def load_lightbulb(self):
RED_PATH = os.path.join('images', 'red.jpg')
GREEN_PATH = os.path.join('images', 'green.jpg')
assert os.path.isfile(RED_PATH), '[ERROR] Path not exist: {}'.format(RED_PATH)
assert os.path.isfile(GREEN_PATH), '[ERROR] Path not exist: {}'.format(GREEN_PATH)
red = cv2.imread(RED_PATH)
green = cv2.imread(GREEN_PATH)
self.red_qimg = convert_qimg(red, win_width = 50, win_height = 50)
self.green_qimg = convert_qimg(green, win_width = 50, win_height = 50)
def display_pixmap(self, frame_store, img_type):
if img_type == 'rgb':
qimg = convert_qimg(frame_store.rgb_img)
self.rgb_label.setPixmap(QtGui.QPixmap.fromImage(qimg))
if img_type == 'rgb2':
qimg = convert_qimg(frame_store.rgb_img)
self.rgb2_label.setPixmap(QtGui.QPixmap.fromImage(qimg))
else:
self.seg_qimg = convert_qimg(frame_store.seg_out)
#qimg = convert_qimg(frame_store.seg_out)
self.seg_label.setPixmap(QtGui.QPixmap.fromImage(self.seg_qimg))
def display_pixmap(self, frame_store, img_type):
"""
input:
frame_store -- FrameStore instance
img_type -- str, 'rgb', 'depth' or 'seg'
"""
assert img_type in ['rgb', 'seg'], 'WRONG ARGUMENT img_type'
if img_type == 'rgb':
qimg = convert_qimg(frame_store.rgb_img)
self.rgb_label.setPixmap(QtGui.QPixmap.fromImage(qimg))
else:
self.seg_qimg = convert_qimg(frame_store.seg_out)
self.seg_label.setPixmap(QtGui.QPixmap.fromImage(self.seg_qimg))
def update_third_layer(self, frame_store):
"""
update obstacle avoidance (frame + summary)
"""
obj_tup, obj_img = run_avoidance(frame_store.d1_img, frame_store.pred_idx,
depth_threshold = 1000, visible_width = 30)
# convert to uint8 is important!
obj_img = np.uint8(obj_img)
qimg = convert_qimg(obj_img, win_width = 620, win_height = 360, is_gray = True)
# update frame on left
self.obj_frame.setPixmap(QPixmap.fromImage(qimg))
# update summary on right
if obj_tup[1] is None:
self.obj_name.setText('NA')
self.obj_dist.setText('NA')
# raise green alarm
self.lightbulb.setPixmap(QPixmap.fromImage(self.green_qimg))
else:
obj_name = self.names[obj_tup[1] + 1]
# translate pixel value to meter
meter = obj_tup[2] * self.depth_scale
self.obj_name.setText(obj_name)
self.obj_dist.setText('{0:.1f} cm'.format(meter * 100))
# raise red alarm
self.lightbulb.setPixmap(QPixmap.fromImage(self.red_qimg))
def update_lightbulb(self):
from pyqt_utils import convert_qimg
import cv2
from PyQt5.QtGui import QPixmap
img = cv2.imread(os.path.join('..', 'images', 'green.jpg'))
qimg = convert_qimg(img, win_width = 50, win_height = 50)
self.lightbulb.setPixmap(QPixmap.fromImage(qimg))
def update_second_layer(self, frame_store):
"""
update segmentation result and scene summary
"""
# update segmentation result
qimg = convert_qimg(frame_store.pred_rgb, win_width = 620, win_height = 360)
self.seg_frame.setPixmap(QPixmap.fromImage(qimg))
# update scene summary
grid_dict = scene_summarize(frame_store.pred_idx,
self.mat, self.names,
threshold = 900)
self.update_scene_summary(grid_dict)
def display_pixmap(self, frame_store, img_type):
"""
input:
frame_store -- FrameStore instance
img_type -- str, 'rgb', 'depth' or 'seg'
"""
assert img_type in ['rgb', 'depth', 'seg'], 'WRONG ARGUMENT img_type'
if img_type == 'rgb':
qimg = convert_qimg(frame_store.rgb_img)
self.rgb_label.setPixmap(QtGui.QPixmap.fromImage(qimg))
elif img_type == 'depth':
frame_store.d1_img = np.uint8(frame_store.d1_img)
if len(frame_store.d1_img.shape) == 2:
is_gray = True
else:
is_gray = False
qimg = convert_qimg(frame_store.d1_img * 30, is_gray=is_gray)
# store depth 1-channel map for distance query
self.depth_label.setPixmap(QtGui.QPixmap.fromImage(qimg))
else:
self.seg_qimg = convert_qimg(frame_store.pred_rgb)
#self.seg_pixmap = QtGui.QPixmap.fromImage(qimg)
self.seg_label.setPixmap(QtGui.QPixmap.fromImage(self.seg_qimg))
def update_pixmap(self):
qimg1 = convert_qimg(self.data1, win_width = 620, win_height = 360)
qimg2 = convert_qimg(self.data2, win_width = 620, win_height = 360)
self.seg_frame.setPixmap(QPixmap.fromImage(qimg1))
self.obj_frame.setPixmap(QPixmap.fromImage(qimg2))
