(
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self.config.roi_window_y + self.config.roi_window_h
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),
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int(self.config.roi_window_x): int(
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self.config.roi_window_x + self.config.roi_window_w
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),
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]
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self.ibo.change_roi(self.config.dict(include=self.roi_include_set))
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except:
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# Failure to process frame, reuse previous frame.
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self.current_image = self.previous_image
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print("\033[91m[ERROR] Frame capture issue detected.\033[0m")
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try:
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# Apply rotation to cropped area. For any rotation area outside of the bounds of the image,
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# fill with white.
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try:
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rows, cols, _ = self.current_image.shape
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except:
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rows, cols, _ = self.previous_image.shape
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img_center = (cols / 2, rows / 2)
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rotation_matrix = cv2.getRotationMatrix2D(
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img_center, self.config.rotation_angle, 1
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)
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avg_color_per_row = np.average(self.current_image, axis=0)
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avg_color = np.average(avg_color_per_row, axis=0)
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ar, ag, ab = avg_color
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self.current_image = cv2.warpAffine(
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self.current_image,
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rotation_matrix,
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(cols, rows),
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borderMode=cv2.BORDER_CONSTANT,
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borderValue=(ar + 10, ag + 10, ab + 10),#(255, 255, 255),
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)
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return True
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except:
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pass
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def UPDATE(self):
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# print(self.blink_clear)
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if self.settings.gui_BLINK:
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self.eyeopen = BLINK(self)
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if self.settings.gui_IBO:
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self.eyeopen = self.ibo.intense(self.rawx, self.rawy, self.current_image)
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if self.eyeopen < 0.35: #threshold so the eye fully closes #todo: make this a setting?
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self.eyeopen = 0.0
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if self.bd_blink == True:
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pass
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# self.eyeopen = 0.0
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if self.settings.gui_IBO and self.settings.gui_BLINK:
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ibo = self.ibo.intense(self.rawx, self.rawy, self.current_image)
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blink = BLINK(self)
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if blink == 0.0:
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self.eyeopen = 0.0
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else:
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self.eyeopen = ibo
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self.output_images_and_update(self.thresh, EyeInfo(self.current_algo, self.out_x, self.out_y, 0, self.eyeopen))
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def BLINKM(self):
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self.eyeopen = BLINK(self)
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def DADDYM(self):
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# todo: We should have a proper variable for drawing.
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self.thresh = self.current_image_gray.copy()
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self.rawx, self.rawy, self.eyeopen = self.er_daddy.run(self.current_image_gray)
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# 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.
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self.out_x, self.out_y = cal.cal_osc(self, self.rawx, self.rawy)
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self.current_algorithm = EyeInfoOrigin.DADDY
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def HSRACM(self):
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# todo: add process to initialise er_hsrac when resolution changes
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self.rawx, self.rawy, self.thresh, self.current_image_gray, self.bd_blink = self.er_hsrac.run(self.current_image_gray)
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if self.prev_x is None:
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self.prev_x = self.rawx
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self.prev_y = self.rawy
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self.out_x, self.out_y = cal.cal_osc(self, self.rawx, self.rawy)
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self.current_algorithm = EyeInfoOrigin.HSRAC
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def HSFM(self):
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# todo: add process to initialise er_hsf when resolution changes
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self.rawx, self.rawy, self.thresh = self.er_hsf.run(self.current_image_gray)
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self.out_x, self.out_y = cal.cal_osc(self, self.rawx, self.rawy)
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self.current_algorithm = EyeInfoOrigin.HSF
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def RANSAC3DM(self):
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current_image_gray_copy = self.current_image_gray.copy() # Duplicate before overwriting in RANSAC3D.
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self.rawx, self.rawy, self.thresh = RANSAC3D(self)
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self.out_x, self.out_y = cal.cal_osc(self, self.rawx, self.rawy)
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self.current_algorithm = EyeInfoOrigin.RANSAC
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def BLOBM(self):
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print("calling")
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self.rawx, self.rawy, self.thresh = BLOB(self)
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self.out_x, self.out_y = cal.cal_osc(self, self.rawx, self.rawy)
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self.current_algorithm = EyeInfoOrigin.BLOB
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def ALGOSELECT(self):
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# self.DADDYM()
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if self.failed == 0 and self.firstalgo != None:
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self.firstalgo()
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else:
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self.failed = self.failed + 1
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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
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self.secondalgo()
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else:
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self.failed = self.failed + 1
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if self.failed == 2 and self.thirdalgo != None:
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self.thirdalgo()
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else:
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self.failed = self.failed + 1
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if self.failed == 3 and self.fourthalgo != None:
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self.fourthalgo()
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if self.failed == 4 and self.fithalgo != None:
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self.fithalgo()
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else:
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self.failed = 0 # we have reached last possible algo and it is disabled, move to first algo
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def run(self):
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# Run the following somewhere
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# self.daddy = External_Run_DADDY()
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self.firstalgo = None
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self.secondalgo = None
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self.thirdalgo = None
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self.fourthalgo = None
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self.fithalgo = None
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algolist = [None, None, None, None, None, None]
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self.er_hsrac = None #clear HSF values when page is opened to correctly reflect setting changes
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self.er_hsf = None
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#set algo priorities
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if self.settings.gui_HSF:
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if self.er_hsf is None:
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self.er_hsf = External_Run_HSF(self.settings.gui_skip_autoradius, self.settings.gui_HSF_radius)
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algolist[self.settings.gui_HSFP] = self.HSFM
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else:
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if self.er_hsf is not None:
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self.er_hsf = None
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if self.settings.gui_HSRAC:
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if self.er_hsrac is None:
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self.er_hsrac = External_Run_HSRACS(self.settings.gui_skip_autoradius, self.settings.gui_HSF_radius, self.settings.gui_thresh_add)
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algolist[self.settings.gui_HSRACP] = self.HSRACM
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else:
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if self.er_hsrac is not None:
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self.er_hsrac = None
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if self.settings.gui_DADDY:
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if self.er_daddy is None:
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self.er_daddy = External_Run_DADDY()
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algolist[self.settings.gui_DADDYP] = self.DADDYM
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else:
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if self.er_daddy is not None:
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self.er_daddy = None
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if self.settings.gui_RANSAC3D:
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algolist[self.settings.gui_RANSAC3DP] = self.RANSAC3DM
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if self.settings.gui_BLOB:
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algolist[self.settings.gui_BLOBP] = self.BLOBM
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_, self.firstalgo, self.secondalgo, self.thirdalgo, self.fourthalgo, self.fithalgo = algolist
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f = True
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while True:
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# f = True
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# Check to make sure we haven't been requested to close
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if self.cancellation_event.is_set():
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print("\033[94m[INFO] Exiting Tracking thread\033[0m")
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return
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if self.config.roi_window_w <= 0 or self.config.roi_window_h <= 0:
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# At this point, we're waiting for the user to set up the ROI window in the GUI.
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# Sleep a bit while we wait.
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if self.cancellation_event.wait(0.1):
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return
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continue
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# If our ROI configuration has changed, reset our model and detector
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if (self.camera_model is None
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or self.detector_3d is None
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or self.camera_model.resolution != (
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self.config.roi_window_w,
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self.config.roi_window_h,
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)
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):
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self.camera_model = CameraModel(
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focal_length=self.config.focal_length,
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resolution=(self.config.roi_window_w, self.config.roi_window_h),
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)
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self.detector_3d = Detector3D(
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camera=self.camera_model, long_term_mode=DetectorMode.blocking
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)
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try:
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if self.capture_queue_incoming.empty():
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self.capture_event.set()
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# Wait a bit for images here. If we don't get one, just try again.
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(
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self.current_image,
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self.current_frame_number,
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self.current_fps,
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) = self.capture_queue_incoming.get(block=True, timeout=0.2)
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except queue.Empty:
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# print("No image available")
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continue
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if not self.capture_crop_rotate_image():
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continue
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self.current_image_gray = cv2.cvtColor(
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self.current_image, cv2.COLOR_BGR2GRAY
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)
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self.current_image_gray_clean = self.current_image_gray.copy() #copy this frame to have a clean image for blink algo
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self.ALGOSELECT() #run our algos in priority order set in settings
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self.UPDATE()
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