def __init__(self, orientation='transverse', parent=None):
super(QSliceViewWidget, self).__init__(parent)
# set up vtk pipeline and create vtkWidget
colors = vtk.vtkNamedColors()
self.orientation = orientation
self.viewer = vtk.vtkImageViewer2()
self.orientations = {'coronal': 0, 'sagittal': 1, 'transverse': 2}
self.viewer.SetSliceOrientation(self.orientations[self.orientation])
# get&set the camera
self.camera = self.viewer.GetRenderer().GetActiveCamera()
ras = [[-1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, -1.0]]
self.camera.SetPosition(ras[self.orientations[self.orientation]])
self.camera.ParallelProjectionOn()
self.iren = vtk.vtkGenericRenderWindowInteractor()
self.iren.SetRenderWindow(self.viewer.GetRenderWindow())
kw = {'rw': self.viewer.GetRenderWindow(), 'iren': self.iren}
self.vtkWidget = QVTKRenderWindowInteractor(parent, **kw)
# create QSlider
self.sliderWidget = QSlider(Qt.Horizontal)
# create the MainLayout of the whole widget
self.MainLayout = QVBoxLayout()
self.MainLayout.addWidget(self.sliderWidget)
self.MainLayout.addWidget(self.vtkWidget)
self.setLayout(self.MainLayout)
# set the signal and slot
self.sliderWidget.valueChanged.connect(self.slider_changed)
def __init__(self):
super(MyWindow, self).__init__()
os.chdir(functionPath)
uic.loadUi("registration_gui.ui", self)
os.chdir(startPath)
# Connect buttons to functions
# import moving data
self.ptcldMovingButton.clicked.connect(self.import_data)
# import fixed data
self.ptcldFixedButton.clicked.connect(self.import_data)
# execute qr_register function
self.registrationButton.clicked.connect(self.register)
self.vl = QtGui.QVBoxLayout()
self.vtkWidget = QVTKRenderWindowInteractor(self.vtkFrame)
self.vl.addWidget(self.vtkWidget)
self.ren = vtk.vtkRenderer()
self.vtkWidget.GetRenderWindow().AddRenderer(self.ren)
self.iren = self.vtkWidget.GetRenderWindow().GetInteractor()
self.actor_moving = vtk.vtkActor()
self.moving_color = (0, 0.2)
self.actor_fixed = vtk.vtkActor()
self.fixed_color = (.8, 1)
self.ren.AddActor(self.actor_moving)
self.ren.AddActor(self.actor_fixed)
self.ren.ResetCamera()
self.vtkFrame.setLayout(self.vl)
self.show()
self.iren.Initialize()
self.iren.SetInteractorStyle(vtk.vtkInteractorStyleTrackballCamera())
def __init__(self, parent=None):
super(QVolumeViewWidget, self).__init__(parent)
# set up vtk pipeline and create vtkWidget
self.renw = vtk.vtkRenderWindow()
self.iren = vtk.vtkGenericRenderWindowInteractor()
self.iren.SetRenderWindow(self.renw)
kw = {'rw': self.renw, 'iren': self.iren}
self.vtkWidget = QVTKRenderWindowInteractor(parent, **kw)
self.MainLayout = QVBoxLayout()
self.MainLayout.addWidget(self.vtkWidget)
self.setLayout(self.MainLayout)
# self.vtkWidget = QVTKRenderWindowInteractor()
self.ren = vtk.vtkRenderer()
self.vtkWidget.GetRenderWindow().AddRenderer(self.ren)
# add the orientation marker widget
self.axes = vtk.vtkAxesActor()
self.widget = vtk.vtkOrientationMarkerWidget()
xyzLabels = ['R', 'A', 'S']
self.axes.SetXAxisLabelText(xyzLabels[0])
self.axes.SetYAxisLabelText(xyzLabels[1])
self.axes.SetZAxisLabelText(xyzLabels[2])
self.widget.SetOrientationMarker(self.axes)
self.widget.SetInteractor(self.vtkWidget)
self.widget.SetViewport(0.8, 0.0, 1, 0.3)
self.widget.SetEnabled(True)
self.widget.InteractiveOn()
self.picker = vtk.vtkVolumePicker()
def mrMeshVTKWindow(parentUI, theMeshInstance, data):
_translate = QtCore.QCoreApplication.translate
#create a new vtkWidget, appending to the list of exisitng widgets
if debug: print(parentUI)
newVTKWidgetInstance = QVTKRenderWindowInteractor(parentUI.centralwidget)
parentUI.vtkInstances.append(newVTKWidgetInstance)
currMeshCount = (len(parentUI.vtkInstances))
# we have to make a new tab and layout for it to go to.
parentUI.newTab = QtWidgets.QWidget()
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.MinimumExpanding,
QtWidgets.QSizePolicy.MinimumExpanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
parentUI.newTab.sizePolicy().hasHeightForWidth())
parentUI.newTab.setSizePolicy(sizePolicy)
parentUI.newTab.setObjectName("tab%s" % currMeshCount)
parentUI.gridLayoutTabNew = QtWidgets.QGridLayout(parentUI.newTab)
parentUI.gridLayoutTabNew.setContentsMargins(0, 0, 0, 0)
parentUI.gridLayoutTabNew.setObjectName("gridLayoutTab%s" % currMeshCount)
parentUI.gridLayoutVTKWinNew = QtWidgets.QGridLayout()
parentUI.gridLayoutVTKWinNew.setObjectName("gridLayoutVTKWin%s" %
currMeshCount)
parentUI.gridLayoutTabNew.addLayout(parentUI.gridLayoutVTKWinNew, 0, 0, 1,
1)
parentUI.gridLayoutVTKWinNew.addWidget(newVTKWidgetInstance, 0, 0, 1, 1)
parentUI.tabWidget.addTab(parentUI.newTab, "Mesh-%s" % theMeshInstance)
# have to set the resize policy now
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.MinimumExpanding,
QtWidgets.QSizePolicy.MinimumExpanding)
parentUI.vtkInstances[-1].setSizePolicy(sizePolicy)
parentUI.vtkInstances[-1].ren = vtk.vtkRenderer()
parentUI.vtkInstances[-1].GetRenderWindow().AddRenderer(
parentUI.vtkInstances[-1].ren)
parentUI.vtkInstances[-1].iren = parentUI.vtkInstances[-1].GetRenderWindow(
).GetInteractor()
parentUI.gridLayoutVTKWinNew.addWidget(parentUI.vtkInstances[-1], 0, 0, 1,
1)
parentUI.tabWidget.setCurrentIndex(len(parentUI.vtkInstances) -
1) #zero index
parentUI.tabWidget.update()
style = vtk.vtkInteractorStyleTrackballCamera()
parentUI.vtkInstances[-1].SetInteractorStyle(style)
# flip the camera
parentUI.vtkInstances[-1].ren.GetActiveCamera().SetViewUp(0, -1, 0)
if data == 'debug':
loadTestVTKWindow(parentUI)
else:
initializeEmptyVTKWindowInstance(parentUI)
print('Finished setting up new VTK window instance ...')
def __set_tab3d_layout(self):
frame = QFrame()
# add a vtk-based window for interaction
self.__vtkWidget = QVTKRenderWindowInteractor(frame)
# add a label and a text box for input of the object id
self.__lbl_3d_idx = QLabel('ID:', self)
self.__txt_box_3d_idx = QLineEdit(self)
# add a button to save 3D images
self.__btn_save_3d_img = QPushButton('Save Image', self)
self.__btn_save_3d_img.setToolTip('Save 3D image to the file.')
self.__btn_save_3d_img.clicked.connect(self.save_3d_image)
# set the layout of the tab which holds the 3D cameras
self.__tab3D.setLayout(self.__create_3d_cams_grid_layout())
def __init__(self, stlScale = 0.001, parent = None):
QtWidgets.QMainWindow.__init__(self, parent)
self.frame = QtWidgets.QFrame()
self.vl = QtWidgets.QVBoxLayout()
self.vtkWidget = QVTKRenderWindowInteractor(self.frame)
self.vl.addWidget(self.vtkWidget)
self.ren = vtk.vtkRenderer()
self.vtkWidget.GetRenderWindow().AddRenderer(self.ren)
self.iren = self.vtkWidget.GetRenderWindow().GetInteractor()
# Create sphere
source = vtk.vtkSphereSource()
source.SetCenter(0, 0, 0)
source.SetRadius(0.003)
sphereMapper = vtk.vtkPolyDataMapper()
sphereMapper.SetInputConnection(source.GetOutputPort())
self.sphereActor = vtk.vtkActor()
self.sphereActor.SetMapper(sphereMapper)
self.sphereActor.GetProperty().SetColor(1, 0, 0)
self.ren.AddActor(self.sphereActor)
# Read in STL
reader = vtk.vtkSTLReader()
reader.SetFileName('/home/biomed/october_15_ws/src/dvrk_vision/defaults/femur.stl')
scaler = vtk.vtkTransformFilter()
if vtk.VTK_MAJOR_VERSION <= 5:
scaler.SetInputConnection(reader.GetOutput())
else:
scaler.SetInputConnection(reader.GetOutputPort())
scaleTransform = vtk.vtkTransform()
scaleTransform.Identity()
scaleTransform.Scale(stlScale, stlScale, stlScale)
scaler.SetTransform(scaleTransform)
# Create a mapper
mapper = vtk.vtkPolyDataMapper()
if vtk.VTK_MAJOR_VERSION <= 5:
mapper.SetInput(scaler.GetOutput())
else:
mapper.SetInputConnection(scaler.GetOutputPort())
# Create an actor
self.actor = vtk.vtkActor()
self.actor.SetMapper(mapper)
# Read in camera registration
scriptDirectory = os.path.dirname(os.path.abspath(__file__))
filePath = os.path.join(scriptDirectory, '..', '..', 'defaults',
'registration_params.yaml')
with open(filePath, 'r') as f:
data = yaml.load(f)
self.camTransform = np.array(data['transform'])
# Add point cloud
self.pointCloud = VtkPointCloud()
tf = np.linalg.inv(self.camTransform)
transform = vtk.vtkTransform()
transform.SetMatrix(tf.ravel())
self.pointCloud.vtkActor.SetPosition(transform.GetPosition())
self.pointCloud.vtkActor.SetOrientation(transform.GetOrientation())
self.ren.AddActor(self.pointCloud.vtkActor)
self.ren.AddActor(self.actor)
poseSub = rospy.Subscriber("/stereo/registration_pose", PoseStamped, self.poseCallback)
self.ren.ResetCamera()
self.frame.setLayout(self.vl)
self.setCentralWidget(self.frame)
self.vtkThread = QThread()
self.actorMat = np.eye(4)
self.thread = QThread()
robot = psm('PSM2')
self.worker = Worker(robot)
self.worker.intReady.connect(self.onIntReady)
self.worker.moveToThread(self.thread)
self.worker.finished.connect(self.thread.quit)
self.thread.started.connect(self.worker.procCounter)
self.thread.start()
self.started = False
self.show()
self.iren.Initialize()
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1270, 715)
self.centralwidget = QtGui.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.pushButton = QtGui.QPushButton(self.centralwidget)
self.pushButton.setGeometry(QtCore.QRect(0, 40, 121, 21))
self.pushButton.setObjectName("pushButton")
self.pushButton_2 = QtGui.QPushButton(self.centralwidget)
self.pushButton_2.setGeometry(QtCore.QRect(0, 220, 121, 21))
self.pushButton_2.setObjectName("pushButton_2")
self.pushButton_3 = QtGui.QPushButton(self.centralwidget)
self.pushButton_3.setGeometry(QtCore.QRect(0, 200, 121, 21))
self.pushButton_3.setObjectName("pushButton_3")
self.pushButton_4 = QtGui.QPushButton(self.centralwidget)
self.pushButton_4.setGeometry(QtCore.QRect(0, 80, 121, 21))
self.pushButton_4.setObjectName("pushButton_4")
self.pushButton_5 = QtGui.QPushButton(self.centralwidget)
self.pushButton_5.setGeometry(QtCore.QRect(0, 60, 121, 21))
self.pushButton_5.setObjectName("pushButton_5")
self.pushButton_7 = QtGui.QPushButton(self.centralwidget)
self.pushButton_7.setGeometry(QtCore.QRect(0, 100, 121, 21))
self.pushButton_7.setObjectName("pushButton_7")
self.pushButton_8 = QtGui.QPushButton(self.centralwidget)
self.pushButton_8.setGeometry(QtCore.QRect(0, 20, 121, 21))
self.pushButton_8.setObjectName("pushButton_8")
self.label = QtGui.QLabel(self.centralwidget)
self.label.setGeometry(QtCore.QRect(1150, 10, 81, 16))
self.label.setObjectName("label")
self.scrollArea = QtGui.QScrollArea(self.centralwidget)
self.scrollArea.setGeometry(QtCore.QRect(1100, 190, 171, 211))
self.scrollArea.setWidgetResizable(True)
self.scrollArea.setObjectName("scrollArea")
self.scrollAreaWidgetContents = QtGui.QWidget(self.scrollArea)
self.scrollAreaWidgetContents.setGeometry(QtCore.QRect(0, 0, 169, 209))
self.scrollAreaWidgetContents.setObjectName("scrollAreaWidgetContents")
self.listWidget = QtGui.QListWidget(self.scrollAreaWidgetContents)
self.listWidget.setGeometry(QtCore.QRect(0, 20, 171, 191))
self.listWidget.setObjectName("listWidget")
self.label_2 = QtGui.QLabel(self.scrollAreaWidgetContents)
self.label_2.setGeometry(QtCore.QRect(40, 0, 101, 16))
self.label_2.setObjectName("label_2")
self.scrollArea.setWidget(self.scrollAreaWidgetContents)
self.frame = QtGui.QFrame(self.centralwidget)
self.frame.setGeometry(QtCore.QRect(1100, 440, 171, 231))
self.frame.setFrameShape(QtGui.QFrame.StyledPanel)
self.frame.setFrameShadow(QtGui.QFrame.Raised)
self.frame.setObjectName("frame")
self.label_3 = QtGui.QLabel(self.frame)
self.label_3.setGeometry(QtCore.QRect(30, 0, 121, 20))
self.label_3.setObjectName("label_3")
self.frame_2 = QtGui.QFrame(self.centralwidget)
self.frame_2.setGeometry(QtCore.QRect(0, 340, 120, 331))
self.frame_2.setFrameShape(QtGui.QFrame.StyledPanel)
self.frame_2.setFrameShadow(QtGui.QFrame.Raised)
self.frame_2.setObjectName("frame_2")
self.label_4 = QtGui.QLabel(self.centralwidget)
self.label_4.setGeometry(QtCore.QRect(0, 320, 111, 16))
self.label_4.setObjectName("label_4")
self.label_5 = QtGui.QLabel(self.centralwidget)
self.label_5.setGeometry(QtCore.QRect(0, 0, 131, 16))
self.label_5.setObjectName("label_5")
self.pushButton_13 = QtGui.QPushButton(self.centralwidget)
self.pushButton_13.setGeometry(QtCore.QRect(0, 140, 121, 21))
self.pushButton_13.setObjectName("pushButton_13")
self.pushButton_14 = QtGui.QPushButton(self.centralwidget)
self.pushButton_14.setGeometry(QtCore.QRect(0, 120, 121, 21))
self.pushButton_14.setObjectName("pushButton_14")
self.pushButton_16 = QtGui.QPushButton(self.centralwidget)
self.pushButton_16.setGeometry(QtCore.QRect(1100, 80, 171, 20))
self.pushButton_16.setObjectName("pushButton_16")
self.pushButton_17 = QtGui.QPushButton(self.centralwidget)
self.pushButton_17.setGeometry(QtCore.QRect(1180, 420, 91, 21))
self.pushButton_17.setObjectName("pushButton_17")
self.pushButton_18 = QtGui.QPushButton(self.centralwidget)
self.pushButton_18.setGeometry(QtCore.QRect(1180, 400, 51, 21))
self.pushButton_18.setObjectName("pushButton_18")
self.pushButton_19 = QtGui.QPushButton(self.centralwidget)
self.pushButton_19.setGeometry(QtCore.QRect(1230, 400, 41, 21))
self.pushButton_19.setObjectName("pushButton_19")
self.pushButton_20 = QtGui.QPushButton(self.centralwidget)
self.pushButton_20.setGeometry(QtCore.QRect(1100, 420, 81, 21))
self.pushButton_20.setObjectName("pushButton_20")
self.pushButton_21 = QtGui.QPushButton(self.centralwidget)
self.pushButton_21.setGeometry(QtCore.QRect(1100, 400, 81, 21))
self.pushButton_21.setObjectName("pushButton_21")
self.frame_3 = QtGui.QFrame(self.centralwidget)
self.frame_3.setGeometry(QtCore.QRect(350, 0, 601, 31))
self.frame_3.setFrameShape(QtGui.QFrame.StyledPanel)
self.frame_3.setFrameShadow(QtGui.QFrame.Raised)
self.frame_3.setObjectName("frame_3")
self.pushButton_10 = QtGui.QPushButton(self.frame_3)
self.pushButton_10.setGeometry(QtCore.QRect(50, 0, 61, 31))
self.pushButton_10.setObjectName("pushButton_10")
self.textEdit = QtGui.QTextEdit(self.frame_3)
self.textEdit.setGeometry(QtCore.QRect(110, 0, 61, 31))
self.textEdit.setObjectName("textEdit")
self.label_6 = QtGui.QLabel(self.frame_3)
self.label_6.setGeometry(QtCore.QRect(0, 0, 41, 31))
self.label_6.setObjectName("label_6")
self.pushButton_9 = QtGui.QPushButton(self.frame_3)
self.pushButton_9.setGeometry(QtCore.QRect(290, 0, 85, 31))
self.pushButton_9.setObjectName("pushButton_9")
self.horizontalSlider = QtGui.QSlider(self.frame_3)
self.horizontalSlider.setGeometry(QtCore.QRect(450, 10, 101, 19))
self.horizontalSlider.setOrientation(QtCore.Qt.Horizontal)
self.horizontalSlider.setObjectName("horizontalSlider")
self.pushButton_11 = QtGui.QPushButton(self.frame_3)
self.pushButton_11.setGeometry(QtCore.QRect(550, 0, 51, 31))
self.pushButton_11.setObjectName("pushButton_11")
self.label_7 = QtGui.QLabel(self.frame_3)
self.label_7.setGeometry(QtCore.QRect(390, 10, 41, 16))
self.label_7.setObjectName("label_7")
self.pushButton_26 = QtGui.QPushButton(self.frame_3)
self.pushButton_26.setGeometry(QtCore.QRect(170, 0, 41, 31))
self.pushButton_26.setObjectName("pushButton_26")
self.pushButton_27 = QtGui.QPushButton(self.frame_3)
self.pushButton_27.setGeometry(QtCore.QRect(210, 0, 41, 31))
self.pushButton_27.setObjectName("pushButton_27")
self.pushButton_28 = QtGui.QPushButton(self.frame_3)
self.pushButton_28.setGeometry(QtCore.QRect(250, 0, 41, 31))
self.pushButton_28.setObjectName("pushButton_28")
self.frame_4 = QtGui.QFrame(self.centralwidget)
self.frame_4.setGeometry(QtCore.QRect(950, 0, 151, 31))
self.frame_4.setFrameShape(QtGui.QFrame.StyledPanel)
self.frame_4.setFrameShadow(QtGui.QFrame.Raised)
self.frame_4.setObjectName("frame_4")
self.label_9 = QtGui.QLabel(self.frame_4)
self.label_9.setGeometry(QtCore.QRect(0, 0, 81, 31))
self.label_9.setObjectName("label_9")
self.plainTextEdit_2 = QtGui.QPlainTextEdit(self.frame_4)
self.plainTextEdit_2.setGeometry(QtCore.QRect(80, 0, 31, 31))
self.plainTextEdit_2.setObjectName("plainTextEdit_2")
self.pushButton_12 = QtGui.QPushButton(self.frame_4)
self.pushButton_12.setGeometry(QtCore.QRect(110, 0, 41, 31))
self.pushButton_12.setObjectName("pushButton_12")
self.pushButton_22 = QtGui.QPushButton(self.centralwidget)
self.pushButton_22.setGeometry(QtCore.QRect(0, 240, 121, 21))
self.pushButton_22.setObjectName("pushButton_22")
self.pushButton_23 = QtGui.QPushButton(self.centralwidget)
self.pushButton_23.setGeometry(QtCore.QRect(0, 260, 121, 21))
self.pushButton_23.setObjectName("pushButton_23")
self.pushButton_24 = QtGui.QPushButton(self.centralwidget)
self.pushButton_24.setGeometry(QtCore.QRect(0, 280, 121, 21))
self.pushButton_24.setObjectName("pushButton_24")
self.pushButton_25 = QtGui.QPushButton(self.centralwidget)
self.pushButton_25.setGeometry(QtCore.QRect(0, 300, 121, 21))
self.pushButton_25.setObjectName("pushButton_25")
self.qvtkWidget = QVTKRenderWindowInteractor(self.centralwidget)
self.qvtkWidget.setGeometry(QtCore.QRect(130, 30, 971, 641))
self.qvtkWidget.setObjectName("qvtkWidget")
self.kurlrequester = KUrlRequester(self.centralwidget)
self.kurlrequester.setGeometry(QtCore.QRect(130, 0, 201, 31))
self.kurlrequester.setObjectName("kurlrequester")
self.listWidget_2 = QtGui.QListWidget(self.centralwidget)
self.listWidget_2.setGeometry(QtCore.QRect(1100, 30, 171, 51))
self.listWidget_2.setObjectName("listWidget_2")
self.pushButton_29 = QtGui.QPushButton(self.centralwidget)
self.pushButton_29.setGeometry(QtCore.QRect(1220, 160, 51, 31))
self.pushButton_29.setObjectName("pushButton_29")
self.label_10 = QtGui.QLabel(self.centralwidget)
self.label_10.setGeometry(QtCore.QRect(1110, 100, 121, 20))
self.label_10.setObjectName("label_10")
self.kintnuminput = KIntNumInput(self.centralwidget)
self.kintnuminput.setGeometry(QtCore.QRect(1160, 120, 31, 21))
self.kintnuminput.setObjectName("kintnuminput")
self.kintnuminput_2 = KIntNumInput(self.centralwidget)
self.kintnuminput_2.setGeometry(QtCore.QRect(1190, 120, 31, 21))
self.kintnuminput_2.setObjectName("kintnuminput_2")
self.kintnuminput_4 = KIntNumInput(self.centralwidget)
self.kintnuminput_4.setGeometry(QtCore.QRect(1160, 140, 31, 21))
self.kintnuminput_4.setObjectName("kintnuminput_4")
self.kintnuminput_5 = KIntNumInput(self.centralwidget)
self.kintnuminput_5.setGeometry(QtCore.QRect(1190, 140, 31, 21))
self.kintnuminput_5.setObjectName("kintnuminput_5")
self.kintnuminput_7 = KIntNumInput(self.centralwidget)
self.kintnuminput_7.setGeometry(QtCore.QRect(1160, 160, 31, 21))
self.kintnuminput_7.setObjectName("kintnuminput_7")
self.kintnuminput_8 = KIntNumInput(self.centralwidget)
self.kintnuminput_8.setGeometry(QtCore.QRect(1190, 160, 31, 21))
self.kintnuminput_8.setObjectName("kintnuminput_8")
self.label_8 = QtGui.QLabel(self.centralwidget)
self.label_8.setGeometry(QtCore.QRect(1130, 120, 21, 16))
self.label_8.setObjectName("label_8")
self.label_11 = QtGui.QLabel(self.centralwidget)
self.label_11.setGeometry(QtCore.QRect(1130, 140, 21, 16))
self.label_11.setObjectName("label_11")
self.label_12 = QtGui.QLabel(self.centralwidget)
self.label_12.setGeometry(QtCore.QRect(1130, 160, 21, 16))
self.label_12.setObjectName("label_12")
self.pushButton_6 = QtGui.QPushButton(self.centralwidget)
self.pushButton_6.setGeometry(QtCore.QRect(0, 160, 121, 21))
self.pushButton_6.setObjectName("pushButton_6")
self.pushButton_15 = QtGui.QPushButton(self.centralwidget)
self.pushButton_15.setGeometry(QtCore.QRect(0, 180, 121, 21))
self.pushButton_15.setObjectName("pushButton_15")
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtGui.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 1270, 23))
self.menubar.setObjectName("menubar")
self.menuInput = QtGui.QMenu(self.menubar)
self.menuInput.setObjectName("menuInput")
self.menuOutput = QtGui.QMenu(self.menubar)
self.menuOutput.setObjectName("menuOutput")
self.menuSettings = QtGui.QMenu(self.menubar)
self.menuSettings.setObjectName("menuSettings")
self.menuHelp = QtGui.QMenu(self.menubar)
self.menuHelp.setObjectName("menuHelp")
MainWindow.setMenuBar(self.menubar)
self.statusbar = QtGui.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.actionImport_vtk_file = QtGui.QAction(MainWindow)
self.actionImport_vtk_file.setObjectName("actionImport_vtk_file")
self.actionImport_dat_file = QtGui.QAction(MainWindow)
self.actionImport_dat_file.setObjectName("actionImport_dat_file")
self.actionSave_as_JPEG = QtGui.QAction(MainWindow)
self.actionSave_as_JPEG.setObjectName("actionSave_as_JPEG")
self.actionAutor = QtGui.QAction(MainWindow)
self.actionAutor.setObjectName("actionAutor")
self.actionWersja = QtGui.QAction(MainWindow)
self.actionWersja.setObjectName("actionWersja")
self.actionLinki = QtGui.QAction(MainWindow)
self.actionLinki.setObjectName("actionLinki")
self.actionBackground_color = QtGui.QAction(MainWindow)
self.actionBackground_color.setObjectName("actionBackground_color")
self.actionWork_space = QtGui.QAction(MainWindow)
self.actionWork_space.setObjectName("actionWork_space")
self.actionExport_properties = QtGui.QAction(MainWindow)
self.actionExport_properties.setObjectName("actionExport_properties")
self.actionExit = QtGui.QAction(MainWindow)
self.actionExit.setObjectName("actionExit")
self.actionSave_Session = QtGui.QAction(MainWindow)
self.actionSave_Session.setObjectName("actionSave_Session")
self.actionExport_directory = QtGui.QAction(MainWindow)
self.actionExport_directory.setObjectName("actionExport_directory")
self.actionTutorials = QtGui.QAction(MainWindow)
self.actionTutorials.setObjectName("actionTutorials")
self.menuInput.addAction(self.actionSave_Session)
self.menuInput.addAction(self.actionExit)
self.menuOutput.addAction(self.actionSave_as_JPEG)
self.menuOutput.addAction(self.actionExport_directory)
self.menuSettings.addAction(self.actionBackground_color)
self.menuSettings.addAction(self.actionWork_space)
self.menuHelp.addAction(self.actionAutor)
self.menuHelp.addAction(self.actionTutorials)
self.menubar.addAction(self.menuInput.menuAction())
self.menubar.addAction(self.menuOutput.menuAction())
self.menubar.addAction(self.menuSettings.menuAction())
self.menubar.addAction(self.menuHelp.menuAction())
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
self.connections()
def __init__(self, parent=None):
parent.resize(765, 545)
parent.setWindowTitle('Render scene')
self.qvtkWidget = QVTKRenderWindowInteractor(parent)
self.qvtkWidget.setGeometry(QtCore.QRect(0, 0, 761, 521))
self.qvtkWidget.setObjectName("qvtkWidget")
self.PhotoButton = QtGui.QPushButton(parent)
self.PhotoButton.setGeometry(QtCore.QRect(0, 523, 50, 20))
self.Label = QtGui.QLabel(parent)
self.Label.setGeometry(QtCore.QRect(55, 523, 100, 20))
self.plainTextEdit = QtGui.QPlainTextEdit(parent)
self.plainTextEdit.setGeometry(QtCore.QRect(160, 523, 50, 20))
self.XviewButton = QtGui.QPushButton(parent)
self.XviewButton.setGeometry(QtCore.QRect(215, 523, 50, 20))
self.YviewButton = QtGui.QPushButton(parent)
self.YviewButton.setGeometry(QtCore.QRect(270, 523, 50, 20))
self.ZviewButton = QtGui.QPushButton(parent)
self.ZviewButton.setGeometry(QtCore.QRect(325, 523, 50, 20))
self.ResetCameraButton = QtGui.QPushButton(parent)
self.ResetCameraButton.setGeometry(QtCore.QRect(380, 523, 80, 20))
self.BackgroundColorButton = QtGui.QPushButton(parent)
self.BackgroundColorButton.setGeometry(QtCore.QRect(465, 523, 150, 20))
self.PhotoButton.setText(
QtGui.QApplication.translate("SubWindow", "Photo !", None,
QtGui.QApplication.UnicodeUTF8))
self.Label.setText(
QtGui.QApplication.translate("MainWindow", "Set magnification",
None, QtGui.QApplication.UnicodeUTF8))
self.XviewButton.setText(
QtGui.QApplication.translate("MainWindow", "Xview", None,
QtGui.QApplication.UnicodeUTF8))
self.YviewButton.setText(
QtGui.QApplication.translate("MainWindow", "Yview", None,
QtGui.QApplication.UnicodeUTF8))
self.ZviewButton.setText(
QtGui.QApplication.translate("MainWindow", "Zview", None,
QtGui.QApplication.UnicodeUTF8))
self.ResetCameraButton.setText(
QtGui.QApplication.translate("MainWindow", "Reset Camera", None,
QtGui.QApplication.UnicodeUTF8))
self.BackgroundColorButton.setText(
QtGui.QApplication.translate("MainWindow",
"Change background color", None,
QtGui.QApplication.UnicodeUTF8))
self.renderer = vtk.vtkRenderer()
self.renderer.SetBackground(1, 1, 1)
self.renderer.ResetCamera()
self.qvtkWidget.GetRenderWindow().AddRenderer(self.renderer)
QtCore.QObject.connect(self.PhotoButton, QtCore.SIGNAL('clicked()'),
self.photo)
QtCore.QObject.connect(self.XviewButton, QtCore.SIGNAL('clicked()'),
self.x_view)
QtCore.QObject.connect(self.YviewButton, QtCore.SIGNAL('clicked()'),
self.y_view)
QtCore.QObject.connect(self.ZviewButton, QtCore.SIGNAL('clicked()'),
self.z_view)
QtCore.QObject.connect(self.ResetCameraButton,
QtCore.SIGNAL('clicked()'), self.reset_camera)
QtCore.QObject.connect(self.BackgroundColorButton,
QtCore.SIGNAL('clicked()'),
self.change_background_color)
def __init__(self, parent=None):
Qt.QMainWindow.__init__(self, parent)
self.__counter = 0
self.__prefix = "/home/adriano/PycharmProjects/realsense_multicam/pics/"
self.frame = Qt.QFrame()
self.vtkWidget = QVTKRenderWindowInteractor(self.frame)
self.pd_collection = []
self.mapper_collection = []
self.actor_collection = []
self.np_array = []
self.cells_npy = []
self.timer_count = 0
self._n_coordinates = 0
self.align = rs.align(rs.stream.color)
self._iren = self.vtkWidget.GetRenderWindow().GetInteractor()
self._iren.GetInteractorStyle().SetCurrentStyleToTrackballActor()
self._iren.GetInteractorStyle().SetCurrentStyleToTrackballCamera()
print(type(self._iren.GetInteractorStyle()))
self._timer = QTimer(self)
self.__label_idx = QLabel('ID:', self)
self.__txt_box_idx = QLineEdit(self)
self.__button = QPushButton('Save Image', self)
self.__button.setToolTip('Save 3D image.')
self.__button.clicked.connect(self.save_image)
self._timer.timeout.connect(self.timer_event)
self.view_coordinates = [[0., .5, .5, 1.], [.5, .5, 1., 1.],
[0., 0., .5, .5], [.5, 0., 1., .5]]
cam_counter = 0
for pipe in pipelines:
frame_set = pipe.wait_for_frames()
# Wait for a coherent color frame
# frames = None # real_sense_cam.get_pipeline().wait_for_frames()
# Align the depth frame to color frame
aligned_frames = self.align.process(frame_set)
depth_frame = aligned_frames.get_depth_frame()
color_frame = aligned_frames.get_color_frame()
color_image = np.asanyarray(color_frame.get_data())
color_image = color_image.reshape(
(color_image.shape[0] * color_image.shape[1], 3))
# self._colors.SetNumberOfTuples(color_image.shape[0])
colors = vtk.vtkUnsignedCharArray()
colors.SetNumberOfComponents(3)
# colors.SetName("Colors")
current_pd = vtk.vtkPolyData()
self.pd_collection.append(current_pd)
colors.SetArray(vtk_np.numpy_to_vtk(color_image),
color_image.shape[0] * color_image.shape[1], 1)
current_pd.GetPointData().SetScalars(colors)
pc = rs.pointcloud()
point_cloud = pc.calculate(depth_frame)
pc.map_to(color_frame)
v, t = point_cloud.get_vertices(
), point_cloud.get_texture_coordinates()
vertices = np.asanyarray(v).view(np.float32).reshape(-1, 3) # xyz
self._n_coordinates = vertices.shape[0]
points = vtk.vtkPoints()
cells = vtk.vtkCellArray()
points.SetData(vtk_np.numpy_to_vtk(vertices))
cells_npy = np.vstack([
np.ones(self._n_coordinates, dtype=np.int64),
np.arange(self._n_coordinates, dtype=np.int64)
]).T.flatten()
cells.SetCells(self._n_coordinates,
vtk_np.numpy_to_vtkIdTypeArray(cells_npy))
self.pd_collection[cam_counter].SetPoints(points)
self.pd_collection[cam_counter].SetVerts(cells)
mapper = vtk.vtkPolyDataMapper()
self.mapper_collection.append(mapper)
self.mapper_collection[cam_counter].SetInputData(
self.pd_collection[cam_counter])
transform = vtk.vtkTransform()
transform.SetMatrix(flip_transform)
actor = vtk.vtkActor()
self.actor_collection.append(actor)
self.actor_collection[cam_counter].SetMapper(
self.mapper_collection[cam_counter])
self.actor_collection[cam_counter].GetProperty(
).SetRepresentationToPoints()
self.actor_collection[cam_counter].SetUserTransform(transform)
current_ren = vtk.vtkRenderer()
current_ren.GetActiveCamera()
# set viewports if the number of cams ara greater than one
if len(pipelines) > 1:
current_ren.SetViewport(self.view_coordinates[cam_counter])
current_ren.AddActor(self.actor_collection[cam_counter])
self.vtkWidget.GetRenderWindow().AddRenderer(current_ren)
cam_counter += 1
self._iren.AddObserver('TimerEvent', self.update_poly_data)
dt = 30 # ms
ide = self._iren.CreateRepeatingTimer(dt)
self.frame.setLayout(self.__create_grid_layout())
self.setCentralWidget(self.frame)
self.setWindowTitle("SmartUS Image Collector")
self.__txt_box_idx.setFocus()
self.show()
self._iren.Initialize()
self._iren.Start()
