def create_dropdown(self, options, selection):
try:
index = options.index(selection)
except ValueError:
rospy.loginfo('Selection %s not found in options %s.', str(selection), str(options))
index = -1
dropdown = QComboBox()
for option in options:
dropdown.addItem(option)
dropdown.setCurrentIndex(index)
return dropdown
def add_combobox(self, name, options, current, title="", on_change=None):
if title:
self.add_label(title)
combo = QComboBox()
combo.setObjectName(name)
for op in options:
combo.addItem(op)
cur_ind = 0
if current in options:
cur_ind = options.index(current)
combo.setCurrentIndex(cur_ind)
if on_change is not None:
combo.activated.connect(on_change)
self.group_area.layout().addWidget(combo)
class RqtHandeyeCalibration(Plugin):
def __init__(self, context):
super(RqtHandeyeCalibration, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('HandeyeCalibration')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print('arguments: ', args)
print('unknowns: ', unknowns)
# Create QWidgets
self._widget = QWidget()
self._infoWidget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_easy_handeye'),
'resource', 'rqt_handeye.ui')
ui_info_file = os.path.join(
rospkg.RosPack().get_path('rqt_easy_handeye'), 'resource',
'rqt_handeye_info.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
loadUi(ui_info_file, self._infoWidget)
self._widget.horizontalLayout_infoAndActions.insertWidget(
0, self._infoWidget)
self._calibration_algorithm_combobox = QComboBox()
self._calibration_algorithm_layout = QHBoxLayout()
self._calibration_algorithm_layout.insertWidget(
0, QLabel('Calibration algorithm: '))
self._calibration_algorithm_layout.insertWidget(
1, self._calibration_algorithm_combobox)
self._infoWidget.layout().insertLayout(
-1, self._calibration_algorithm_layout)
# Give QObjects reasonable names
self._widget.setObjectName('RqtHandeyeCalibrationUI')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
self.client = HandeyeClient()
resp = self.client.list_algorithms()
for i, a in enumerate(resp.algorithms):
self._calibration_algorithm_combobox.insertItem(i, a)
index_of_curr_alg = resp.algorithms.index(resp.current_algorithm)
self._calibration_algorithm_combobox.setCurrentIndex(index_of_curr_alg)
self._calibration_algorithm_combobox.currentTextChanged.connect(
self.client.set_algorithm)
self._infoWidget.calibNameLineEdit.setText(rospy.get_namespace())
self._infoWidget.trackingBaseFrameLineEdit.setText(
self.client.parameters.tracking_base_frame)
self._infoWidget.trackingMarkerFrameLineEdit.setText(
self.client.parameters.tracking_marker_frame)
self._infoWidget.robotBaseFrameLineEdit.setText(
self.client.parameters.robot_base_frame)
self._infoWidget.robotEffectorFrameLineEdit.setText(
self.client.parameters.robot_effector_frame)
if self.client.parameters.eye_on_hand:
self._infoWidget.calibTypeLineEdit.setText("eye on hand")
else:
self._infoWidget.calibTypeLineEdit.setText("eye on base")
self._widget.takeButton.clicked[bool].connect(self.handle_take_sample)
self._widget.removeButton.clicked[bool].connect(
self.handle_remove_sample)
self._widget.computeButton.clicked[bool].connect(
self.handle_compute_calibration)
self._widget.saveButton.clicked[bool].connect(
self.handle_save_calibration)
self._widget.removeButton.setEnabled(False)
self._widget.computeButton.setEnabled(False)
self._widget.saveButton.setEnabled(False)
def shutdown_plugin(self):
# TODO unregister all publishers here
pass
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
# def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure
# This will enable a setting button (gear icon) in each dock widget title bar
# Usually used to open a modal configuration dialog
def _display_sample_list(self, sample_list):
self._widget.sampleListWidget.clear()
for i in range(len(sample_list.hand_world_samples)):
formatted_robot_sample = format_sample(
sample_list.hand_world_samples[i])
formatted_tracking_sample = format_sample(
sample_list.camera_marker_samples[i])
self._widget.sampleListWidget.addItem(
'{}) \n hand->world \n {} \n camera->marker\n {}\n'.format(
i + 1, formatted_robot_sample, formatted_tracking_sample))
self._widget.sampleListWidget.setCurrentRow(
len(sample_list.hand_world_samples) - 1)
self._widget.removeButton.setEnabled(
len(sample_list.hand_world_samples) > 0)
def handle_take_sample(self):
sample_list = self.client.take_sample()
self._display_sample_list(sample_list)
self._widget.computeButton.setEnabled(
len(sample_list.hand_world_samples) > 1)
self._widget.saveButton.setEnabled(False)
def handle_remove_sample(self):
index = self._widget.sampleListWidget.currentRow()
sample_list = self.client.remove_sample(index)
self._display_sample_list(sample_list)
self._widget.computeButton.setEnabled(
len(sample_list.hand_world_samples) > 1)
self._widget.saveButton.setEnabled(False)
def handle_compute_calibration(self):
result = self.client.compute_calibration()
self._widget.computeButton.setEnabled(False)
if result.valid:
self._widget.outputBox.setPlainText(
str(result.calibration.transform.transform))
self._widget.saveButton.setEnabled(True)
else:
self._widget.outputBox.setPlainText(
'The calibration could not be computed')
self._widget.saveButton.setEnabled(False)
def handle_save_calibration(self):
self.client.save()
self._widget.saveButton.setEnabled(False)
