EyeTrackVR/EyeTrackApp/eye_processor.py
2023-05-11 09:39:38 -07:00

443 lines
17 KiB
Python

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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 (Main App Developer)
Algorithm App Implementations By: Prohurtz, qdot (Initial App Creator), PallasNeko
Additional Contributors: [Assassin], Summer404NotFound, lorow, ZanzyTHEbar
Copyright (c) 2023 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 eye import EyeInfo, EyeInfoOrigin
from intensity_based_openness 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('Audio/completed.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
self.thresh = 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.blink_clear = False
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.er_daddy = 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
self.eyeopen = 0.7
#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.bd_blink = False
self.current_algo = EyeInfoOrigin.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: 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')
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
)
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
self.current_image = cv2.warpAffine(
self.current_image,
rotation_matrix,
(cols, rows),
borderMode=cv2.BORDER_CONSTANT,
borderValue=(ar + 10, ag + 10, ab + 10),#(255, 255, 255),
)
return True
except:
pass
def UPDATE(self):
# print(self.blink_clear)
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 #todo: make this a setting?
self.eyeopen = 0.0
if self.bd_blink == True:
pass
# 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, EyeInfo(self.current_algo, self.out_x, self.out_y, 0, self.eyeopen))
def BLINKM(self):
self.eyeopen = BLINK(self)
def DADDYM(self):
# todo: We should have a proper variable for drawing.
self.thresh = self.current_image_gray.copy()
self.rawx, self.rawy, self.eyeopen = 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 = cal.cal_osc(self, self.rawx, self.rawy)
self.current_algorithm = EyeInfoOrigin.DADDY
def HSRACM(self):
# todo: add process to initialise er_hsrac when resolution changes
self.rawx, self.rawy, self.thresh, self.current_image_gray, self.bd_blink = self.er_hsrac.run(self.current_image_gray)
if self.prev_x is None:
self.prev_x = self.rawx
self.prev_y = self.rawy
self.out_x, self.out_y = cal.cal_osc(self, self.rawx, self.rawy)
self.current_algorithm = EyeInfoOrigin.HSRAC
def HSFM(self):
# todo: add process to initialise er_hsf when resolution changes
self.rawx, self.rawy, self.thresh = self.er_hsf.run(self.current_image_gray)
self.out_x, self.out_y = cal.cal_osc(self, self.rawx, self.rawy)
self.current_algorithm = EyeInfoOrigin.HSF
def RANSAC3DM(self):
current_image_gray_copy = self.current_image_gray.copy() # Duplicate before overwriting in RANSAC3D.
self.rawx, self.rawy, self.thresh = RANSAC3D(self)
self.out_x, self.out_y = cal.cal_osc(self, self.rawx, self.rawy)
self.current_algorithm = EyeInfoOrigin.RANSAC
def BLOBM(self):
print("calling")
self.rawx, self.rawy, self.thresh = BLOB(self)
self.out_x, self.out_y = cal.cal_osc(self, self.rawx, self.rawy)
self.current_algorithm = EyeInfoOrigin.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()
if self.failed == 4 and self.fithalgo != None:
self.fithalgo()
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
algolist = [None, None, None, None, None, None]
self.er_hsrac = None #clear HSF values when page is opened to correctly reflect setting changes
self.er_hsf = 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
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_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 = algolist
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
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
self.ALGOSELECT() #run our algos in priority order set in settings
self.UPDATE()