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()