EyeTrackVR/EyeTrackApp/eye_processor.py
Prohurtz d4bfcf31d8 end of day
finally found the reason tracking would freeze sometimes, it happens with the crop goes over the actual frame size. haven't decided what way of preventing this is best
2023-01-12 20:38:06 -06:00

447 lines
17 KiB
Python

'''
------------------------------------------------------------------------------------------------------
,@@@@@@
@@@@@@@@@@@ @@@
@@@@@@@@@@@@ @@@@@@@@@@@
@@@@@@@@@@@@@ @@@@@@@@@@@@@@
@@@@@@@/ ,@@@@@@@@@@@@@
/@@@@@@@@@@@@@@@ @@@@@@@@
@@@@@@@@@@@@@@@@@@@@@@@@ @@@@@
@@@@@@@@ @@@@@
,@@@ @@@@&
@@@@@@. @@@@
@@@ @@@@@@@@@/ @@@@@
,@@@. @@@@@@((@ @@@@(
//@@@ ,, @@@@ @@@@@
@@@( @@@@@@@
@@@ @ @@@@@@@@#
@@@@@@@@@@@@@@@@@
@@@@@@@@@@@@@(
HSR By: Sean.Denka (Optimization Wizard, Contributor), Summer#2406 (Main Algorithm Engineer)
RANSAC 3D By: Summer#2406 (Main Algorithm Engineer), Pupil Labs (pye3d), Sean.Denka (Optimization)
BLOB By: Prohurtz#0001 (Main App Developer)
Algorithm App Implimentations By: Prohurtz#0001, qdot (Inital App Creator)
Additional Contributors: [Assassin], Summer404NotFound, lorow, ZanzyTHEbar
Copyright (c) 2022 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
if sys.platform.startswith("win"):
from winsound import PlaySound, SND_FILENAME, SND_ASYNC
import importlib
from osc_calibrate_filter import *
from haar_surround_feature import *
from blob import *
from ransac import *
from hsrac import *
from blink import *
class InformationOrigin(Enum):
RANSAC = 1
BLOB = 2
FAILURE = 3
HSF = 4
HSRAC = 5
bbb = 0
@dataclass
class EyeInformation:
info_type: InformationOrigin
x: float
y: float
pupil_dialation: int
blink: bool
lowb = np.array(0)
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
if sys.platform.startswith("win"):
PlaySound('Audio/compleated.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
# 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
# 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.cct = 300
self.cccs = False
self.ts = 10
self.previous_rotation = self.config.rotation_angle
self.calibration_frame_counter
self.camera_model = None
self.detector_3d = None
self.camera_model = None
self.detector_3d = None
self.failed = 0
self.skip_blink_detect = False
#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
try:
min_cutoff = float(self.settings.gui_min_cutoff) # 0.0004
beta = float(self.settings.gui_speed_coefficient) # 0.9
except:
print('[WARN] OneEuroFilter values must be a legal number.')
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: EyeInformation):
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('[ERROR] Size of frames to display are of unequal sizes.')
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
),
]
except:
# Failure to process frame, reuse previous frame.
self.current_image = self.previous_image
print("[ERROR] Frame capture issue detected.")
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
)
self.current_image = cv2.warpAffine(
self.current_image,
rotation_matrix,
(cols, rows),
borderMode=cv2.BORDER_CONSTANT,
borderValue=(255, 255, 255),
)
return True
except:
pass
def HSRACM(self):
cx, cy, thresh, gray_frame = External_Run.HSRACS(self)
self.current_image_gray = gray_frame
# thresh = gray_frame
if self.prev_x == None:
self.prev_x = cx
self.prev_y = cy
#print(self.prev_x, self.prev_y, cx, cy)
# if (cx - self.prev_x) <= 45 and (cy - self.prev_y) <= 45 :
# self.prev_x = cx
# self.prev_y = cy
out_x, out_y = cal_osc(self, cx, cy)
if cx == 0:
self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, False)) #update app
else:
self.blinkvalue = False
self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, False))
# else:
# print("EYE MOVED TOO FAST")
# self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, 0, 0, 0, False))
def HSFM(self):
cx, cy, frame = External_Run_HSF.HSFS(self)
out_x, out_y = cal_osc(self, cx, cy)
if cx == 0:
self.output_images_and_update(frame, EyeInformation(InformationOrigin.HSF, out_x, out_y, 0, True)) #update app
else:
self.output_images_and_update(frame, EyeInformation(InformationOrigin.HSF, out_x, out_y, 0, self.blinkvalue))
def RANSAC3DM(self):
cx, cy, thresh = RANSAC3D(self)
out_x, out_y = cal_osc(self, cx, cy)
if cx == 0:
self.output_images_and_update(thresh, EyeInformation(InformationOrigin.RANSAC, out_x, out_y, 0, True)) #update app
else:
self.output_images_and_update(thresh, EyeInformation(InformationOrigin.RANSAC, out_x, out_y, 0, self.blinkvalue))
def BLOBM(self):
cx, cy, thresh = BLOB(self)
out_x, out_y = cal_osc(self, cx, cy)
if cx == 0:
self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, True)) #update app
else:
self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, self.blinkvalue))
def ALGOSELECT(self):
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()
else:
self.failed = 0 # we have reached last possible algo and it is disabled, move to first algo
def run(self):
self.firstalgo = None
self.secondalgo = None
self.thirdalgo = None
self.fourthalgo = None
#set algo priorities
if self.settings.gui_HSF and self.settings.gui_HSFP == 1: #I feel like this is super innefficient though it only runs at startup and no solution is coming to me atm
self.firstalgo = self.HSFM
elif self.settings.gui_HSF and self.settings.gui_HSFP == 2:
self.secondalgo = self.HSFM
elif self.settings.gui_HSF and self.settings.gui_HSFP == 3:
self.thirdalgo = self.HSFM
elif self.settings.gui_HSF and self.settings.gui_HSFP == 4:
self.fourthalgo = self.HSFM
if self.settings.gui_RANSAC3D and self.settings.gui_RANSAC3DP == 1:
self.firstalgo = self.RANSAC3DM
elif self.settings.gui_RANSAC3D and self.settings.gui_RANSAC3DP == 2:
self.secondalgo = self.RANSAC3DM
elif self.settings.gui_RANSAC3D and self.settings.gui_RANSAC3DP == 3:
self.thirdalgo = self.RANSAC3DM
elif self.settings.gui_RANSAC3D and self.settings.gui_RANSAC3DP == 4:
self.fourthalgo = self.RANSAC3DM
if self.settings.gui_HSRAC == True and self.settings.gui_HSRACP == 1:
self.firstalgo = self.HSRACM
elif self.settings.gui_HSRAC and self.settings.gui_HSRACP == 2:
self.secondalgo = self.HSRACM
elif self.settings.gui_HSRAC and self.settings.gui_HSRACP == 3:
self.thirdalgo = self.HSRACM
elif self.settings.gui_HSRAC and self.settings.gui_HSRACP == 4:
self.fourthalgo = self.HSRACM
if self.settings.gui_BLOB and self.settings.gui_BLOBP == 1:
self.firstalgo = self.BLOBM
elif self.settings.gui_BLOB and self.settings.gui_BLOBP == 2:
self.secondalgo = self.BLOBM
elif self.settings.gui_BLOB and self.settings.gui_BLOBP == 3:
self.thirdalgo = self.BLOBM
elif self.settings.gui_BLOB and self.settings.gui_BLOBP == 4:
self.fourthalgo = self.BLOBM
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
# print(self.settings.gui_RANSAC3D)
# BLINK(self)
# cx, cy, thresh = HSRAC(self)
# out_x, out_y = cal_osc(self, cx, cy)
# if cx == 0:
# self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, True)) #update app
# else:
# self.output_images_and_update(thresh, EyeInformation(InformationOrigin.HSRAC, out_x, out_y, 0, self.blinkvalue))
# cx, cy, thresh = RANSAC3D(self)
# out_x, out_y = cal_osc(self, cx, cy)
# self.output_images_and_update(thresh, EyeInformation(InformationOrigin.RANSAC, out_x, out_y, 0, False)) #update app
# cx, cy, larger_threshold = BLOB(self)
# out_x, out_y = cal_osc(self, cx, cy)
# self.output_images_and_update(larger_threshold, EyeInformation(InformationOrigin.BLOB, out_x, out_y, 0, False)) #update app
#center_x, center_y, frame = HSF(self) #run algo
#out_x, out_y = cal_osc(self, center_x, center_y) #filter and calibrate
#self.output_images_and_update(frame, EyeInformation(InformationOrigin.HSF, out_x, out_y, 0, False)) #update app
self.ALGOSELECT() #run our algos in priority order set in settings