/
3dmacher.py
executable file
·627 lines (521 loc) · 21.1 KB
/
3dmacher.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import sys
from pprint import pprint
import math
from pathlib import Path
from PyQt5.QtCore import (QObject, pyqtProperty, pyqtSignal, Qt,
QRect, QPoint, QSize, QThread, QMutex, QWaitCondition, QMutexLocker,
QBuffer, QPointF)
from PyQt5.QtWidgets import (QWidget, QPushButton, QToolBar,
QHBoxLayout, QVBoxLayout, QApplication, QMainWindow, QAction,
QCheckBox, QRadioButton, QButtonGroup)
from PyQt5.QtGui import (QPixmap, QImage, QImageReader,
QPainter, QBrush, QIcon, QColor,
QTransform)
import cv2
import numpy as np
import os
import shutil
import threading
from http.server import (ThreadingHTTPServer, BaseHTTPRequestHandler)
class ImageState(QObject):
changed = pyqtSignal()
def __init__(self, parent=None):
super().__init__(parent)
self._sourceFile = None
self._image = None
self._transform = QTransform()
def rotate90(self):
if self.image == None: return
self._image = self.image.transformed(QTransform().rotate(90))
self.changed.emit()
@pyqtProperty('QImage')
def image(self): return self._image
@pyqtProperty('QTransform')
def transform(self): return self._transform
@transform.setter
def transform(self, value):
self._transform = value
self.changed.emit()
@pyqtProperty(str) #'QString'
def sourceFile(self): return self._sourceFile
@sourceFile.setter
def sourceFile(self, value):
self._sourceFile = value
p = QImageReader(self._sourceFile)
if (p.canRead()):
p.setAutoTransform(True)
self._image = p.read()
self._transform = QTransform()
print("loaded image "+value)
else:
self._image = None
self.changed.emit()
def paintImage(self, qp, dst):
if (self.image == None): return
qp.save()
qp.setClipRect(dst)
qp.translate(dst.x()+dst.width()/2, dst.y()+dst.height()/2)
qp.scale(dst.width(), dst.width())
qp.setTransform(self.transform, True) # combine with image's transform
qp.scale(1.0/self.image.width(), 1.0/self.image.width())
qp.translate(-self.image.width()/2, -self.image.height()/2)
qp.drawImage(0,0, self.image)
qp.restore()
#qp.setClipping(False)
class GlobalConfig(QObject):
def __init__(self, parent=None):
super().__init__(parent)
self.left = ImageState(self)
self.right = ImageState(self)
self._linked = True
self._mode = 0
linkedChanged = pyqtSignal(int)
@pyqtProperty(int)
def linked(self): return self._linked
@linked.setter
def linked(self, value):
old = self._linked
self._linked = value
if old != value: self.linkedChanged.emit(value)
def setLinked(self, value): self.linked = (value!=0)
modeChanged = pyqtSignal(int)
@pyqtProperty(int)
def mode(self): return self._mode
@mode.setter
def mode(self, value):
old = self._mode
self._mode = value
if old != value: self.modeChanged.emit(value)
def setMode(self, value): self.mode = value
@pyqtProperty(QSize)
def aspectRatio(self): return QSize(16,9)
@pyqtProperty(QSize)
def saveSize(self): return self.aspectRatio*120
def leftState(self): return self.left
def rightState(self): return self.right
def paintImage(self, qp, dst):
# render left image
sub = QRect(dst.x(), dst.y(), dst.width()/2, dst.height())
self.leftState().paintImage(qp, sub)
# render right image
sub = QRect(dst.x()+dst.width()/2, dst.y(), dst.width()/2, dst.height())
self.rightState().paintImage(qp, sub)
def proposeFilename(self):
if (self.leftState().image == None or
self.rightState().image == None):
return None
pl = Path(self.leftState().sourceFile)
pr = Path(self.rightState().sourceFile)
return str(pl.parent.joinpath(pl.stem+"-"+pr.stem+".jpg"))
class ImageView(QWidget):
mousePress = pyqtSignal('QMouseEvent')
mouseMove = pyqtSignal('QMouseEvent')
mouseRelease = pyqtSignal('QMouseEvent')
def mousePressEvent(self, m): self.mousePress.emit(m)
def mouseMoveEvent(self, m): self.mouseMove.emit(m)
def mouseReleaseEvent(self, m): self.mouseRelease.emit(m)
def __init__(self, state, config, right, parent=None):
super().__init__(parent)
self.right = right
self.state = state
self.config = config
# self.setFixedSize(self.config.aspectRatio.width()*50/2,
# self.config.aspectRatio.height()*50)
self.setMinimumSize(self.config.aspectRatio.width()*10/2,
self.config.aspectRatio.height()*10)
self.setMaximumSize(self.config.aspectRatio.width()*100/2,
self.config.aspectRatio.height()*100)
# self.setSizeConstraint(QLayout.SetMinAndMaxSize)
self.setAcceptDrops(True)
self.state.changed.connect(self.repaint)
def sizeHint(self):
return QSize(self.config.aspectRatio.width()*100/2,
self.config.aspectRatio.height()*100)
# def resizeEvent(self, e):
# e.accept()
# w = self.config.aspectRatio.width()
# h = self.config.aspectRatio.height()*2
# if e.size().width() > w*e.size().height()/h:
# self.resize(w*e.size().height()/h, e.size().height())
# else:
# self.resize(e.size().width(), h*e.size().width()/w)
def dragEnterEvent(self, e):
if e.mimeData().hasUrls() and e.mimeData().urls()[0].isLocalFile():
e.accept()
else:
e.ignore()
def dropEvent(self, e):
# could use e.pos() to see if it is in the left or right half
self.state.sourceFile = e.mimeData().urls()[0].toLocalFile()
def imgRect(self):
aw = self.config.aspectRatio.width()
ah = self.config.aspectRatio.height()*2
x = 0
if self.width() > aw*self.height()/ah:
w = aw*self.height()/ah
h = self.height()
if not self.right: x = self.width()-w
else:
w = self.width()
h = ah*self.width()/aw
return QRect(x,0,w,h)
def paintEvent(self, event):
dst = self.imgRect()
qp = QPainter()
qp.begin(self)
# draw background
brush = QBrush(Qt.SolidPattern)
# brush.setColor(Qt.white)
brush.setColor(Qt.black)
qp.setBrush(brush)
qp.drawRect(dst)
# brush = QBrush(Qt.DiagCrossPattern)
# brush.setColor(Qt.black)
# qp.setBrush(brush)
# qp.drawRect(dst)
self.state.paintImage(qp, dst)
# draw orientation lines
qp.setPen(QColor(255,255,255,150))
qp.drawLine(dst.x()+dst.width()/3,dst.y()+0,
dst.x()+dst.width()/3,dst.y()+dst.height())
qp.drawLine(dst.x()+dst.width()/2,dst.y()+0,
dst.x()+dst.width()/2,dst.y()+dst.height())
qp.drawLine(dst.x()+dst.width()*2/3,dst.y()+0,
dst.x()+dst.width()*2/3,dst.y()+dst.height())
qp.drawLine(dst.x()+0,dst.y()+dst.height()/3,
dst.x()+dst.width(),dst.y()+dst.height()/3)
qp.drawLine(dst.x()+0,dst.y()+dst.height()/2,
dst.x()+dst.width(),dst.y()+dst.height()/2)
qp.drawLine(dst.x()+0,dst.y()+dst.height()*2/3,
dst.x()+dst.width(),dst.y()+dst.height()*2/3)
qp.end()
class ImageWebserver(BaseHTTPRequestHandler):
def do_GET(self):
if self.path == "/":
self.serveFile("index.html", "text/html; charset=utf-8")
elif self.path == "/jquery-3.3.1.min.js":
self.serveFile("jquery-3.3.1.min.js", "text/plain; charset=utf-8")
elif self.path == "/jquery.fullscreen.min.js":
self.serveFile("jquery.fullscreen.min.js", "text/plain; charset=utf-8")
elif self.path.startswith("/img.jpg?"):
self.serveImage()
else:
self.send_response(404)
self.send_header("Content-type", "text/html")
self.end_headers()
self.wfile.write("<html><head><title>no file</title></head>".encode('utf-8'))
self.wfile.write("<body><p>Wrong address</p>".encode('utf-8'))
self.wfile.write(("<p>You accessed path: %s</p>" % self.path).encode('utf-8'))
self.wfile.write("</body></html>".encode('utf-8'))
def serveFile(self, file, ctype):
self.send_response(200)
self.send_header("Content-type", ctype)
self.end_headers()
source = open(Path(sys.argv[0]).parent.joinpath(file), 'rb')
shutil.copyfileobj(source, self.wfile)
def serveImage(self):
self.send_response(200)
self.send_header("Content-type", "image/jpeg")
self.end_headers()
cfg = self.server.appconfig
# create an image for the final output
img = QImage(cfg.saveSize, QImage.Format_RGB888)
qp = QPainter(img)
# black background and then the images
dst = QRect(0,0,img.width(), img.height())
brush = QBrush(Qt.SolidPattern)
brush.setColor(Qt.black)
qp.setBrush(brush)
qp.drawRect(dst)
cfg.paintImage(qp, dst)
qp.end()
buffer = QBuffer()
buffer.open(QBuffer.ReadWrite)
img.save(buffer, "JPG")
self.wfile.write(buffer.data())
class ImageWindow(QWidget):
def __init__(self, config, parent=None):
super().__init__(parent)
self.config = config
self.setWindowTitle('3D Vorschau')
vbox = QVBoxLayout()
# buttons for global operations, modes
save = QPushButton("Speichern")
save.clicked.connect(self.saveTriggered)
rotleft = QPushButton("Linkes drehen")
rotleft.clicked.connect(self.config.leftState().rotate90)
rotright = QPushButton("Rechtes drehen")
rotright.clicked.connect(self.config.rightState().rotate90)
self._linkedBtn = QCheckBox("verbunden", self)
self._linkedBtn.setChecked(self.config.linked)
self._linkedBtn.stateChanged.connect(self.config.setLinked)
self.config.linkedChanged.connect(self.setLinked)
self._modeGroup = QButtonGroup(self)
self._modeGroup.addButton(QRadioButton("skalieren",self),0)
self._modeGroup.addButton(QRadioButton("schieben",self),1)
self._modeGroup.addButton(QRadioButton("drehen",self),2)
self._modeGroup.addButton(QRadioButton("drehen+skalieren",self),3)
self._modeGroup.button(self.config.mode).setChecked(True)
self._modeGroup.buttonClicked['int'].connect(self.config.setMode)
self.config.modeChanged.connect(self.setMode)
tb = QHBoxLayout()
tb.addWidget(save)
tb.addStretch(1)
tb.addWidget(rotleft)
tb.addWidget(rotright)
tb.addWidget(self._linkedBtn)
tb.addWidget(self._modeGroup.button(0))
tb.addWidget(self._modeGroup.button(1))
tb.addWidget(self._modeGroup.button(2))
tb.addWidget(self._modeGroup.button(3))
vbox.addLayout(tb)
# the views to the left and right image
self.leftImage = ImageView(self.config.leftState(), self.config, False)
self.rightImage = ImageView(self.config.rightState(), self.config, True)
imgbox = QHBoxLayout()
imgbox.setSpacing(0)
imgbox.addStretch(1)
imgbox.addWidget(self.leftImage)
imgbox.addWidget(self.rightImage)
imgbox.addStretch(1)
vbox.addLayout(imgbox)
self.setLayout(vbox)
self.leftImage.mousePress.connect(self.mousePressL)
self.leftImage.mouseMove.connect(self.mouseMove)
self.rightImage.mousePress.connect(self.mousePressR)
self.rightImage.mouseMove.connect(self.mouseMove)
self.httpd = ThreadingHTTPServer(('', 12345), ImageWebserver)
self.httpd.appconfig = self.config
self.httpd_thread = threading.Thread(target=self.httpd.serve_forever)
self.httpd_thread.daemon = True
self.httpd_thread.start()
def closeEvent(self, e):
self.httpd.shutdown()
self.httpd.server_close()
def setLinked(self, value):
self._linkedBtn.setChecked(value!=0)
self._linkedBtn.repaint()
def setMode(self, value):
self.config.setLinked(value==0)
self._modeGroup.button(value).setChecked(True)
def computeScale(self, start, end):
try:
p1 = start - self._mouseCenter
p2 = end - self._mouseCenter
s = math.sqrt(float(p2.x()*p2.x()+p2.y()*p2.y())/
float(p1.x()*p1.x()+p1.y()*p1.y()))
return QTransform().scale(s,s)
except ZeroDivisionError:
return QTransform()
def computeMove(self, start, end):
try:
m = QPointF(end-start)/self.leftImage.imgRect().width()
return QTransform(1,0,0,1,m.x(),m.y())
except ZeroDivisionError:
return QTransform()
def computeRotate(self, start, end):
try:
p1 = start - self._mouseCenter
p2 = end - self._mouseCenter
return QTransform().rotateRadians(math.atan2(p1.x(),p1.y()) - math.atan2(p2.x(),p2.y()))
except ZeroDivisionError:
return QTransform()
def computeRotateScale(self, start, end):
try:
p1 = start - self._mouseCenter
p2 = end - self._mouseCenter
s = float(p1.y()*p2.x()-p1.x()*p2.y())/float(p1.x()*p1.x()+p1.y()*p1.y())
c = (p2.y()+p1.x()*s)/p1.y()
return QTransform(c,-s,s,c,0,0)
except ZeroDivisionError:
return QTransform()
def mousePressL(self, m):
self._mouseCenter = self.leftImage.imgRect().center()
self.mousePress(m,0)
def mousePressR(self, m):
self._mouseCenter = self.rightImage.imgRect().center()
self.mousePress(m,1)
def mousePress(self, m, side):
self._mouseStart = m.pos()
self._mouseSide = side
self._leftTransform = self.config.leftState().transform
self._rightTransform = self.config.rightState().transform
def mouseMove(self, m):
self._mouseEnd = m.pos()
if self.config.mode == 0:
transform = self.computeScale(self._mouseStart, self._mouseEnd)
elif self.config.mode == 1:
transform = self.computeMove(self._mouseStart, self._mouseEnd)
elif self.config.mode == 2:
transform = self.computeRotate(self._mouseStart, self._mouseEnd)
elif self.config.mode == 3:
transform = self.computeRotateScale(self._mouseStart, self._mouseEnd)
if (self._mouseSide==0 or self.config.linked):
self.config.leftState().transform = self._leftTransform * transform
if (self._mouseSide==1 or self.config.linked):
self.config.rightState().transform = self._rightTransform * transform
def saveTriggered(self):
dstFile = self.config.proposeFilename()
if dstFile == None: return
print("saving in "+dstFile)
# create an image for the final output
img = QImage(self.config.saveSize, QImage.Format_RGB888)
qp = QPainter(img)
# black background and then the images
dst = QRect(0,0,img.width(), img.height())
brush = QBrush(Qt.SolidPattern)
brush.setColor(Qt.black)
qp.setBrush(brush)
qp.drawRect(dst)
self.config.paintImage(qp, dst)
qp.end()
img.save(dstFile)
class DepthRenderThread(QThread):
renderedImage = pyqtSignal()
def __init__(self, w,h, l,r, parent=None):
super(DepthRenderThread, self).__init__(parent)
self.mutex = QMutex()
self.condition = QWaitCondition()
self.left = l
self.right = r
self.image = QImage(w, h, QImage.Format_Grayscale8)
self.restart = False
self.abort = False
def __del__(self):
self.mutex.lock()
self.abort = True
self.condition.wakeOne()
self.mutex.unlock()
self.wait()
def updateImage(self):
locker = QMutexLocker(self.mutex)
if not self.isRunning():
self.start(QThread.LowPriority)
else:
self.restart = True
self.condition.wakeOne()
def _updateImage(self):
print("updating depth map")
tmp = self.image.copy()
tmp.fill(Qt.black)
qp = QPainter(tmp)
self.left.paintImage(qp, QRect(QPoint(0,0), tmp.size()))
qp.end()
ptr = tmp.constBits()
ptr.setsize(tmp.byteCount())
left = np.array(ptr).reshape( tmp.height(), tmp.width(), 1)
qp = QPainter(tmp)
self.right.paintImage(qp, QRect(QPoint(0,0), tmp.size()))
qp.end()
ptr = tmp.constBits()
ptr.setsize(tmp.byteCount())
right = np.array(ptr).reshape( tmp.height(), tmp.width(), 1)
print("begin detection...")
stereo = cv2.StereoBM.create(numDisparities=16, blockSize=15)
# window_size = 3
# min_disp = 16
# num_disp = 112-min_disp
# stereo = cv2.StereoSGBM.create(
# minDisparity = min_disp,
# numDisparities = num_disp,
# blockSize = window_size,
# uniquenessRatio = 10,
# speckleWindowSize = 100,
# speckleRange = 32,
# disp12MaxDiff = 1,
# P1 = 8*3*window_size**2,
# P2 = 32*3*window_size**2
# )
#im = right
im = stereo.compute(left, right)
#pprint(im)
im = (im/16).astype(np.uint8)
print("convert result to QImage")
# consider post processing: https://docs.opencv.org/3.1.0/d3/d14/tutorial_ximgproc_disparity_filtering.html
self.mutex.lock()
self.image = QImage(im.data, im.shape[1], im.shape[0], im.strides[0],
QImage.Format_Grayscale8).copy()
self.mutex.unlock()
print("3d final image size "+str(self.image.width())+"x"+str(self.image.height()))
def run(self):
while not self.abort:
self._updateImage()
self.renderedImage.emit()
self.mutex.lock()
if not self.restart:
self.condition.wait(self.mutex)
self.restart = False
self.mutex.unlock()
class DepthWindow(QWidget):
def __init__(self, config, parent=None):
super().__init__(parent)
self.config = config
self.setWindowTitle('3D Tiefenkarte')
self.setMinimumSize(self.config.aspectRatio.width()*5/2,
self.config.aspectRatio.height()*5)
self.setMaximumSize(self.config.aspectRatio.width()*50/2,
self.config.aspectRatio.height()*50)
aw = self.config.aspectRatio.width()
ah = self.config.aspectRatio.height()
self.thread = DepthRenderThread(aw*200/2, ah*200,
self.config.leftState(), self.config.rightState(), self)
self.thread.renderedImage.connect(self.repaint)
self.config.leftState().changed.connect(self.thread.updateImage)
self.config.rightState().changed.connect(self.thread.updateImage)
def sizeHint(self):
return QSize(self.config.aspectRatio.width()*39/2,
self.config.aspectRatio.height()*30)
def imgRect(self):
aw = self.config.aspectRatio.width()
ah = self.config.aspectRatio.height()*2
if self.width() > aw*self.height()/ah:
w = aw*self.height()/ah
h = self.height()
else:
w = self.width()
h = ah*self.width()/aw
# print("3d depth size "+str(w)+"x"+str(h))
return QRect((self.width()-w)/2,(self.height()-h)/2,w,h)
def paintEvent(self, event):
locker = QMutexLocker(self.thread.mutex)
img = self.thread.image
dst = self.imgRect()
qp = QPainter()
qp.begin(self)
# draw background
brush = QBrush(Qt.SolidPattern)
# brush.setColor(Qt.white)
brush.setColor(Qt.black)
qp.setBrush(brush)
qp.drawRect(QRect(0,0,self.width(),self.height()))
qp.save()
qp.translate(dst.x()+dst.width()/2, dst.y()+dst.height()/2)
qp.scale(dst.width()/img.width(), dst.width()/img.width())
qp.translate(-img.width()/2, -img.height()/2)
qp.drawImage(0,0,img)
qp.restore()
# draw orientation lines
qp.setPen(QColor(255,255,255,150))
qp.drawLine(dst.x()+dst.width()/3,dst.y()+0,
dst.x()+dst.width()/3,dst.y()+dst.height())
qp.drawLine(dst.x()+dst.width()/2,dst.y()+0,
dst.x()+dst.width()/2,dst.y()+dst.height())
qp.drawLine(dst.x()+dst.width()*2/3,dst.y()+0,
dst.x()+dst.width()*2/3,dst.y()+dst.height())
qp.drawLine(dst.x()+0,dst.y()+dst.height()/3,
dst.x()+dst.width(),dst.y()+dst.height()/3)
qp.drawLine(dst.x()+0,dst.y()+dst.height()/2,
dst.x()+dst.width(),dst.y()+dst.height()/2)
qp.drawLine(dst.x()+0,dst.y()+dst.height()*2/3,
dst.x()+dst.width(),dst.y()+dst.height()*2/3)
qp.end()
if __name__ == '__main__':
app = QApplication(sys.argv)
config = GlobalConfig()
iw = ImageWindow(config)
iw.show()
dp = DepthWindow(config)
dp.show()
sys.exit(app.exec_())