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backend.py
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backend.py
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"""
(*)~---------------------------------------------------------------------------
Pupil - eye tracking platform
Copyright (C) 2012-2019 Pupil Labs
Distributed under the terms of the GNU
Lesser General Public License (LGPL v3.0).
See COPYING and COPYING.LESSER for license details.
---------------------------------------------------------------------------~(*)
"""
import logging
import os
import pickle
from time import time
from typing import Optional
from pyglui import ui
import csv_utils
from camera_models import Radial_Dist_Camera, Dummy_Camera
from picoflexx.common import PicoflexxCommon
from picoflexx.royale import RoyaleCameraDevice
from video_capture import manager_classes
from video_capture.base_backend import Base_Manager, Base_Source, Playback_Source
from .frames.depth_data_listener import FramePair
logger = logging.getLogger(__name__)
# noinspection PyPep8Naming
class Picoflexx_Source(PicoflexxCommon, Playback_Source, Base_Source):
name = "Picoflexx"
def __init__(
self,
g_pool,
auto_exposure=False,
record_pointcloud=False,
current_exposure=2000,
selected_usecase=None,
*args,
**kwargs,
):
super().__init__(g_pool, *args, **kwargs)
self.camera = RoyaleCameraDevice()
self.selected_usecase = selected_usecase
self.frame_count = 0
self.record_pointcloud = record_pointcloud
self.royale_timestamp_offset = None
self._last_frame_time = time()
"""
Timestamp of the last successful frame.
"""
self._missed_frame_count = 0
"""
Number of times get_frames has timed out since the last success.
"""
self._reconnection_attempts = 0
"""
Number of times reconnection has been attempted, since connection was
lost
"""
self._recording_reconnection_count = 0
"""
Number of times camera has been reconnected this recording, used to
name the multiple pointcloud.rrf files, if needed.
"""
self._ui_exposure = None
self._ui_usecase = None
self._switch_record_pointcloud = None
self.current_exposure = current_exposure
self._current_exposure_mode = auto_exposure
self._recording_directory = None
self.init_device()
def get_init_dict(self):
return dict(
record_pointcloud=self.record_pointcloud,
auto_exposure=self._current_exposure_mode,
current_exposure=self.current_exposure,
selected_usecase=self.selected_usecase,
**super(Picoflexx_Source, self).get_init_dict(),
)
def init_device(self) -> bool:
if not self.camera.initialize():
return False
if not self.camera.is_connected():
logger.debug("Camera not connected")
return False
# Apply settings
wanted_exposure_mode = self._current_exposure_mode
# Cache the exposure mode as setting certain use cases will override it
# e.g. Low Noise Extended
if self.selected_usecase is not None:
self.set_usecase(self.selected_usecase)
self.set_exposure_mode(wanted_exposure_mode)
if not self._current_exposure_mode and self.current_exposure != 0:
self.set_exposure(self.current_exposure)
self.notify_all(
{"subject": "picoflexx.set_exposure", "delay": 0.3, "exposure": self.current_exposure}
)
self.load_camera_state()
self.on_reconnection()
self.notify_all({"subject": "picoflexx.reconnected"})
return True
def init_ui(self): # was gui
self.add_menu()
self.menu.label = "Pico Flexx"
self.update_ui()
def update_ui(self):
del self.menu[:]
text = ui.Info_Text("Pico Flexx Options")
self.menu.append(text)
if self.online:
use_cases = self.camera.get_usecases()
use_cases = [
use_cases[uc]
for uc in range(use_cases.size())
if "MIXED" not in use_cases[uc]
]
self._ui_usecase = ui.Selector(
"selected_usecase",
selection=use_cases,
getter=lambda: self.selected_usecase,
setter=self.set_usecase,
label="Activate usecase",
)
self.menu.append(self._ui_usecase)
self._ui_exposure = ui.Slider(
"current_exposure",
self,
min=0,
max=0,
setter=self.set_exposure_delayed,
label="Exposure",
)
self.menu.append(self._ui_exposure)
self.menu.append(
ui.Switch(
"_current_exposure_mode",
self,
setter=self.set_exposure_mode,
label="Auto Exposure",
)
)
self.append_depth_preview_menu()
self._switch_record_pointcloud = ui.Switch("record_pointcloud", self,
label="Include 3D pointcloud in recording")
self.menu.append(self._switch_record_pointcloud)
self.load_camera_state()
else:
text = ui.Info_Text("Pico Flexx needs to be reactivated")
self.menu.append(text)
def load_camera_state(self):
"""
Obtain the current usecase, exposure mode and exposure limits from the
camera.
Do nothing if we're not online.
"""
if not self.online:
logger.error("Can't get state, not online")
return
self.selected_usecase = self.camera.get_current_usecase()
self._current_exposure_mode = self.get_exposure_mode()
low, high = self.camera.get_exposure_limits()
if self.current_exposure > high:
# Exposure is implicitly clamped to new max
self.current_exposure = high
if self._ui_exposure is not None: # UI is initialized
# load exposure mode
self._ui_exposure.read_only = self._current_exposure_mode
# Update UI with exposure limits of this use case
self._ui_exposure.minimum = low
self._ui_exposure.maximum = high
def deinit_ui(self):
self.remove_menu()
def cleanup(self):
if self.camera is not None:
self.camera.close()
self.camera = None
def on_notify(self, notification):
if not self.menu: # we've never been online
return
if notification["subject"] == "picoflexx.set_exposure":
# When the user drags the exposure slider, we set a delayed
# notification before we actually set it. As the camera freaks out
# if we ask it to change exposure too often.
self.set_exposure(notification["exposure"])
elif notification["subject"] == "recording.started":
# Disable the "Record RRF" and the Usecase drop down while a
# recording is in progress.
if self._switch_record_pointcloud is not None:
self._switch_record_pointcloud.read_only = True
if self._ui_usecase is not None:
self._ui_usecase.read_only = True
self.frame_count = -1
self._recording_directory = notification["rec_path"]
self._recording_reconnection_count = 0
self.start_pointcloud_recording(self._recording_directory)
elif notification["subject"] == "recording.stopped":
# Re-enable the "Record RRF" and the Usecase drop down now that
# the recording has finished.
if self._switch_record_pointcloud is not None:
self._switch_record_pointcloud.read_only = False
if self._ui_usecase is not None:
self._ui_usecase.read_only = False
self.stop_pointcloud_recording()
# Append some information about plugin settings to info.csv in the
# recording.
self.append_recording_metadata(notification["rec_path"])
self._recording_directory = None
def on_disconnection(self):
if self._recording_directory is not None and self.record_pointcloud:
self.stop_pointcloud_recording()
def on_reconnection(self):
if self._recording_directory is not None and self.record_pointcloud:
self._recording_reconnection_count += 1
self.start_pointcloud_recording(self._recording_directory)
def start_pointcloud_recording(self, rec_loc):
"""
Start an rrf recording if the user has requested it.
:param rec_loc: Folder of the recording
"""
if not self.record_pointcloud:
return
if self._recording_reconnection_count == 0:
filename = "pointcloud.rrf"
else:
filename = "pointcloud_{}.rrf".format(self._recording_reconnection_count)
video_path = os.path.join(rec_loc, filename)
self.camera.start_recording(video_path)
def stop_pointcloud_recording(self):
"""
Stop recording an rrf if the user had requested we record one.
"""
if not self.record_pointcloud:
return
self.camera.stop_recording()
def set_usecase(self, usecase):
self.camera.set_usecase(usecase)
self.load_camera_state()
def set_exposure_delayed(self, exposure):
# set displayed exposure early, to reduce jankiness while dragging slider
self.current_exposure = exposure
self.notify_all(
{"subject": "picoflexx.set_exposure", "delay": 0.3, "exposure": exposure}
)
def set_exposure(self, exposure):
self.camera.set_exposure(exposure)
def get_exposure_mode(self):
return self.camera.get_exposure_mode()
def set_exposure_mode(self, exposure_mode):
self._current_exposure_mode = self.camera.set_exposure_mode(exposure_mode)
if self._ui_exposure is not None:
self._ui_exposure.read_only = exposure_mode
def recent_events(self, events):
frames = self.get_frames()
if frames:
events["frame"] = frames.ir
events["depth_frame"] = frames.depth
self._recent_frame = frames.ir
self._recent_depth_frame = frames.depth
if self._current_exposure_mode: # auto exposure
self.current_exposure = frames.depth.exposure_times[1]
def get_frames(self) -> Optional[FramePair]:
"""
Obtain the next FramePair, if one is available.
Adjusting the timestamps of the frames using the timestamp offset.
:return: The next FramePair
"""
frames = self.camera.get_frame(block=True, timeout=0.02)
if frames is None:
self._missed_frame_count += 1
if self._missed_frame_count > 45 or time() - self._last_frame_time > 5:
self.attempt_reconnect()
# Reset reconnect timers
self._missed_frame_count = 0
self._last_frame_time = time()
return
self._missed_frame_count = 0
self._last_frame_time = time()
if self.royale_timestamp_offset is None:
# use a constant offset so timestamps from the RRF can be matched
self.royale_timestamp_offset = self.g_pool.get_timestamp() - time()
# picoflexx time epoch is unix time, readjust timestamps to pupil time
frames.ir.timestamp += self.royale_timestamp_offset
frames.depth.timestamp += self.royale_timestamp_offset
# To calculate picoflexx camera delay:
# self.g_pool.get_timestamp() - frames.ir.timestamp
# Result: ~2-6ms delay depending on selected usecase
self.frame_count += 1
return frames
@property
def frame_rates(self):
return 1, self.camera.get_max_frame_rate() if self.online else 30
@property
def frame_sizes(self):
return ((640, 480), (1280, 720), (1920, 1080))
@property
def frame_rate(self):
return self.camera.get_frame_rate() if self.online else 30
@frame_rate.setter
def frame_rate(self, new_rate):
rates = [abs(r - new_rate) for r in self.frame_rates]
best_rate_idx = rates.index(min(rates))
rate = self.frame_rates[best_rate_idx]
if rate != new_rate:
logger.warning(
"%sfps capture mode not available at (%s) on 'PicoFlexx Source'. Selected %sfps. "
% (new_rate, self.frame_size, rate)
)
self.camera.set_frame_rate(rate)
@property
def jpeg_support(self):
return False
@property
def online(self):
return self.camera and self.camera.is_connected() and self.camera.is_capturing()
@property
def intrinsics(self):
if not self.online:
return self._intrinsics or Dummy_Camera(self.frame_size, self.name)
if self._intrinsics is None or self._intrinsics.resolution != self.frame_size:
lens_params = self.camera.get_lens_parameters()
c_x, c_y = lens_params.principal_point
f_x, f_y = lens_params.focal_length
p_1, p_2 = lens_params.distortion_tangential
k_1, k_2, *k_other = lens_params.distortion_radial
K = [[f_x, 0.0, c_x], [0.0, f_y, c_y], [0.0, 0.0, 1.0]]
D = k_1, k_2, p_1, p_2, *k_other
self._intrinsics = Radial_Dist_Camera(K, D, self.frame_size, self.name)
with open(os.path.join(self.g_pool.user_dir, "picoflexx_intrinsics"), "wb") as f:
pickle.dump([
K, D, self.frame_size, self.name
], f)
return self._intrinsics
@intrinsics.setter
def intrinsics(self, model):
logger.error("Picoflexx backend does not support setting intrinsics manually")
def append_recording_metadata(self, rec_path):
meta_info_path = os.path.join(rec_path, "info.csv")
with open(meta_info_path, "a", newline="") as csvfile:
csv_utils.write_key_value_file(
csvfile,
{
"Royale Timestamp Offset": self.royale_timestamp_offset,
},
append=True,
)
def attempt_reconnect(self):
logger.debug("attempt_reconnect()")
if self.camera is None:
logger.warning("Camera wasn't connected at all?")
return
if self._reconnection_attempts == 0:
self.on_disconnection()
self.notify_all({"subject": "picoflexx.disconnected"})
self._reconnection_attempts += 1
if self.init_device():
logger.info('Reconnected after {} attempts!'.format(self._reconnection_attempts))
self._reconnection_attempts = 0
class Picoflexx_Manager(Base_Manager):
"""Simple manager to explicitly activate a fake source"""
gui_name = "Pico Flexx"
def __init__(self, g_pool):
super().__init__(g_pool)
# Initiates the UI for starting the webcam.
def init_ui(self):
self.add_menu()
from pyglui import ui
self.menu.append(ui.Info_Text("Backend for https://pmdtec.com/picofamily/"))
self.menu.append(ui.Button("Activate Pico Flexx", self.activate_source))
def activate_source(self):
settings = {}
settings["name"] = "Picoflexx_Source"
# if the user set fake capture, we dont want it to auto jump back to the old capture.
if self.g_pool.process == "world":
self.notify_all(
{
"subject": "start_plugin",
"name": "Picoflexx_Source",
"args": settings,
}
)
else:
logger.warning("Pico Flexx backend is not supported in the eye process.")
def recent_events(self, events):
pass
def get_init_dict(self):
return {}
manager_classes.append(Picoflexx_Manager)