def __init__(self):
super(ImageWidget, self).__init__()
# data_path = '/homes/jannik/BVSiAB/RoadSegmentation_Tutorial'
data_path = "/home/jan/Downloads/RoadSegmentation_Tutorial/"
load_dir_images = "images/"
load_dir_groundTruth = "ground_truth/"
data_dir = "data/"
stump_images = "_im_cr.ppm"
# stump_images = 'jan.ppm'
stump_groundTruth = "_la_cr.pgm"
# objekts
self.bev = BevTransformation()
self.linefitter = LineFitting()
self.edgedetection = EdgeDetection()
self.polygonfitter = PolygonFitting()
# get list of files in directory
image_Data_loc = os.path.join(data_path, load_dir_images, "*" + stump_images)
gt_Data_loc = os.path.join(data_path, load_dir_groundTruth, "*" + stump_groundTruth)
self.image_Data_files = glob.glob(image_Data_loc)
self.image_Data_files.sort()
self.gt_Data_files = glob.glob(gt_Data_loc)
self.gt_Data_files.sort()
self.pos = 0
cvBGRImg = cv2.imread(self.image_Data_files[self.pos])
height, width, depth = cvBGRImg.shape
self.qpm = convertIpl(cvBGRImg)
self.qpm2 = convertIpl(cvBGRImg)
self.qpm3 = convertIpl(cvBGRImg)
self.qpm4 = convertIpl(cvBGRImg)
self.setMinimumSize(width * 2, height * 3)
self.setMaximumSize(self.minimumSize())
self.initUI()
class ImageWidget(QWidget):
""" A class for rendering video coming from OpenCV """
def __init__(self):
super(ImageWidget, self).__init__()
# data_path = '/homes/jannik/BVSiAB/RoadSegmentation_Tutorial'
data_path = "/home/jan/Downloads/RoadSegmentation_Tutorial/"
load_dir_images = "images/"
load_dir_groundTruth = "ground_truth/"
data_dir = "data/"
stump_images = "_im_cr.ppm"
# stump_images = 'jan.ppm'
stump_groundTruth = "_la_cr.pgm"
# objekts
self.bev = BevTransformation()
self.linefitter = LineFitting()
self.edgedetection = EdgeDetection()
self.polygonfitter = PolygonFitting()
# get list of files in directory
image_Data_loc = os.path.join(data_path, load_dir_images, "*" + stump_images)
gt_Data_loc = os.path.join(data_path, load_dir_groundTruth, "*" + stump_groundTruth)
self.image_Data_files = glob.glob(image_Data_loc)
self.image_Data_files.sort()
self.gt_Data_files = glob.glob(gt_Data_loc)
self.gt_Data_files.sort()
self.pos = 0
cvBGRImg = cv2.imread(self.image_Data_files[self.pos])
height, width, depth = cvBGRImg.shape
self.qpm = convertIpl(cvBGRImg)
self.qpm2 = convertIpl(cvBGRImg)
self.qpm3 = convertIpl(cvBGRImg)
self.qpm4 = convertIpl(cvBGRImg)
self.setMinimumSize(width * 2, height * 3)
self.setMaximumSize(self.minimumSize())
self.initUI()
def initUI(self):
self.setGeometry(300, 300, 250, 150)
self.setWindowTitle("Image")
self.imageLabel = QtGui.QLabel()
self.imageLabel.setPixmap(QtGui.QPixmap(self.qpm))
self.imageLabel.setScaledContents(True)
self.imageLabel2 = QtGui.QLabel()
self.imageLabel2.setPixmap(QtGui.QPixmap(self.qpm2))
self.imageLabel2.setScaledContents(True)
self.imageLabel3 = QtGui.QLabel()
self.imageLabel3.setPixmap(QtGui.QPixmap(self.qpm3))
self.imageLabel3.setScaledContents(True)
self.imageLabel4 = QtGui.QLabel()
self.imageLabel4.setPixmap(QtGui.QPixmap(self.qpm4))
self.imageLabel4.setScaledContents(True)
# self.imageLabel.pixmap().scaled(QtCore.QSize(self.imageLabel.size()), QtCore.Qt.KeepAspectRatio, QtCore.Qt.FastTransformation)
# self.imageLabel.move(15, 10)
okButton = QtGui.QPushButton("OK")
okButton.clicked.connect(QtCore.QCoreApplication.instance().quit)
hbox = QtGui.QHBoxLayout()
hbox.addStretch(1)
hbox.addWidget(self.imageLabel)
hbox.addWidget(self.imageLabel2)
hbox2 = QtGui.QHBoxLayout()
hbox2.addStretch(1)
hbox2.addWidget(self.imageLabel3)
hbox2.addWidget(self.imageLabel4)
vbox = QtGui.QVBoxLayout()
vbox.addStretch(1)
vbox.addLayout(hbox)
vbox.addLayout(hbox2)
self.sdlText = QtGui.QLabel()
self.sdlText.setText("set Min Threshold")
slda = QtGui.QSlider(QtCore.Qt.Horizontal, self)
slda.setFocusPolicy(QtCore.Qt.NoFocus)
slda.setGeometry(30, 40, 100, 30)
slda.valueChanged[int].connect(self.setMinTreshold)
sld = QtGui.QHBoxLayout()
sld.addWidget(self.sdlText)
sld.addWidget(slda)
vbox.addLayout(sld)
self.sdlText2 = QtGui.QLabel()
self.sdlText2.setText("Set Max Treshold:")
slda = QtGui.QSlider(QtCore.Qt.Horizontal, self)
slda.setFocusPolicy(QtCore.Qt.NoFocus)
slda.setGeometry(30, 40, 100, 30)
slda.valueChanged[int].connect(self.setMaxTreshold)
sld = QtGui.QHBoxLayout()
sld.addWidget(self.sdlText2)
sld.addWidget(slda)
vbox.addLayout(sld)
self.sdlText3 = QtGui.QLabel()
self.sdlText3.setText("Set X: ")
slda = QtGui.QSlider(QtCore.Qt.Horizontal, self)
slda.setFocusPolicy(QtCore.Qt.NoFocus)
slda.setGeometry(0, 0, 300, 30)
slda.valueChanged[int].connect(self.setX)
sld = QtGui.QHBoxLayout()
sld.addWidget(self.sdlText3)
sld.addWidget(slda)
vbox.addLayout(sld)
self.sdlText4 = QtGui.QLabel()
self.sdlText4.setText("set Sobel:")
slda = QtGui.QSlider(QtCore.Qt.Horizontal, self)
slda.setFocusPolicy(QtCore.Qt.NoFocus)
slda.setGeometry(30, 40, 100, 30)
slda.valueChanged[int].connect(self.setSobel)
sld = QtGui.QHBoxLayout()
sld.addWidget(self.sdlText4)
sld.addWidget(slda)
vbox.addLayout(sld)
self.sdlText5 = QtGui.QLabel()
self.sdlText5.setText("set Line Threshold:")
slda = QtGui.QSlider(QtCore.Qt.Horizontal, self)
slda.setFocusPolicy(QtCore.Qt.NoFocus)
slda.setGeometry(30, 40, 100, 30)
slda.valueChanged[int].connect(self.setLineThreshold)
sld = QtGui.QHBoxLayout()
sld.addWidget(self.sdlText5)
sld.addWidget(slda)
vbox.addLayout(sld)
self.sdlText6 = QtGui.QLabel()
self.sdlText6.setText("set Line Length:")
slda = QtGui.QSlider(QtCore.Qt.Horizontal, self)
slda.setFocusPolicy(QtCore.Qt.NoFocus)
slda.setGeometry(30, 40, 100, 30)
slda.valueChanged[int].connect(self.setLineLength)
sld = QtGui.QHBoxLayout()
sld.addWidget(self.sdlText6)
sld.addWidget(slda)
vbox.addLayout(sld)
self.sdlText7 = QtGui.QLabel()
self.sdlText7.setText("set K Size:")
slda = QtGui.QSlider(QtCore.Qt.Horizontal, self)
slda.setFocusPolicy(QtCore.Qt.NoFocus)
slda.setGeometry(30, 40, 100, 30)
slda.valueChanged[int].connect(self.setSobelKSize)
sld = QtGui.QHBoxLayout()
sld.addWidget(self.sdlText7)
sld.addWidget(slda)
vbox.addLayout(sld)
vbox.addWidget(okButton)
self.setLayout(vbox)
self.timer = QTimer(self)
self.timer.timeout.connect(self.queryFrame)
self.timer.start(250)
# def paintEvent(self, event):
# painter = QPainter(self)
# painter.drawImage(QPoint(0, 0), self.qpm)
def setMinTreshold(self, value):
print "slider changed to {0}".format(value)
self.edgedetection.setMinTresh(value)
self.sdlText.setText("EDGE set Min Threshold:{0}".format(value))
def setMaxTreshold(self, value):
print "slider changed to {0}".format(value)
self.edgedetection.setMaxTresh(value)
self.sdlText2.setText("EDGE set Max Threshold:{0}".format(value))
def setX(self, value):
print "slider changed to {0}".format(value)
self.bev.setAmount(value * 4)
self.sdlText3.setText("BEV set X Threshold:{0}".format(value * 4))
def setSobel(self, value):
print "slider changed to {0}".format(value)
self.edgedetection.setSobel(value / 10)
self.sdlText4.setText("EDGE set Sobel:{0}".format(value / 10))
def setSobelKSize(self, value):
print "slider changed to {0}".format(value)
self.edgedetection.setSobelKSize(value)
self.sdlText7.setText("EDGE set Sobel K/Canny AP Size:{0}".format(value))
def setLineThreshold(self, value):
print "slider changed to {0}".format(value)
self.linefitter.setThreshold(value)
self.sdlText5.setText("LINE set Threshold:{0}".format(value))
def setLineLength(self, value):
print "slider changed to {0}".format(value)
tmp = self.linefitter.setMinLength(value)
self.sdlText6.setText("LINE set MinLength:{0}".format(tmp))
def queryFrame(self):
# cvBGRImg = cv2.imread(self.image_Data_files[self.pos])
cvBGRImg = processImage(self.image_Data_files[self.pos])
cvBGRImg2 = self.edgedetection.computeEdges(cvBGRImg)
cvBGRImg3b = self.bev.computeBev(cvBGRImg)
cvBGRImg2a = cv2.cvtColor(cvBGRImg2, cv2.cv.CV_GRAY2BGR)
cvBGRImg3 = self.bev.computeBev(cvBGRImg2a)
cvBGRImg3a = cv2.cvtColor(cvBGRImg3, cv2.cv.CV_BGR2GRAY)
rev, cvBGRImg3a = cv2.threshold(cvBGRImg3a, 200, 255, cv2.THRESH_BINARY)
# cvBGRImg4 = self.linefitter.findLine(cvBGRImg3a)
cvBGRImg5 = self.polygonfitter.findPolygon(cvBGRImg3a, cvBGRImg3b.copy())
cvBGRImg6 = self.bev.computePers(cvBGRImg5)
self.qpm4 = convertIpl(cvBGRImg6)
self.qpm3 = convertIplG(cvBGRImg3a)
self.qpm2 = convertIplG(cvBGRImg2)
self.qpm = convertIpl(cvBGRImg)
if len(self.image_Data_files) > self.pos + 1:
self.pos += 1
else:
self.pos = 0
self.imageLabel.setPixmap(self.qpm)
self.imageLabel2.setPixmap(self.qpm2)
self.imageLabel3.setPixmap(self.qpm3)
self.imageLabel4.setPixmap(self.qpm4)