def __init__(self, sub_tf, pub_tf, parent=None):
super(TrackManager, self).__init__(parent)
# Initialise gui
self.ui = Ui_ScrollAreaTracker()
self.ui.setupUi(self)
# Ros stuff
self.sub_tf = sub_tf #tf.TransformListener()
self.pub_tf = pub_tf #tf.TransformBroadcaster()
# Initialise Trackers
self.trackers = [KinectTracker(self), QualisysTracker(self)]
for t in self.trackers:
t.sig_started.connect(self.started)
t.sig_error.connect(self.startFailed)
# KINECT STUFF
self.trackers[0].sig_inview.connect(self.sig_inView.emit)
#self.ui.checkBox_autoCapture
self.trackers[0].sig_backgroundStep.connect(self.updatePB)
self.ui.comboBox_kinMethod.currentIndexChanged.connect(self.trackers[0].setMethod)
self.ui.doubleSpinBox_kinMaxDepth.valueChanged.connect(self.trackers[0].setMaxDepth)
self.ui.doubleSpinBox_kinFG.valueChanged.connect(self.trackers[0].setForegroundDist)
self.ui.pushButton_reset.clicked.connect(lambda : self.trackers[0].resetBackground(self.ui.doubleSpinBox_kinObsTime.value()))
self.ui.doubleSpinBox_kinDetSize.valueChanged.connect(self.trackers[0].setSize)
self.ui.doubleSpinBox_tol.valueChanged.connect(self.trackers[0].setSizeTolerance)
self.ui.spinBox_kernelSize.valueChanged.connect(self.trackers[0].setKernel)
self.ui.spinBox_kernelIter.valueChanged.connect(self.trackers[0].setIterations)
self.ui.comboBox_prio.currentIndexChanged.connect(self.trackers[0].setPriority)
self.ui.comboBox_kinDepth.currentIndexChanged.connect(self.trackers[0].setDepthEstMode)
self.tracker = None
self.tracking = False
# Connections GUI to GUI
self.ui.comboBox_tracker.clear()
self.ui.comboBox_tracker.addItems([t.name for t in self.trackers])
self.ui.comboBox_tracker.currentIndexChanged.connect(self.switchTracker)
self.ui.comboBox_tracker.currentIndexChanged.emit(self.ui.comboBox_tracker.currentIndex()) # Force update
self.readSettings()
# Connections from GUI
self.q01 = (self.ui.comboBox_q0.currentIndex(), self.ui.comboBox_q1.currentIndex())
self.ui.pushButton_trackStart.clicked.connect(self.startStopClicked)
self.ui.comboBox_q0.currentIndexChanged.connect(lambda x: self.qualisysFrameChanged(0,x))
self.ui.comboBox_q1.currentIndexChanged.connect(lambda x: self.qualisysFrameChanged(1,x))
def __init__(self, sub_tf, pub_tf, parent=None):
super(TrackManager, self).__init__(parent)
# Initialise gui
self.ui = Ui_ScrollAreaTracker()
self.ui.setupUi(self)
# Ros stuff
self.sub_tf = sub_tf #tf.TransformListener()
self.pub_tf = pub_tf #tf.TransformBroadcaster()
# Initialise Trackers
self.trackers = [KinectTracker(self), QualisysTracker(self)]
for t in self.trackers:
t.sig_started.connect(self.started)
t.sig_error.connect(self.startFailed)
# KINECT STUFF
self.trackers[0].sig_inview.connect(self.sig_inView.emit)
#self.ui.checkBox_autoCapture
self.trackers[0].sig_backgroundStep.connect(self.updatePB)
self.ui.comboBox_kinMethod.currentIndexChanged.connect(
self.trackers[0].setMethod)
self.ui.doubleSpinBox_kinMaxDepth.valueChanged.connect(
self.trackers[0].setMaxDepth)
self.ui.doubleSpinBox_kinFG.valueChanged.connect(
self.trackers[0].setForegroundDist)
self.ui.pushButton_reset.clicked.connect(lambda: self.trackers[
0].resetBackground(self.ui.doubleSpinBox_kinObsTime.value()))
self.ui.doubleSpinBox_kinDetSize.valueChanged.connect(
self.trackers[0].setSize)
self.ui.doubleSpinBox_tol.valueChanged.connect(
self.trackers[0].setSizeTolerance)
self.ui.spinBox_kernelSize.valueChanged.connect(
self.trackers[0].setKernel)
self.ui.spinBox_kernelIter.valueChanged.connect(
self.trackers[0].setIterations)
self.ui.comboBox_prio.currentIndexChanged.connect(
self.trackers[0].setPriority)
self.ui.comboBox_kinDepth.currentIndexChanged.connect(
self.trackers[0].setDepthEstMode)
self.tracker = None
self.tracking = False
# Connections GUI to GUI
self.ui.comboBox_tracker.clear()
self.ui.comboBox_tracker.addItems([t.name for t in self.trackers])
self.ui.comboBox_tracker.currentIndexChanged.connect(
self.switchTracker)
self.ui.comboBox_tracker.currentIndexChanged.emit(
self.ui.comboBox_tracker.currentIndex()) # Force update
self.readSettings()
# Connections from GUI
self.q01 = (self.ui.comboBox_q0.currentIndex(),
self.ui.comboBox_q1.currentIndex())
self.ui.pushButton_trackStart.clicked.connect(self.startStopClicked)
self.ui.comboBox_q0.currentIndexChanged.connect(
lambda x: self.qualisysFrameChanged(0, x))
self.ui.comboBox_q1.currentIndexChanged.connect(
lambda x: self.qualisysFrameChanged(1, x))
class TrackManager(QScrollArea):
""" External Flie tracking """
sig_inView = pyqtSignal(bool) # True if in view, else False
def __init__(self, sub_tf, pub_tf, parent=None):
super(TrackManager, self).__init__(parent)
# Initialise gui
self.ui = Ui_ScrollAreaTracker()
self.ui.setupUi(self)
# Ros stuff
self.sub_tf = sub_tf #tf.TransformListener()
self.pub_tf = pub_tf #tf.TransformBroadcaster()
# Initialise Trackers
self.trackers = [KinectTracker(self), QualisysTracker(self)]
for t in self.trackers:
t.sig_started.connect(self.started)
t.sig_error.connect(self.startFailed)
# KINECT STUFF
self.trackers[0].sig_inview.connect(self.sig_inView.emit)
#self.ui.checkBox_autoCapture
self.trackers[0].sig_backgroundStep.connect(self.updatePB)
self.ui.comboBox_kinMethod.currentIndexChanged.connect(
self.trackers[0].setMethod)
self.ui.doubleSpinBox_kinMaxDepth.valueChanged.connect(
self.trackers[0].setMaxDepth)
self.ui.doubleSpinBox_kinFG.valueChanged.connect(
self.trackers[0].setForegroundDist)
self.ui.pushButton_reset.clicked.connect(lambda: self.trackers[
0].resetBackground(self.ui.doubleSpinBox_kinObsTime.value()))
self.ui.doubleSpinBox_kinDetSize.valueChanged.connect(
self.trackers[0].setSize)
self.ui.doubleSpinBox_tol.valueChanged.connect(
self.trackers[0].setSizeTolerance)
self.ui.spinBox_kernelSize.valueChanged.connect(
self.trackers[0].setKernel)
self.ui.spinBox_kernelIter.valueChanged.connect(
self.trackers[0].setIterations)
self.ui.comboBox_prio.currentIndexChanged.connect(
self.trackers[0].setPriority)
self.ui.comboBox_kinDepth.currentIndexChanged.connect(
self.trackers[0].setDepthEstMode)
self.tracker = None
self.tracking = False
# Connections GUI to GUI
self.ui.comboBox_tracker.clear()
self.ui.comboBox_tracker.addItems([t.name for t in self.trackers])
self.ui.comboBox_tracker.currentIndexChanged.connect(
self.switchTracker)
self.ui.comboBox_tracker.currentIndexChanged.emit(
self.ui.comboBox_tracker.currentIndex()) # Force update
self.readSettings()
# Connections from GUI
self.q01 = (self.ui.comboBox_q0.currentIndex(),
self.ui.comboBox_q1.currentIndex())
self.ui.pushButton_trackStart.clicked.connect(self.startStopClicked)
self.ui.comboBox_q0.currentIndexChanged.connect(
lambda x: self.qualisysFrameChanged(0, x))
self.ui.comboBox_q1.currentIndexChanged.connect(
lambda x: self.qualisysFrameChanged(1, x))
def updatePB(self, val, maxval):
""" Updates progress bar and hides background options while generating background """
if self.ui.progressBar_background.maximum() != maxval:
self.ui.progressBar_background.setMaximum(maxval)
self.ui.progressBar_background.setValue(val)
if val == 0:
self.ui.doubleSpinBox_kinObsTime.setEnabled(False)
self.ui.comboBox_kinMethod.setEnabled(False)
self.ui.doubleSpinBox_kinMaxDepth.setEnabled(False)
self.ui.doubleSpinBox_kinFG.setEnabled(False)
elif val == maxval:
self.ui.doubleSpinBox_kinObsTime.setEnabled(True)
self.ui.comboBox_kinMethod.setEnabled(True)
self.ui.doubleSpinBox_kinMaxDepth.setEnabled(True)
self.ui.doubleSpinBox_kinFG.setEnabled(True)
def qualisysFrameChanged(self, frame, id):
""" Make sure q1 and q0 do not have the same index. Swaps their previous values if they do
"""
if self.ui.comboBox_q0.currentIndex(
) == self.ui.comboBox_q1.currentIndex():
if frame == 0:
self.ui.comboBox_q1.setCurrentIndex(self.q01[0])
else:
self.ui.comboBox_q0.setCurrentIndex(self.q01[1])
self.q01 = (self.ui.comboBox_q0.currentIndex(),
self.ui.comboBox_q1.currentIndex())
@pyqtSlot()
def startStopClicked(self):
if self.tracking:
self.stop()
else:
self.start()
def start(self):
self.ui.pushButton_trackStart.setText(self.tracker.getStartMsg())
self.ui.pushButton_trackStart.setEnabled(False)
self.ui.comboBox_tracker.setEnabled(False)
self.repaint()
self.tracking = True
self.tracker.start()
def stop(self):
self.ui.pushButton_trackStart.setEnabled(True)
self.ui.comboBox_tracker.setEnabled(True)
self.ui.pushButton_trackStart.setText("Start Tracking")
self.tracker.stop()
self.tracking = False
def started(self):
self.ui.pushButton_trackStart.setEnabled(True)
self.ui.pushButton_trackStart.setText("Stop Tracking")
def startFailed(self, msg):
self.ui.pushButton_trackStart.setEnabled(True)
self.ui.comboBox_tracker.setEnabled(True)
self.ui.pushButton_trackStart.setText("Start [%s]" % msg)
self.tracking = False
def readSettings(self):
# TODO Read Configuration
pass
def writeSettings(self):
# TODO save configuration
pass
@pyqtSlot(int)
def switchTracker(self, idx=0):
""" Changes current tracker. Only enabled if not tracking"""
self.ui.pushButton_trackStart.setText("Start Tracking")
self.tracker = self.trackers[idx]
self.ui.groupBox_kinectFG.hide()
self.ui.groupBox_kinectBG.hide()
self.ui.groupBox_qualisys.hide()
self.ui.groupBox_slam.hide()
if idx == 0:
self.ui.groupBox_kinectFG.show()
self.ui.groupBox_kinectBG.show()
elif idx == 1:
self.ui.groupBox_qualisys.show()
elif idx == 3:
self.ui.groupBox_slam.show()
else:
rospy.logerr("Unknown Tracker Type Selected: %d", idx)
class TrackManager(QScrollArea):
""" External Flie tracking """
sig_inView = pyqtSignal(bool) # True if in view, else False
def __init__(self, sub_tf, pub_tf, parent=None):
super(TrackManager, self).__init__(parent)
# Initialise gui
self.ui = Ui_ScrollAreaTracker()
self.ui.setupUi(self)
# Ros stuff
self.sub_tf = sub_tf #tf.TransformListener()
self.pub_tf = pub_tf #tf.TransformBroadcaster()
# Initialise Trackers
self.trackers = [KinectTracker(self), QualisysTracker(self)]
for t in self.trackers:
t.sig_started.connect(self.started)
t.sig_error.connect(self.startFailed)
# KINECT STUFF
self.trackers[0].sig_inview.connect(self.sig_inView.emit)
#self.ui.checkBox_autoCapture
self.trackers[0].sig_backgroundStep.connect(self.updatePB)
self.ui.comboBox_kinMethod.currentIndexChanged.connect(self.trackers[0].setMethod)
self.ui.doubleSpinBox_kinMaxDepth.valueChanged.connect(self.trackers[0].setMaxDepth)
self.ui.doubleSpinBox_kinFG.valueChanged.connect(self.trackers[0].setForegroundDist)
self.ui.pushButton_reset.clicked.connect(lambda : self.trackers[0].resetBackground(self.ui.doubleSpinBox_kinObsTime.value()))
self.ui.doubleSpinBox_kinDetSize.valueChanged.connect(self.trackers[0].setSize)
self.ui.doubleSpinBox_tol.valueChanged.connect(self.trackers[0].setSizeTolerance)
self.ui.spinBox_kernelSize.valueChanged.connect(self.trackers[0].setKernel)
self.ui.spinBox_kernelIter.valueChanged.connect(self.trackers[0].setIterations)
self.ui.comboBox_prio.currentIndexChanged.connect(self.trackers[0].setPriority)
self.ui.comboBox_kinDepth.currentIndexChanged.connect(self.trackers[0].setDepthEstMode)
self.tracker = None
self.tracking = False
# Connections GUI to GUI
self.ui.comboBox_tracker.clear()
self.ui.comboBox_tracker.addItems([t.name for t in self.trackers])
self.ui.comboBox_tracker.currentIndexChanged.connect(self.switchTracker)
self.ui.comboBox_tracker.currentIndexChanged.emit(self.ui.comboBox_tracker.currentIndex()) # Force update
self.readSettings()
# Connections from GUI
self.q01 = (self.ui.comboBox_q0.currentIndex(), self.ui.comboBox_q1.currentIndex())
self.ui.pushButton_trackStart.clicked.connect(self.startStopClicked)
self.ui.comboBox_q0.currentIndexChanged.connect(lambda x: self.qualisysFrameChanged(0,x))
self.ui.comboBox_q1.currentIndexChanged.connect(lambda x: self.qualisysFrameChanged(1,x))
def updatePB(self, val, maxval):
""" Updates progress bar and hides background options while generating background """
if self.ui.progressBar_background.maximum()!=maxval:
self.ui.progressBar_background.setMaximum(maxval)
self.ui.progressBar_background.setValue(val)
if val == 0:
self.ui.doubleSpinBox_kinObsTime.setEnabled(False)
self.ui.comboBox_kinMethod.setEnabled(False)
self.ui.doubleSpinBox_kinMaxDepth.setEnabled(False)
self.ui.doubleSpinBox_kinFG.setEnabled(False)
elif val==maxval:
self.ui.doubleSpinBox_kinObsTime.setEnabled(True)
self.ui.comboBox_kinMethod.setEnabled(True)
self.ui.doubleSpinBox_kinMaxDepth.setEnabled(True)
self.ui.doubleSpinBox_kinFG.setEnabled(True)
def qualisysFrameChanged(self, frame, id):
""" Make sure q1 and q0 do not have the same index. Swaps their previous values if they do
"""
if self.ui.comboBox_q0.currentIndex() == self.ui.comboBox_q1.currentIndex():
if frame == 0:
self.ui.comboBox_q1.setCurrentIndex(self.q01[0])
else:
self.ui.comboBox_q0.setCurrentIndex(self.q01[1])
self.q01 = (self.ui.comboBox_q0.currentIndex(), self.ui.comboBox_q1.currentIndex())
@pyqtSlot()
def startStopClicked(self):
if self.tracking:
self.stop()
else:
self.start()
def start(self):
self.ui.pushButton_trackStart.setText(self.tracker.getStartMsg())
self.ui.pushButton_trackStart.setEnabled(False)
self.ui.comboBox_tracker.setEnabled(False)
self.repaint()
self.tracking = True
self.tracker.start()
def stop(self):
self.ui.pushButton_trackStart.setEnabled(True)
self.ui.comboBox_tracker.setEnabled(True)
self.ui.pushButton_trackStart.setText("Start Tracking")
self.tracker.stop()
self.tracking = False
def started(self):
self.ui.pushButton_trackStart.setEnabled(True)
self.ui.pushButton_trackStart.setText("Stop Tracking")
def startFailed(self, msg):
self.ui.pushButton_trackStart.setEnabled(True)
self.ui.comboBox_tracker.setEnabled(True)
self.ui.pushButton_trackStart.setText("Start [%s]"%msg)
self.tracking = False
def readSettings(self):
# TODO Read Configuration
pass
def writeSettings(self):
# TODO save configuration
pass
@pyqtSlot(int)
def switchTracker(self, idx=0):
""" Changes current tracker. Only enabled if not tracking"""
self.ui.pushButton_trackStart.setText("Start Tracking")
self.tracker = self.trackers[idx]
self.ui.groupBox_kinectFG.hide()
self.ui.groupBox_kinectBG.hide()
self.ui.groupBox_qualisys.hide()
self.ui.groupBox_slam.hide()
if idx == 0:
self.ui.groupBox_kinectFG.show()
self.ui.groupBox_kinectBG.show()
elif idx == 1:
self.ui.groupBox_qualisys.show()
elif idx == 3:
self.ui.groupBox_slam.show()
else:
rospy.logerr("Unknown Tracker Type Selected: %d", idx)
