def addArrow(self, startPoint=QPointF(), endPoint=QPointF(), pen=QPen()):
alpha = 5 * pi / 6
arrowLength = 10
theta = atan2((endPoint.y() - startPoint.y()),
(endPoint.x() - startPoint.x()))
gamma1 = theta + alpha
gamma2 = theta - alpha
arrowPoint_1 = QPointF(endPoint.x() + arrowLength * cos(gamma1),
endPoint.y() + arrowLength * sin(gamma1))
arrowPoint_2 = QPointF(endPoint.x() + arrowLength * cos(gamma2),
endPoint.y() + arrowLength * sin(gamma2))
line_0 = QLineF(startPoint, endPoint)
line_1 = QLineF(endPoint, arrowPoint_1)
line_2 = QLineF(endPoint, arrowPoint_2)
line_item_0 = QGraphicsLineItem(line_0)
line_item_0.setPen(pen)
line_item_1 = QGraphicsLineItem(line_1)
line_item_1.setPen(pen)
line_item_2 = QGraphicsLineItem(line_2)
line_item_2.setPen(pen)
arrowItems = [line_item_0, line_item_1, line_item_2]
self.addItem(line_item_0)
self.addItem(line_item_1)
self.addItem(line_item_2)
return arrowItems
def add_edge(self, roi_num_1, roi_num_2):
pixel_coords_1 = self.items_dict[
'r' + str(roi_num_1).zfill(2)]['pixel_coords']
pixel_coords_2 = self.items_dict[
'r' + str(roi_num_2).zfill(2)]['pixel_coords']
self.line_dict[(str(roi_num_1) + '-' +
str(roi_num_2))] = QGraphicsLineItem(
QLineF(pixel_coords_2, pixel_coords_1))
self.addItem(self.line_dict[(str(roi_num_1) + '-' + str(roi_num_2))])
def _handle_add_clicked(self):
name = self.name_edit.text()
if len(name) != 0:
# remove and re-draw it
if name in self.places_dict.keys():
self.places_dict.pop(name)
for item in self._sceneItems[name].keys():
self._scene.removeItem(self._sceneItems[name][item])
try:
# storing the values in the dict
x = self.x_spin.value()
y = self.y_spin.value()
theta = self.theta_spin.value()
q = quaternion_from_euler(0.0, 0.0, theta)
self.places_dict[str(name)] = [
x, y, 0.0,
float(q[0]),
float(q[1]),
float(q[2]),
float(q[3])
]
# drawing the items
self._sceneItems[name] = {"text": QGraphicsTextItem()}
self._sceneItems[name]["text"].setDefaultTextColor(
QColor(0, 0, 255))
self._sceneItems[name]["text"].setFont(QFont("Times", 10))
self._sceneItems[name]["text"].setPlainText(name)
scene_pos = self._gridToScene(x, y, q)
x_c = scene_pos[0] - self._sceneItems[name][
"text"].boundingRect().width() / 2.0
self._sceneItems[name]["text"].setPos(x_c, scene_pos[1])
self._scene.addItem(self._sceneItems[name]["text"])
self._sceneItems[name]["rec"] = self._scene.addRect(
QRectF((scene_pos[0] - 2), (scene_pos[1] - 2), 4, 4))
line = QLineF(
scene_pos[0], scene_pos[1],
(scene_pos[0] - self._mag * cos(radians(scene_pos[3]))),
(scene_pos[1] + self._mag * sin(radians(scene_pos[3]))))
self._sceneItems[name]["line"] = self._scene.addLine(
line, pen=QPen(Qt.red, 2))
except ValueError:
QMessageBox.critical(self, "Error!",
"You must insert a valid value.")
else:
QMessageBox.critical(
self, "Error!",
"You have to insert a name and a valid position.")
def _theta_changed(self, value):
name = self.name_edit.text()
if (len(name) != 0) and (name in self.places_dict.keys()):
self._scene.removeItem(self._sceneItems[name]["line"])
grid_pos = self.places_dict[name]
scene_pos = self._gridToScene(grid_pos[0], grid_pos[1],
numpy.asarray(grid_pos[3:7]))
line = QLineF(scene_pos[0], scene_pos[1],
(scene_pos[0] - self._mag * cos(radians(value))),
(scene_pos[1] + self._mag * sin(radians(value))))
self._sceneItems[name]["line"] = self._scene.addLine(line,
pen=QPen(
Qt.red,
2))
q = quaternion_from_euler(0.0, 0.0, radians(value))
self.places_dict[name][3] = float(q[0])
self.places_dict[name][4] = float(q[1])
self.places_dict[name][5] = float(q[2])
self.places_dict[name][6] = float(q[3])
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('YAML files {.yaml} (*.yaml)'))
if filename[0] != '':
with open(filename[0], 'r') as infile:
try:
self.places_dict = yaml.load(infile)
for k in self._sceneItems.keys():
for item in self._sceneItems[k].keys():
self._scene.removeItem(self._sceneItems[k][item])
for name in self.places_dict.keys():
#
q = numpy.asarray(self.places_dict[name][3:7])
scene_pos = self._gridToScene(
self.places_dict[name][0],
self.places_dict[name][1], q)
# drawing the items
self._sceneItems[name] = {"text": QGraphicsTextItem()}
self._sceneItems[name]["text"].setDefaultTextColor(
QColor(0, 0, 255))
self._sceneItems[name]["text"].setFont(
QFont("Times", 10))
self._sceneItems[name]["text"].setPlainText(name)
x_c = scene_pos[0] - self._sceneItems[name][
"text"].boundingRect().width() / 2.0
self._sceneItems[name]["text"].setPos(
x_c, scene_pos[1])
self._scene.addItem(self._sceneItems[name]["text"])
self._sceneItems[name]["rec"] = self._scene.addRect(
QRectF((scene_pos[0] - 2), (scene_pos[1] - 2), 4,
4))
line = QLineF(scene_pos[0], scene_pos[1],
(scene_pos[0] -
self._mag * cos(radians(scene_pos[3]))),
(scene_pos[1] +
self._mag * sin(radians(scene_pos[3]))))
self._sceneItems[name]["line"] = self._scene.addLine(
line, pen=QPen(Qt.red, 2))
except yaml.scanner.ScannerError:
QMessageBox.critical(self, "Error!", "Invalid YAML file.")
def _y_changed(self, value):
name = self.name_edit.text()
if (len(name) != 0) and (name in self.places_dict.keys()):
self._scene.removeItem(self._sceneItems[name]["line"])
self._scene.removeItem(self._sceneItems[name]["rec"])
grid_pos = self.places_dict[name]
scene_pos = self._gridToScene(grid_pos[0], value,
numpy.asarray(grid_pos[3:7]))
x_c = scene_pos[0] - self._sceneItems[name]["text"].boundingRect(
).width() / 2.0
self._sceneItems[name]["text"].setPos(x_c, scene_pos[1])
self._sceneItems[name]["rec"] = self._scene.addRect(
QRectF((scene_pos[0] - 2), (scene_pos[1] - 2), 4, 4))
line = QLineF(
scene_pos[0], scene_pos[1],
(scene_pos[0] - self._mag * cos(radians(scene_pos[3]))),
(scene_pos[1] + self._mag * sin(radians(scene_pos[3]))))
self._sceneItems[name]["line"] = self._scene.addLine(line,
pen=QPen(
Qt.red,
2))
self.places_dict[name][1] = value
def paintEvent(self, event):
painter = QPainter(self)
#painter.begin(self)
# puts the arrow in the middle
painter.translate(self.width() / 2, self.height() / 2)
painter.rotate(self.angleRobo + self.angleVel)
line = QLineF(0, 0, self.width() / 2 - 3, 0)
headSize = min(self.width() / 20, 4)
points = QPolygonF()
points.append(QPointF(self.width() / 2 - headSize * 2, headSize))
points.append(QPointF(self.width() / 2 - headSize * 2, -headSize))
points.append(QPointF(self.width() / 2 - 3, 0))
pen = QPen(self.color, 2)
painter.setPen(pen)
brush = QBrush(self.color)
painter.setBrush(brush)
painter.drawLine(line)
painter.drawConvexPolygon(points)