mirror of
https://github.com/EyeTrackVR/EyeTrackVR.git
synced 2025-11-04 14:39:42 +08:00
191 lines
8.1 KiB
Python
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()
|