def paintEvent(self, event: QPaintEvent):
outerRadius = min(self.width(), self.height())
baseRect = QRectF(1, 1, outerRadius - 2, outerRadius - 2)
buffer = QImage(outerRadius, outerRadius, QImage.Format_ARGB32_Premultiplied)
p = QPainter(buffer)
p.setRenderHint(QPainter.Antialiasing)
self.rebuildDataBrushIfNeeded()
self.drawBackground(p, buffer.rect())
self.drawBase(p, baseRect)
if self.m_value > 0:
delta = (self.m_max - self.m_min) / (self.m_value - self.m_min)
else:
delta = 0
self.drawValue(p, baseRect, self.m_value, delta)
innerRect, innerRadius = self.calculateInnerRect(outerRadius)
self.drawInnerBackground(p, innerRect)
self.drawText(p, innerRect, innerRadius, self.m_value)
p.end()
painter = QPainter(self)
painter.fillRect(baseRect, self.palette().window())
painter.drawImage(0, 0, buffer)
class BaseCanvas(QWidget, metaclass=QABCMeta):
"""The subclass can draw a blank canvas more easier."""
@abstractmethod
def __init__(self, parent: QWidget):
"""Set the parameters for drawing."""
super(BaseCanvas, self).__init__(parent)
self.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding))
self.setFocusPolicy(Qt.StrongFocus)
self.setMouseTracking(True)
self.painter = QPainter()
# Origin coordinate
self.ox = self.width() / 2
self.oy = self.height() / 2
# Canvas zoom rate
self.zoom = 1.
# Joint size
self.joint_size = 5
# Canvas line width
self.link_width = 3
self.path_width = 3
# Font size
self.font_size = 15
# Show point mark or dimension
self.show_ticks = _TickMark.SHOW
self.show_point_mark = True
self.show_dimension = True
# Path track
self.path = _PathOption()
# Path solving
self.ranges: Dict[str, QRectF] = {}
self.target_path: Dict[int, Sequence[_Coord]] = {}
self.show_target_path = False
# Background
self.background = QImage()
self.background_opacity = 1.
self.background_scale = 1.
self.background_offset = QPointF(0, 0)
# Monochrome mode
self.monochrome = False
# Grab mode
self.__grab_mode = False
def switch_grab(self) -> None:
"""Start grab mode."""
self.__grab_mode = not self.__grab_mode
@staticmethod
def zoom_factor(width: int, height: int, x_right: float, x_left: float,
y_top: float, y_bottom: float) -> float:
"""Calculate the zoom factor."""
x_diff = x_left - x_right
y_diff = y_top - y_bottom
x_diff = x_diff if x_diff else 1.
y_diff = y_diff if y_diff else 1.
if width / x_diff < height / y_diff:
return width / x_diff
else:
return height / y_diff
@abstractmethod
def paintEvent(self, event: QPaintEvent) -> None:
"""Using a QPainter under 'self',
so just change QPen or QBrush before painting.
"""
if not self.__grab_mode:
self.painter.begin(self)
self.painter.fillRect(event.rect(), QBrush(Qt.white))
# Translation
self.painter.translate(self.ox, self.oy)
# Background
if not self.background.isNull():
rect = self.background.rect()
self.painter.setOpacity(self.background_opacity)
self.painter.drawImage(
QRectF(
self.background_offset * self.zoom,
QSizeF(rect.width(), rect.height()) *
self.background_scale * self.zoom), self.background,
QRectF(rect))
self.painter.setOpacity(1)
# Show frame
pen = QPen(Qt.blue)
pen.setWidth(1)
self.painter.setPen(pen)
self.painter.setFont(QFont("Arial", self.font_size))
# Draw origin lines
if self.show_ticks not in {_TickMark.SHOW, _TickMark.SHOW_NUM}:
return
pen.setColor(Qt.gray)
self.painter.setPen(pen)
x_l = -self.ox
x_r = self.width() - self.ox
self.painter.drawLine(QPointF(x_l, 0), QPointF(x_r, 0))
y_t = self.height() - self.oy
y_b = -self.oy
self.painter.drawLine(QPointF(0, y_b), QPointF(0, y_t))
def indexing(v: float) -> int:
"""Draw tick."""
return int(v / self.zoom - v / self.zoom % 5)
# Draw tick
for x in range(indexing(x_l), indexing(x_r) + 1, 5):
if x == 0:
continue
is_ten = x % 10 == 0
end = QPointF(x * self.zoom, -10 if is_ten else -5)
self.painter.drawLine(QPointF(x, 0) * self.zoom, end)
if self.show_ticks == _TickMark.SHOW_NUM and is_ten:
self.painter.drawText(end + QPointF(0, 3), f"{x}")
for y in range(indexing(y_b), indexing(y_t) + 1, 5):
if y == 0:
continue
is_ten = y % 10 == 0
end = QPointF(10 if is_ten else 5, y * self.zoom)
self.painter.drawLine(QPointF(0, y) * self.zoom, end)
if self.show_ticks == _TickMark.SHOW_NUM and is_ten:
self.painter.drawText(end + QPointF(3, 0), f"{-y}")
# Please to call the "end" method when ending paint event.
def draw_circle(self, p: QPointF, r: float) -> None:
"""Draw circle."""
self.painter.drawEllipse(p, r, r)
def draw_point(self,
i: int,
cx: float,
cy: float,
fixed: bool,
color: Optional[Tuple[int, int, int]],
mul: int = 1) -> None:
"""Draw a joint."""
if self.monochrome or color is None:
color = Qt.black
else:
color = QColor(*color)
pen = QPen(color)
pen.setWidth(2)
self.painter.setPen(pen)
x = cx * self.zoom
y = cy * -self.zoom
if fixed:
# Draw a triangle below
self.painter.drawPolygon(
QPointF(x, y),
QPointF(x - self.joint_size, y + 2 * self.joint_size),
QPointF(x + self.joint_size, y + 2 * self.joint_size))
r = self.joint_size
for _ in range(1 if mul < 1 else mul):
self.draw_circle(QPointF(x, y), r)
r += 5
if not self.show_point_mark:
return
pen.setColor(Qt.darkGray)
pen.setWidth(2)
self.painter.setPen(pen)
text = f"[Point{i}]"
if self.show_dimension:
text += f":({cx:.02f}, {cy:.02f})"
self.painter.drawText(QPointF(x, y) + QPointF(6, -6), text)
def draw_ranges(self) -> None:
"""Draw rectangle ranges."""
pen = QPen()
pen.setWidth(5)
for i, (tag, rect) in enumerate(self.ranges.items()):
range_color = QColor(color_num(i + 1))
range_color.setAlpha(30)
self.painter.setBrush(range_color)
range_color.setAlpha(255)
pen.setColor(range_color)
self.painter.setPen(pen)
cx = rect.x() * self.zoom
cy = rect.y() * -self.zoom
if rect.width():
self.painter.drawRect(
QRectF(QPointF(cx, cy),
QSizeF(rect.width(), rect.height()) * self.zoom))
else:
self.draw_circle(QPointF(cx, cy), 3)
range_color.setAlpha(255)
pen.setColor(range_color)
self.painter.setPen(pen)
self.painter.drawText(QPointF(cx, cy) + QPointF(6, -6), tag)
self.painter.setBrush(Qt.NoBrush)
def draw_target_path(self) -> None:
"""Draw solving path."""
pen = QPen()
pen.setWidth(self.path_width)
for i, n in enumerate(sorted(self.target_path)):
path = self.target_path[n]
if self.monochrome:
line, dot = target_path_style(0)
else:
line, dot = target_path_style(i + 1)
pen.setColor(line)
self.painter.setPen(pen)
if len(path) == 1:
x, y = path[0]
p = QPointF(x, -y) * self.zoom
self.painter.drawText(p + QPointF(6, -6), f"P{n}")
pen.setColor(dot)
self.painter.setPen(pen)
self.draw_circle(p, self.joint_size)
else:
painter_path = QPainterPath()
for j, (x, y) in enumerate(path):
p = QPointF(x, -y) * self.zoom
self.draw_circle(p, self.joint_size)
if j == 0:
self.painter.drawText(p + QPointF(6, -6), f"P{n}")
painter_path.moveTo(p)
else:
x2, y2 = path[j - 1]
self.__draw_arrow(x, -y, x2, -y2, zoom=True)
painter_path.lineTo(p)
pen.setColor(line)
self.painter.setPen(pen)
self.painter.drawPath(painter_path)
for x, y in path:
pen.setColor(dot)
self.painter.setPen(pen)
self.draw_circle(
QPointF(x, -y) * self.zoom, self.joint_size)
self.painter.setBrush(Qt.NoBrush)
def __draw_arrow(self,
x1: float,
y1: float,
x2: float,
y2: float,
*,
zoom: bool = False,
text: str = '') -> None:
"""Front point -> Back point"""
if zoom:
x1 *= self.zoom
y1 *= self.zoom
x2 *= self.zoom
y2 *= self.zoom
a = atan2(y2 - y1, x2 - x1)
x1 = (x1 + x2) / 2 - 7.5 * cos(a)
y1 = (y1 + y2) / 2 - 7.5 * sin(a)
first_point = QPointF(x1, y1)
self.painter.drawLine(
first_point,
QPointF(x1 + 15 * cos(a + radians(20)),
y1 + 15 * sin(a + radians(20))))
self.painter.drawLine(
first_point,
QPointF(x1 + 15 * cos(a - radians(20)),
y1 + 15 * sin(a - radians(20))))
if not text:
return
# Font
font = self.painter.font()
font_copy = QFont(font)
font.setBold(True)
font.setPointSize(font.pointSize() + 8)
self.painter.setFont(font)
# Color
pen = self.painter.pen()
color = pen.color()
pen.setColor(color.darker())
self.painter.setPen(pen)
self.painter.drawText(first_point, text)
pen.setColor(color)
self.painter.setPen(pen)
self.painter.setFont(font_copy)
def draw_curve(self, path: Sequence[_Coord]) -> None:
"""Draw path as curve."""
if len(set(path)) < 2:
return
painter_path = QPainterPath()
error = False
for i, (x, y) in enumerate(path):
if isnan(x):
error = True
self.painter.drawPath(painter_path)
painter_path = QPainterPath()
else:
p = QPointF(x, -y) * self.zoom
if i == 0:
painter_path.moveTo(p)
self.draw_circle(p, 2)
continue
if error:
painter_path.moveTo(p)
error = False
else:
painter_path.lineTo(p)
self.painter.drawPath(painter_path)
def draw_dot(self, path: Sequence[_Coord]) -> None:
"""Draw path as dots."""
if len(set(path)) < 2:
return
for i, (x, y) in enumerate(path):
if isnan(x):
continue
p = QPointF(x, -y) * self.zoom
if i == 0:
self.draw_circle(p, 2)
else:
self.painter.drawPoint(p)
def solution_polygon(
self, func: str, args: Sequence[str], target: str,
pos: Sequence[VPoint]) -> Tuple[List[QPointF], QColor]:
"""Get solution polygon."""
if func == 'PLLP':
color = QColor(121, 171, 252)
params = [args[0], args[-1]]
elif func == 'PLAP':
color = QColor(249, 84, 216)
params = [args[0]]
else:
if func == 'PLPP':
color = QColor(94, 255, 185)
else:
# PXY
color = QColor(249, 175, 27)
params = [args[0]]
params.append(target)
tmp_list = []
for name in params:
try:
index = int(name.replace('P', ''))
except ValueError:
continue
else:
vpoint = pos[index]
tmp_list.append(QPointF(vpoint.cx, -vpoint.cy) * self.zoom)
return tmp_list, color
def draw_solution(self, func: str, args: Sequence[str], target: str,
pos: Sequence[VPoint]) -> None:
"""Draw the solution triangle."""
points, color = self.solution_polygon(func, args, target, pos)
color.setAlpha(150)
pen = QPen(color)
pen.setWidth(self.joint_size)
self.painter.setPen(pen)
def draw_arrow(index: int, text: str) -> None:
"""Draw arrow."""
self.__draw_arrow(points[-1].x(),
points[-1].y(),
points[index].x(),
points[index].y(),
text=text)
draw_arrow(0, args[1])
if func == 'PLLP':
draw_arrow(1, args[2])
color.setAlpha(30)
self.painter.setBrush(QBrush(color))
self.painter.drawPolygon(QPolygonF(points))
self.painter.setBrush(Qt.NoBrush)
@Slot(int)
def set_show_ticks(self, show: int):
"""Set the appearance of tick mark."""
self.show_ticks = _TickMark(show + 1)
self.update()
@Slot(bool)
def set_monochrome_mode(self, monochrome: bool) -> None:
"""Set monochrome mode."""
self.monochrome = monochrome
self.update()
class UEyeView(QQuickPaintedItem):
runningChanged = Signal(bool)
camIdChanged = Signal(int)
imageWidthChanged = Signal(int)
imageHeightChanged = Signal(int)
devicesChanged = Signal()
def __init__(self, parent=None):
super(UEyeView, self).__init__(parent)
self._frame_image = QImage()
self._running = False
self._update_thread = None
self._cam_id = 0
self._image_width = 2048
self._image_height = 1088
self._devices = []
self.destroyed.connect(lambda: self._stop_thread)
def _on_camera_stopped(self):
self._stop_thread()
def _on_camera_errored(self, msg):
logger.error(f"Error loading camera {msg}")
self._running = False
self.runningChanged.emit(self._running)
@Property(list, notify=devicesChanged)
def devices(self):
return self._devices
@Property(bool, notify=runningChanged)
def running(self):
return self._running
@running.setter
def running(self, value):
if value == self._running:
return
self._running = value
if self._running:
self._start_thread()
else:
self._stop_thread()
self.runningChanged.emit(value)
@Property(int, notify=camIdChanged)
def camId(self):
return self._cam_id
@camId.setter
def camId(self, value):
if value == self._cam_id:
return
self._cam_id = value
self.camIdChanged.emit(value)
@Property(int, notify=imageWidthChanged)
def imageWidth(self):
return self._image_width
@imageWidth.setter
def imageWidth(self, value):
if value == self._image_width:
return
self._image_width = value
self.imageWidthChanged.emit(value)
@Property(int, notify=imageHeightChanged)
def imageHeight(self):
return self._image_height
@imageHeight.setter
def imageHeight(self, value):
if value == self._image_height:
return
self._image_height = value
self.imageHeightChanged.emit(value)
@Property(bool, constant=True)
def driverLoaded(self):
return pue is not None
def _start_thread(self):
if self._update_thread:
return
self._update_thread = UpdateThread(
self._cam_id, self._image_width, self._image_height
)
self._update_thread.pixmapReady.connect(self._update_pixmap)
self._update_thread.stopped.connect(self._on_camera_stopped)
self._update_thread.errored.connect(self._on_camera_errored)
self._update_size()
self._update_thread.start()
def _stop_thread(self):
if not self._update_thread:
return
self._update_thread.stop()
self._update_thread.pixmapReady.disconnect(self._update_pixmap)
self._update_thread.stopped.disconnect(self._on_camera_stopped)
self._update_thread.errored.disconnect(self._on_camera_errored)
self._update_thread = None
def geometryChanged(self, new_geometry, old_geometry):
super(UEyeView, self).geometryChanged(new_geometry, old_geometry)
if self._update_thread:
self._update_size()
def paint(self, painter: QPainter):
bounding_rect = QRect(0, 0, self.width(), self.height())
if not self._frame_image.isNull():
draw_rect = self._frame_image.rect()
draw_rect.moveCenter(bounding_rect.center())
painter.drawImage(draw_rect, self._frame_image, self._frame_image.rect())
def _update_pixmap(self, image):
self._frame_image = image
self.update()
def _update_size(self):
self._update_thread.width = self.width()
self._update_thread.height = self.height()
