class OnePlot(QWidget):
''' Widget de tracé d'une courbe Y=f(X)'''
Ylabels = {
"position": ("x [pixel]", "y [pixel]"),
"position_mm": ("x [mm]", "y [mm]")
}
def __init__(self, mainWindow):
# call the base class constructor:
QWidget.__init__(self, mainWindow)
self.mw = mainWindow # remember he application main windwos
# Attributes (persistant data)
self.__figure = Figure() # the plot figure
self.__axes = None # axis system
self.__canvas = None # area for matplotlib plot
self.__toolbar = None # plot tool bar
self.__xlim = None # xmin, xmay of the plo
self.__ylim = None # ymin, ymax of the plot
self.__axes_aspect = 'equal' # 'equal' or 'auto'
self.btn_imageSize = QRadioButton("ImageSize", self)
self.btn_autoSize = QRadioButton("AutoSize", self)
self.btn_axesEqual = QRadioButton("Equal", self)
self.btn_axesAuto = QRadioButton("Auto", self)
group = QButtonGroup(self) # pour les 2 boutons imageSize, autoSize
group.addButton(self.btn_imageSize)
group.addButton(self.btn_autoSize)
group = QButtonGroup(self)
group.addButton(self.btn_axesEqual)
group.addButton(self.btn_axesAuto)
self.__initUI() # Initialisation de l'interface utilisateur
def __initUI(self):
'''To initialize or configure all the widgets on the screen.'''
self.__figure.subplots_adjust(left=0.1,
right=0.98,
bottom=0.1,
top=0.95)
self.__axes = self.__figure.add_subplot(111)
self.__canvas = FigureCanvas(self.__figure)
self.__toolbar = NavigationToolbar(self.__canvas, self)
self.btn_axesEqual.toggled.connect(lambda: self.__SetAspect("equal"))
self.btn_axesEqual.setEnabled(False)
texte = "Tracé dans des axes orthonormés"
self.btn_axesEqual.setStatusTip(texte)
self.btn_axesEqual.setChecked(True)
self.btn_axesAuto.toggled.connect(lambda: self.__SetAspect("auto"))
self.btn_axesAuto.setEnabled(False)
texte = "Tracé dans des axes non orthonormés"
self.btn_axesAuto.setStatusTip(texte)
self.btn_imageSize.toggled.connect(self.__ImageSizePlotXYLim)
self.btn_imageSize.setEnabled(False)
texte = "Tracé avec les bornes min et max de l'image"
self.btn_imageSize.setStatusTip(texte)
self.btn_imageSize.setChecked(True)
self.btn_autoSize.toggled.connect(self.__AutoSizePlotXYLim)
self.btn_autoSize.setEnabled(False)
texte = "Tracé avec les bornes min et max de la "
texte += "trajectoire calculée"
self.btn_autoSize.setStatusTip(texte)
vbox = QVBoxLayout()
self.setLayout(vbox)
vbox.addWidget(self.__canvas)
# last raw of the display :
# HBox[toolbar <<<strech>>> VBox [ HBOX[Equal Auto] ] ]
# [ HBox[ImageSize AutoSize]]
hbox = QHBoxLayout()
hbox.addWidget(self.__toolbar)
vb = QVBoxLayout()
hbox.addStretch()
hbox.addLayout(vb)
hb = QHBoxLayout()
hb.addWidget(self.btn_axesEqual)
hb.addWidget(self.btn_axesAuto)
vb.addLayout(hb)
hb = QHBoxLayout()
hb.addWidget(self.btn_imageSize)
hb.addWidget(self.btn_autoSize)
vb.addLayout(hb)
vbox.addLayout(hbox)
def __SetAspect(self, aspect):
self.__axes_aspect = aspect
self.__axes.set_aspect(aspect)
self.__canvas.draw()
def __AutoSizePlotXYLim(self):
if self.mw.target_pos is None: return
xlabel, ylabel = "X [pixels]", "Y [pixels]"
scale = self.mw.imageTab.pix_to_mm_coeff
X, Y = self.mw.target_pos[0], self.mw.target_pos[1]
self.__xlim = np.array([np.nanmin(X), np.nanmax(X)]) * scale
self.__ylim = np.array([np.nanmin(Y), np.nanmax(Y)]) * scale
if self.mw.imageTab.valid_scale:
xlabel, ylabel = "X [mm]", "Y [mm]"
offset = (self.__ylim[1] - self.__ylim[0]) / 10
self.__ylim += np.array([-offset, offset])
self.__axes.set_xlim(*self.__xlim)
self.__axes.set_ylim(*self.__ylim)
self.__axes.set_xlabel(xlabel)
self.__axes.set_ylabel(ylabel)
self.__axes.set_aspect(self.__axes_aspect)
self.__canvas.draw()
def __ImageSizePlotXYLim(self):
if self.mw.imageTab.video_size is None: return
xlabel, ylabel = "X [pixels]", "Y [pixels]"
w, h = self.mw.imageTab.video_size
scale = self.mw.imageTab.pix_to_mm_coeff
self.__xlim = np.array([0, w - 1], dtype=float) * scale
self.__ylim = np.array([0, h - 1], dtype=float) * scale
if self.mw.imageTab.valid_scale:
xlabel, ylabel = "X [mm]", "Y [mm]"
self.__axes.set_xlim(*self.__xlim)
self.__axes.set_ylim(*self.__ylim)
self.__axes.set_xlabel(xlabel)
self.__axes.set_ylabel(ylabel)
self.__axes.set_aspect(self.__axes_aspect)
self.__canvas.draw()
def ClearAxes(self):
self.__axes.clear()
self.__canvas.draw()
def Plot(self):
target_pos = self.mw.target_pos
X, Y, I = target_pos
scale = self.mw.imageTab.pix_to_mm_coeff
self.btn_imageSize.setEnabled(True)
self.btn_autoSize.setEnabled(True)
self.btn_axesEqual.setEnabled(True)
self.btn_axesAuto.setEnabled(True)
# Effacement automatique si demandé à chaque nouveau tracé :
if self.mw.flags["autoClearTraj"]: self.__axes.clear()
# Récupération du nom de l'alagorithme de traitement :
algo = self.mw.imageTab.btn_algo.currentText()
# AutoSize an EqualSize plot
self.__ImageSizePlotXYLim()
self.__SetAspect("equal")
# tracé de courbe paramétrée (x(t),y(t)) :
color = 'b' if self.mw.target_RGB is None else self.mw.target_RGB / 255
self.__axes.plot(X * scale,
Y * scale,
color=color,
marker='o',
markersize=2,
linewidth=.4,
label="Trajectoire XY / algo : {}".format(algo))
self.__axes.grid(True)
self.__axes.legend(loc='best', fontsize=10)
self.__axes.set_aspect(self.__axes_aspect)
self.__canvas.draw()
class TwoPlots(QWidget):
''' Widget to plot 2 curves x(t) & y(t), or Vx(t) & Vy(t)'''
Ylabels = {
"position": ("X [pixel]", "Y [pixel]"),
"velocity": ("VX [pixel/s]", "VY [pixel/s]"),
"position_mm": ("X [mm]", "Y [mm]"),
"velocity_mm": ("VX [mm/s]", "VY [mm/s]")
}
CurveLabels = {
"position": ("X(t) [{}]", "Y(t) [{}]"),
"velocity": ("VX(t) {}", "VY(t) {}")
}
def __init__(self, mainWindow, quantity):
# appel du constructeur de la classe de base :
QWidget.__init__(self, mainWindow)
self.mw = mainWindow # la fenêtre de l'application principale
# Attributs (objets persistants)
self.__quantity = quantity # "position" or "velocity"
self.__data1 = None # data for the first plot
self.__data2 = None # data for tthe second
self.__figure = None # figure tracé
self.__axes1 = None # système d'axes tracé 1
self.__axes2 = None # système d'axes tracé 2
self.__canvas = None # pour le tracé matplot.lib
self.__toolbar = None # barre d'outils tracé
self.__time = None # abcissa values for plot
self.__xlim = None # xmin, xmay tracé
self.__xlabel = None # étiquette axe X (n° image ou temps [s])
self.__ylim1 = None # ymin, ymax tracé x(t)
self.__ylim2 = None # ymin, ymax tracé y(t)
self.btn_imageSize = QRadioButton("ImageSize", self)
self.btn_autoSize = QRadioButton("AutoSize", self)
self.btn_smooth_Vx = QCheckBox("Lissage Vx", self)
self.btn_smooth_Vy = QCheckBox("Lissage Vy", self)
self.x_mav_nb_pts = QSpinBox(parent=self) # X velocity moving average
self.y_mav_nb_pts = QSpinBox(parent=self) # Y velocity moving average
self.__initUI() # Initialisation de l'interface utilisateur
def __initUI(self):
if self.__quantity == "position":
for w in (self.btn_smooth_Vx, self.btn_smooth_Vy,
self.x_mav_nb_pts, self.y_mav_nb_pts):
w.setVisible(False)
w.setEnabled(False)
group = QButtonGroup(self)
group.addButton(self.btn_imageSize)
group.addButton(self.btn_autoSize)
self.btn_imageSize.toggled.connect(self.__ImageSizePlotXYLim)
self.btn_imageSize.setEnabled(False)
texte = "Tracé avec les bornes min et max de l'image"
self.btn_imageSize.setStatusTip(texte)
self.btn_imageSize.setChecked(True)
self.btn_autoSize.toggled.connect(self.__AutoSizePlotXYLim)
self.btn_autoSize.setEnabled(False)
texte = "Tracé avec les bornes min et max de la "
texte += "trajectoire calculée"
self.btn_autoSize.setStatusTip(texte)
elif self.__quantity == "velocity":
for w in (self.btn_imageSize, self.btn_autoSize):
w.setVisible(False)
w.setEnabled(False)
self.btn_smooth_Vx.stateChanged.connect(self.__smooth_Vx_wanted)
self.btn_smooth_Vy.stateChanged.connect(self.__smooth_Vy_wanted)
self.x_mav_nb_pts.setEnabled(False)
self.y_mav_nb_pts.setEnabled(False)
self.x_mav_nb_pts.setRange(3, 100)
self.y_mav_nb_pts.setRange(3, 100)
self.x_mav_nb_pts.setSingleStep(2)
self.y_mav_nb_pts.setSingleStep(2)
self.x_mav_nb_pts.valueChanged.connect(self.__smooth_vX)
self.y_mav_nb_pts.valueChanged.connect(self.__smooth_vY)
vbox = QVBoxLayout()
self.setLayout(vbox)
# Ligne 1 : tracé de l'image
self.setLayout(vbox)
self.__figure = Figure()
self.__axes1 = self.__figure.add_subplot(211)
self.__axes2 = self.__figure.add_subplot(212)
self.__figure.subplots_adjust(left=0.120,
right=0.99,
bottom=0.11,
top=0.98)
self.__canvas = FigureCanvas(self.__figure)
self.__toolbar = NavigationToolbar(self.__canvas, self)
#self.__toolbar.setMinimumWidth(450)
vbox.addWidget(self.__canvas)
hbox = QHBoxLayout()
hbox.addWidget(self.__toolbar)
hbox.addStretch()
if self.__quantity == "position":
hbox.addWidget(self.btn_imageSize)
hbox.addWidget(self.btn_autoSize)
elif self.__quantity == "velocity":
vb = QVBoxLayout()
hb = QHBoxLayout()
hb.addWidget(self.btn_smooth_Vx)
hb.addWidget(self.x_mav_nb_pts)
vb.addLayout(hb)
hb = QHBoxLayout()
hb.addWidget(self.btn_smooth_Vy)
hb.addWidget(self.y_mav_nb_pts)
vb.addLayout(hb)
hbox.addLayout(vb)
vbox.addLayout(hbox)
def reset(self):
if self.__quantity == "velocity":
for w in (self.btn_smooth_Vx, self.btn_smooth_Vy,
self.x_mav_nb_pts, self.y_mav_nb_pts):
w.setVisible(True)
w.setEnabled(True)
self.x_mav_nb_pts.setValue(self.x_mav_nb_pts.minimum())
self.y_mav_nb_pts.setValue(self.y_mav_nb_pts.minimum())
self.btn_smooth_Vx.setCheckState(Qt.Unchecked)
self.btn_smooth_Vy.setCheckState(Qt.Unchecked)
def __smooth_Vx_wanted(self, checked):
if checked:
self.x_mav_nb_pts.setEnabled(True)
else:
self.x_mav_nb_pts.setEnabled(False)
self.Plot()
def __smooth_Vy_wanted(self, checked):
if checked:
self.y_mav_nb_pts.setEnabled(True)
else:
self.y_mav_nb_pts.setEnabled(False)
self.Plot()
def __smooth_vX(self, nb_pts):
if self.btn_smooth_Vx.isChecked():
self.Plot()
else:
pass
def __smooth_vY(self, nb_pts):
if self.btn_smooth_Vy.isChecked():
self.Plot()
else:
pass
def __compute_velocity(self, U, plot_id):
"""Computes the velocity with the centered finite difference of order 1 :
V[i] = (U[i+1] - U[i-1])/(T[i+1] - T[i-1]) for i in [1,N-1]
V[0] = (U[1] - U[0])/(T[1] - T[0])
V[-1] = (U[-1] - U[-2])/(T[-1] - T[-2])
"""
V = U.copy()
T = self.__time
V[0] = (U[1] - U[0]) / (T[1] - T[0])
V[-1] = (U[-1] - U[-2]) / (T[-1] - T[-2])
V[1:-1] = (U[2:] - U[:-2]) / (T[2:] - T[:-2])
if plot_id == "x":
if self.btn_smooth_Vx.isChecked():
N = self.x_mav_nb_pts.value()
V = self.__smooth_data(V, N)
elif plot_id == "y":
if self.btn_smooth_Vy.isChecked():
N = self.y_mav_nb_pts.value()
V = self.__smooth_data(V, N)
return V
def __smooth_data(self, U, nb_pts):
"""Computes the nb_pts moving average on U."""
N = nb_pts
V = U.copy()
V.fill(np.nan)
mav = deque(maxlen=N)
# initialize the mav (moving average)
for e in U[:N]:
mav.append(e)
# move!
index, count = N // 2, 0
while count < V.shape[0] - N:
V[index] = np.mean(mav)
mav.append(U[N + count])
count += 1
index += 1
return V
def Plot(self):
target_pos = self.mw.target_pos
if target_pos is None:
return
else:
self.__data1, self.__data2, I = target_pos
scale = self.mw.imageTab.pix_to_mm_coeff
if self.__quantity == "position":
self.btn_imageSize.setEnabled(True)
self.btn_autoSize.setEnabled(True)
elif self.__quantity == "velocity":
pass
# Effacement automatiqe si demandé à chaque nouveau tracé :
if self.mw.flags["autoClearTraj"]:
if self.__axes1 is not None: self.__axes1.clear()
if self.__axes2 is not None: self.__axes2.clear()
# Récupération du nom de l'alagorithme de traitement :
algo = self.mw.imageTab.btn_algo.currentText()
# Récupération de la valeur de FP (Frame per seconde) pour calcul
# du pas de temps et des abscisses :
deltaT = None
if self.mw.imageTab.video_FPS is not None:
deltaT = 1. / self.mw.imageTab.video_FPS
self.__time = np.array(I) * deltaT
self.__xlabel = "temps [s]"
else:
self.__time = np.array(I)
self.__xlabel = "image #"
if self.__quantity == "velocity":
if deltaT is not None:
self.__data1 = self.__compute_velocity(self.__data1, "x")
self.__data2 = self.__compute_velocity(self.__data2, "y")
if self.btn_smooth_Vx.isChecked():
N = self.x_mav_nb_pts.value()
if self.btn_smooth_Vy.isChecked():
N = self.y_mav_nb_pts.value()
self.__AutoSizePlotXYLim()
else:
self.__data1, self.__data2 = None, None
self.mw.target_veloc = np.array([self.__data1, self.__data2])
else:
self.__ImageSizePlotXYLim()
if self.__data1 is None or self.__data2 is None: return
curveLabelX, curveLabelY = TwoPlots.CurveLabels[self.__quantity]
if self.__quantity == "position":
Xlabel, Ylabel = curveLabelX.format(algo), curveLabelY.format(algo)
else:
Xlabel, Ylabel = curveLabelX.format(""), curveLabelY.format("")
color = 'b' if self.mw.target_RGB is None else self.mw.target_RGB / 255
# tracé de courbe x(t)
self.__axes1.plot(self.__time,
self.__data1 * scale,
color=color,
marker='o',
markersize=2,
linewidth=.4,
label=Xlabel)
self.__axes1.grid(True)
#self.__axes1.legend(fontsize=9, framealpha=0.7,
# bbox_to_anchor=(-0.1, 1.1), loc='upper left')
self.__axes1.legend(loc='best', fontsize=10)
# tracé de courbe y(t)
self.__axes2.plot(self.__time,
self.__data2 * scale,
color=color,
marker='o',
markersize=2,
linewidth=.4,
label=Ylabel)
self.__axes2.grid(True)
#self.__axes2.legend(fontsize=9, framealpha=0.7,
# bbox_to_anchor=(1.1, 1.1), loc='upper right')
self.__axes2.legend(loc='best', fontsize=10)
self.__canvas.draw()
def __AutoSizePlotXYLim(self):
if self.mw.target_pos is None: return
y1label, y2label = TwoPlots.Ylabels[self.__quantity]
self.__xlim = np.array(
[np.nanmin(self.__time),
np.nanmax(self.__time)])
scale = self.mw.imageTab.pix_to_mm_coeff
if not self.btn_smooth_Vx.isChecked():
self.__ylim1 = np.array(
[np.nanmin(self.__data1),
np.nanmax(self.__data1)]) * scale
offset = (self.__ylim1[1] - self.__ylim1[0]) / 10
self.__ylim1 += np.array([-offset, offset])
else:
#self.__ylim1 = self.__axes1.get_ylim()
pass
if not self.btn_smooth_Vy.isChecked():
self.__ylim2 = np.array(
[np.nanmin(self.__data2),
np.nanmax(self.__data2)]) * scale
offset = (self.__ylim2[1] - self.__ylim2[0]) / 10
self.__ylim2 += np.array([-offset, offset])
else:
#self.__ylim2 = self.__axes2.get_ylim()
pass
if self.mw.imageTab.valid_scale:
y1label, y2label = TwoPlots.Ylabels[self.__quantity + "_mm"]
self.__axes1.set_xlim(*self.__xlim)
self.__axes2.set_xlim(*self.__xlim)
self.__axes1.set_ylim(*self.__ylim1)
self.__axes2.set_ylim(*self.__ylim2)
self.__axes1.set_ylabel(y1label)
self.__axes2.set_ylabel(y2label)
self.__axes2.set_xlabel(self.__xlabel)
self.__canvas.draw()
def __ImageSizePlotXYLim(self):
if self.mw.target_pos is None: return
scale = self.mw.imageTab.pix_to_mm_coeff
y1label, y2label = TwoPlots.Ylabels[self.__quantity]
w, h = self.mw.imageTab.video_size
self.__xlim = np.array(
[np.nanmin(self.__time),
np.nanmax(self.__time)])
self.__ylim1 = np.array([0, w - 1], dtype=float) * scale
self.__ylim2 = np.array([0, h - 1], dtype=float) * scale
if self.mw.imageTab.valid_scale:
y1label, y2label = TwoPlots.Ylabels[self.__quantity + "_mm"]
self.__axes1.set_xlim(*self.__xlim)
self.__axes2.set_xlim(*self.__xlim)
self.__axes1.set_ylim(*self.__ylim1)
self.__axes2.set_ylim(*self.__ylim2)
self.__axes1.set_ylabel(y1label)
self.__axes2.set_ylabel(y2label)
self.__axes2.set_xlabel(self.__xlabel)
self.__canvas.draw()
def ClearAxes(self):
if self.__axes1 is not None: self.__axes1.clear()
if self.__axes2 is not None: self.__axes2.clear()
self.__canvas.draw()