class LabelPlugin(Plugin):
def __init__(self, context):
super(LabelPlugin, self).__init__(context)
# Widget setup
self.setObjectName('Label Plugin')
self._widget = QWidget()
context.add_widget(self._widget)
# Layout and attach to widget
layout = QVBoxLayout()
self._widget.setLayout(layout)
self._image_widget = ImageWidget(self._widget, self.image_roi_callback)
layout.addWidget(self._image_widget)
# Input field
grid_layout = QGridLayout()
layout.addLayout(grid_layout)
self._edit_path_button = QPushButton("Edit path")
self._edit_path_button.clicked.connect(self._get_output_directory)
grid_layout.addWidget(self._edit_path_button, 1, 1)
self._output_path_edit = QLineEdit()
self._output_path_edit.setDisabled(True)
grid_layout.addWidget(self._output_path_edit, 1, 2)
self._labels_edit = QLineEdit()
self._labels_edit.setDisabled(True)
grid_layout.addWidget(self._labels_edit, 2, 2)
self._edit_labels_button = QPushButton("Edit labels")
self._edit_labels_button.clicked.connect(self._get_labels)
grid_layout.addWidget(self._edit_labels_button, 2, 1)
self._save_button = QPushButton("Save another one")
self._save_button.clicked.connect(self.store_image)
grid_layout.addWidget(self._save_button, 2, 3)
# Bridge for opencv conversion
self.bridge = CvBridge()
# Set subscriber to None
self._sub = None
self.labels = []
self.roi_image = None
self.label = ""
self.output_directory = ""
def image_roi_callback(self, roi_image):
if not self.labels:
warning_dialog(
"No labels specified!",
"Please first specify some labels using the 'Edit labels' button"
)
return
self.roi_image = roi_image
option = option_dialog("Label", self.labels)
if option:
self.label = option
self._image_widget.set_text(option)
self.store_image()
def store_image(self):
if not None in [self.roi_image, self.label, self.output_directory]:
_write_image_to_file(self.output_directory, self.roi_image,
self.label)
def _get_output_directory(self):
self._set_output_directory(
QFileDialog.getExistingDirectory(self._widget,
"Select output directory"))
def _set_output_directory(self, path):
if not path:
path = "/tmp"
self.output_directory = path
self._output_path_edit.setText("Saving images to %s" % path)
def _get_labels(self):
text, ok = QInputDialog.getText(
self._widget, 'Text Input Dialog',
'Type labels semicolon separated, e.g. banana;apple:',
QLineEdit.Normal, ";".join(self.labels))
if ok:
labels = set([
_sanitize(label) for label in str(text).split(";")
if _sanitize(label)
]) # Sanitize to alphanumeric, exclude spaces
self._set_labels(labels)
def _set_labels(self, labels):
if not labels:
labels = []
self.labels = labels
self._labels_edit.setText("%s" % labels)
def _image_callback(self, msg):
try:
cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
except CvBridgeError as e:
rospy.logerr(e)
self._image_widget.set_image(cv_image)
def trigger_configuration(self):
topic_name, ok = QInputDialog.getItem(
self._widget, "Select topic name", "Topic name",
rostopic.find_by_type('sensor_msgs/Image'))
if ok:
self._create_subscriber(topic_name)
def _create_subscriber(self, topic_name):
if self._sub:
self._sub.unregister()
self._sub = rospy.Subscriber(topic_name, Image, self._image_callback)
rospy.loginfo("Listening to %s -- spinning .." % self._sub.name)
self._widget.setWindowTitle("Label plugin, listening to (%s)" %
self._sub.name)
def shutdown_plugin(self):
pass
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value("output_directory", self.output_directory)
instance_settings.set_value("labels", self.labels)
if self._sub:
instance_settings.set_value("topic_name", self._sub.name)
def restore_settings(self, plugin_settings, instance_settings):
path = None
try:
path = instance_settings.value("output_directory")
except:
pass
self._set_output_directory(path)
labels = None
try:
labels = instance_settings.value("labels")
except:
pass
self._set_labels(labels)
self._create_subscriber(
str(instance_settings.value("topic_name", "/usb_cam/image_raw")))
class TestPlugin(Plugin):
def __init__(self, context):
super(TestPlugin, self).__init__(context)
# Widget setup
self.setObjectName('Test Plugin')
self._widget = QWidget()
context.add_widget(self._widget)
# Layout and attach to widget
layout = QVBoxLayout()
self._widget.setLayout(layout)
self._image_widget = ImageWidget(self._widget, self.image_roi_callback)
layout.addWidget(self._image_widget)
# Input field
grid_layout = QGridLayout()
layout.addLayout(grid_layout)
self._info = QLineEdit()
self._info.setDisabled(True)
self._info.setText(
"Draw a rectangle on the screen to perform object recognition of that ROI"
)
layout.addWidget(self._info)
# Bridge for opencv conversion
self.bridge = CvBridge()
# Set subscriber and service to None
self._sub = None
self._srv = None
def image_roi_callback(self, roi_image):
if self._srv is None:
warning_dialog(
"No service specified!",
"Please first specify a service via the options button (top-right gear wheel)"
)
return
try:
result = self._srv(
image=self.bridge.cv2_to_imgmsg(roi_image, "bgr8"))
except Exception as e:
warning_dialog("Service Exception", str(e))
return
text_array = [
"%s: %.2f" % (r.label, r.probability) for r in result.recognitions
]
if text_array:
self._image_widget.set_text(
text_array[0]) # Show first option in the image
option_dialog("Classification results",
text_array) # Show all results in a dropdown
def _image_callback(self, msg):
try:
cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
except CvBridgeError as e:
rospy.logerr(e)
self._image_widget.set_image(cv_image)
def trigger_configuration(self):
topic_name, ok = QInputDialog.getItem(
self._widget, "Select topic name", "Topic name",
rostopic.find_by_type('sensor_msgs/Image'))
if ok:
self._create_subscriber(topic_name)
available_rosservices = []
for s in rosservice.get_service_list():
try:
if rosservice.get_service_type(
s) == "object_recognition_srvs/Recognize":
available_rosservices.append(s)
except:
pass
srv_name, ok = QInputDialog.getItem(self._widget,
"Select service name",
"Service name",
available_rosservices)
if ok:
self._create_service_client(srv_name)
def _create_subscriber(self, topic_name):
if self._sub:
self._sub.unregister()
self._sub = rospy.Subscriber(topic_name, Image, self._image_callback)
rospy.loginfo("Listening to %s -- spinning .." % self._sub.name)
self._widget.setWindowTitle("Test plugin, listening to (%s)" %
self._sub.name)
def _create_service_client(self, srv_name):
if self._srv:
self._srv.close()
rospy.loginfo("Creating proxy for service '%s'" % srv_name)
self._srv = rospy.ServiceProxy(srv_name, Recognize)
def shutdown_plugin(self):
pass
def save_settings(self, plugin_settings, instance_settings):
if self._sub:
instance_settings.set_value("topic_name", self._sub.name)
def restore_settings(self, plugin_settings, instance_settings):
self._create_subscriber(
str(instance_settings.value("topic_name", "/usb_cam/image_raw")))
self._create_service_client(
str(
instance_settings.value("service_name",
"/object_recognition/blaat")))