EyeTrackVR/EyeTrackApp/camera.py
2023-04-06 18:14:11 -05:00

191 lines
8.1 KiB
Python

from config import EyeTrackConfig
from enum import Enum
import threading
import queue
import cv2
import serial
import time
import numpy as np
WAIT_TIME = 0.1
class CameraState(Enum):
CONNECTING = 0
CONNECTED = 1
DISCONNECTED = 2
class Camera:
def __init__(
self,
config: EyeTrackConfig,
camera_index: int,
cancellation_event: "threading.Event",
capture_event: "threading.Event",
camera_status_outgoing: "queue.Queue[CameraState]",
camera_output_outgoing: "queue.Queue",
):
self.camera_status = CameraState.CONNECTING
self.config = config
self.camera_index = camera_index
self.camera_address = config.capture_source
self.camera_status_outgoing = camera_status_outgoing
self.camera_output_outgoing = camera_output_outgoing
self.capture_event = capture_event
self.cancellation_event = cancellation_event
self.current_capture_source = config.capture_source
self.wired_camera: "cv2.VideoCapture" = None
self.serial_connection = None
self.frame_number = 0
self.start = True
self.serialByteBuffer = b''
self.error_message = "\033[93m[WARN] Capture source {} not found, retrying...\033[0m"
def set_output_queue(self, camera_output_outgoing: "queue.Queue"):
self.camera_output_outgoing = camera_output_outgoing
def run(self):
while True:
if self.cancellation_event.is_set():
print("\033[94m[INFO] Exiting Capture thread\033[0m")
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 != ""
):
if (self.config.capture_source[:3] == "COM"):
if (
self.serial_connection is None
or self.camera_status == CameraState.DISCONNECTED
or self.config.capture_source != self.current_capture_source
):
port = self.current_capture_source
self.start_serial_connection(port)
else:
if (
self.wired_camera is None
or not self.wired_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.wired_camera = cv2.VideoCapture(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=0.02):
continue
if (self.current_capture_source[:3] == "COM"):
self.get_serial_camera_picture(should_push)
else:
self.get_wired_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_wired_camera_picture(self, should_push):
try:
ret, image = self.wired_camera.read()
if not ret:
self.wired_camera.set(cv2.CAP_PROP_POS_FRAMES, 0)
raise RuntimeError("Problem while getting frame")
frame_number = self.wired_camera.get(cv2.CAP_PROP_POS_FRAMES)
fps = self.wired_camera.get(cv2.CAP_PROP_FPS)
if should_push:
self.push_image_to_queue(image, frame_number, fps)
except:
print("\033[93m[INFO] Capture source problem, assuming camera disconnected, waiting for reconnect.\033[0m")
self.camera_status = CameraState.DISCONNECTED
pass
def get_serial_camera_picture(self, should_push):
start = time.time()
try:
bytes = self.serialByteBuffer
if self.serial_connection.in_waiting:
bytes += self.serial_connection.read(4096) # Read in initial bytes
a = bytes.find(b'\xff\xd8') # Find start byte for jpeg image
b = bytes.find(b'\xff\xd9') # Fine end byte for jpeg image
# If the first found end byte is before the start byte, keep reading in serial
# data and discarding the old data until the start byte is before the end byte
while a > b:
bytes = bytes[a:]
a = bytes.find(b'\xff\xd8')
b = bytes.find(b'\xff\xd9')
if a == -1 or b == -1:
bytes += self.serial_connection.read(2048)
if a != -1 and b != -1: # If there is jpeg data
jpg = bytes[a:b + 2] # Create the string of bytes for the current jpeg
bytes = bytes[b + 2:] # Clear the buffer until the end of our current jpeg
self.serialByteBuffer = bytes
if jpg:
# Create jpeg frame from byte string
image = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8), cv2.IMREAD_UNCHANGED)
if image is None:
print("image not found")
else:
self.frame_number = self.frame_number + 1
fps = 1 / (time.time() - start) # Calculate FPS - This could use a better implementation
if should_push:
self.push_image_to_queue(image, self.frame_number, fps)
except UnboundLocalError as ex:
print(ex)
except Exception as ex:
print(ex.__class__)
print(
"\033[93m[INFO]Serial capture source problem, assuming camera disconnected, waiting for reconnect.\033[0m")
self.camera_status = CameraState.DISCONNECTED
pass
def start_serial_connection(self, port):
try:
serialInst = serial.Serial()
print("setting baud rate")
serialInst.baudrate = 2000000
print("baud rate set")
serialInst.port = port
serialInst.setDTR(False)
serialInst.setRTS(False)
serialInst.open()
print("port open")
self.serial_connection = serialInst
self.camera_status = CameraState.CONNECTED
except:
print("Error Opening Serial Port")
def push_image_to_queue(self, image, frame_number, fps):
# If there's backpressure, just yell. We really shouldn't have this unless we start getting
# some sort of capture event conflict though.
qsize = self.camera_output_outgoing.qsize()
if qsize > 1:
print(
f"\033[91m[WARN] CAPTURE QUEUE BACKPRESSURE OF {qsize}. CHECK FOR CRASH OR TIMING ISSUES IN ALGORITHM.\033[0m")
self.camera_output_outgoing.put((image, frame_number, fps))
self.capture_event.clear()