def initUI(self):
w = 640*2
h = 480*2
self.cam_w = 640
self.cam_h = 480
self.cam_pos = [(640, 0), (640, 480)]
self.cam_refresh = 1.
self.fig_w = 640
self.fig_h = 480
self.fig_pos = (0, 480)
# the marker set object
self.markers = MarkerSet(m=4, diameter=0.04, dim=2)
self.cam_url = ['http://172.16.156.' + str(n) + ':8080/?action=stream' for n in [139, 141]]
#self.cam_url = ['http://213.221.142.195:8888/cgi-bin/faststream.jpg?stream=full&fps=0', 'http://213.221.150.11/cgi-bin/faststream.jpg?stream=full&fps=0']
# Create all the text field to input distances
d_field_w = 50 # width of the text field
# markers on camera display
self.cam_mark = [None,None]
for i in xrange(2):
self.cam_mark[i] = []
# add the background image
bg_file = './gui/assets/marker_pos.png'
bg = QtGui.QPixmap(bg_file)
label = QtGui.QLabel(self)
label.setPixmap(bg)
# Overlay the text edit fields
dist_labels = ['W4','W1','N4','d14','S1','d24','d13',
'd34','d12','N3','d23','S2','E3','E2',]
dist_fields_pos = [(55,90), (55,370),
(170, 50), (100, 230), (170, 410),
(240, 155), (240, 305),
(295, 90), (295, 370),
(420, 50), (490, 230), (420, 410),
(535, 90), (535, 370)
]
all_fields = dict(zip(dist_labels, dist_fields_pos))
self.dist_labels = ['d12','d13','d14','d23','d24','d34']
self.dist_fields = [QtGui.QLineEdit(self) for i in xrange(len(self.dist_labels))]
i = 0
for d,t in zip(self.dist_fields, self.dist_labels):
d.setFixedWidth(d_field_w)
t = all_fields[t]
d.move(t[0],t[1])
i += 1
# Add the button to process everything
self.button = QtGui.QPushButton('Calibrate', self)
self.button.clicked.connect(self.calibrate)
self.button.move(320-self.button.geometry().width()/2, 440)
# Embbed a matplotlib figure in the lower left quadrant
self.fig_dpi = 70
self.figure = MyDynamicMplCanvas(self, width=self.fig_w/self.fig_dpi, height=self.fig_h/self.fig_dpi, dpi=self.fig_dpi)
self.figure.move(self.fig_pos[0], self.fig_pos[1])
# Add the camera panels
self.cam_num = 2
self.cam_img = [None, None]
self.camera = [QtGui.QLabel(self) for i in xrange(self.cam_num)]
for i in xrange(2):
self.camera[i].move(self.cam_pos[i][0], self.cam_pos[i][1])
self.camera[i].resize(self.cam_w, self.cam_h)
self.camera[i].setAlignment(QtCore.Qt.AlignCenter | QtCore.Qt.AlignVCenter)
self.camera[0].mousePressEvent = self.cam0_mouseEvent
self.camera[1].mousePressEvent = self.cam1_mouseEvent
# Setup a timer to update cameras regularly
self.cam_timer = QtCore.QTimer()
self.cam_timer.start(self.cam_refresh)
self.connect(self.cam_timer, QtCore.SIGNAL('timeout()'), self.run_cam_update)
# This is the tick timer to check on the cam update thread
self.cam_updating = False
self.tick_timer = QtCore.QTimer()
self.connect(self.tick_timer, QtCore.SIGNAL('timeout()'), self.tick)
# Set geometry and title and stuff
self.setGeometry(0, 0, w, h)
self.setWindowTitle('Calibration')
self.show()
self.raise_()
class CalibrationWidget(QtGui.QWidget):
def __init__(self):
super(CalibrationWidget, self).__init__()
self.initUI()
def initUI(self):
w = 640*2
h = 480*2
self.cam_w = 640
self.cam_h = 480
self.cam_pos = [(640, 0), (640, 480)]
self.cam_refresh = 1.
self.fig_w = 640
self.fig_h = 480
self.fig_pos = (0, 480)
# the marker set object
self.markers = MarkerSet(m=4, diameter=0.04, dim=2)
self.cam_url = ['http://172.16.156.' + str(n) + ':8080/?action=stream' for n in [139, 141]]
#self.cam_url = ['http://213.221.142.195:8888/cgi-bin/faststream.jpg?stream=full&fps=0', 'http://213.221.150.11/cgi-bin/faststream.jpg?stream=full&fps=0']
# Create all the text field to input distances
d_field_w = 50 # width of the text field
# markers on camera display
self.cam_mark = [None,None]
for i in xrange(2):
self.cam_mark[i] = []
# add the background image
bg_file = './gui/assets/marker_pos.png'
bg = QtGui.QPixmap(bg_file)
label = QtGui.QLabel(self)
label.setPixmap(bg)
# Overlay the text edit fields
dist_labels = ['W4','W1','N4','d14','S1','d24','d13',
'd34','d12','N3','d23','S2','E3','E2',]
dist_fields_pos = [(55,90), (55,370),
(170, 50), (100, 230), (170, 410),
(240, 155), (240, 305),
(295, 90), (295, 370),
(420, 50), (490, 230), (420, 410),
(535, 90), (535, 370)
]
all_fields = dict(zip(dist_labels, dist_fields_pos))
self.dist_labels = ['d12','d13','d14','d23','d24','d34']
self.dist_fields = [QtGui.QLineEdit(self) for i in xrange(len(self.dist_labels))]
i = 0
for d,t in zip(self.dist_fields, self.dist_labels):
d.setFixedWidth(d_field_w)
t = all_fields[t]
d.move(t[0],t[1])
i += 1
# Add the button to process everything
self.button = QtGui.QPushButton('Calibrate', self)
self.button.clicked.connect(self.calibrate)
self.button.move(320-self.button.geometry().width()/2, 440)
# Embbed a matplotlib figure in the lower left quadrant
self.fig_dpi = 70
self.figure = MyDynamicMplCanvas(self, width=self.fig_w/self.fig_dpi, height=self.fig_h/self.fig_dpi, dpi=self.fig_dpi)
self.figure.move(self.fig_pos[0], self.fig_pos[1])
# Add the camera panels
self.cam_num = 2
self.cam_img = [None, None]
self.camera = [QtGui.QLabel(self) for i in xrange(self.cam_num)]
for i in xrange(2):
self.camera[i].move(self.cam_pos[i][0], self.cam_pos[i][1])
self.camera[i].resize(self.cam_w, self.cam_h)
self.camera[i].setAlignment(QtCore.Qt.AlignCenter | QtCore.Qt.AlignVCenter)
self.camera[0].mousePressEvent = self.cam0_mouseEvent
self.camera[1].mousePressEvent = self.cam1_mouseEvent
# Setup a timer to update cameras regularly
self.cam_timer = QtCore.QTimer()
self.cam_timer.start(self.cam_refresh)
self.connect(self.cam_timer, QtCore.SIGNAL('timeout()'), self.run_cam_update)
# This is the tick timer to check on the cam update thread
self.cam_updating = False
self.tick_timer = QtCore.QTimer()
self.connect(self.tick_timer, QtCore.SIGNAL('timeout()'), self.tick)
# Set geometry and title and stuff
self.setGeometry(0, 0, w, h)
self.setWindowTitle('Calibration')
self.show()
self.raise_()
def cam0_mouseEvent(self, QMouseEvent):
p = QMouseEvent.pos()
self.cam_mark[0].append(p)
self.updateCameras()
def cam1_mouseEvent(self, QMouseEvent):
p = QMouseEvent.pos()
self.cam_mark[1].append(p)
self.updateCameras()
def paintCircles(self):
for i in xrange(self.cam_num):
pixmap = self.camera[i].pixmap()
# need to test if pixmap exists or risk a seg fault!!!
if pixmap is not None:
# obtain the painter
paint = QtGui.QPainter(pixmap)
radx = 5
rady = 5
# draw red circles
paint.setPen(QtCore.Qt.darkRed)
paint.setBrush(QtCore.Qt.darkRed)
for k,center in enumerate(self.cam_mark[i]):
paint.drawEllipse(center, radx, rady)
paint.drawText(center+QtCore.QPoint(1.5*radx,-1.5*rady), str(k+1))
def run_cam_update(self):
if not self.cam_updating:
self.cam_updating = True
threading.Thread(target=self.getCameras, name="_proc").start()
self.tick_timer.start()
def updateCameras(self):
""" Update the camera labels with new image """
for i in xrange(self.cam_num):
if self.cam_img[i] is not None:
pixmap = ndarray2pixmap(self.cam_img[i], size=(self.cam_w, self.cam_h))
self.camera[i].setPixmap(pixmap)
self.camera[i].setText('')
self.paintCircles()
else:
self.camera[i].setText('Couldn''t load camera ' + str(i))
def getCameras(self):
""" Download current image from the webcam """
for i in xrange(self.cam_num):
try:
self.cam_img[i] = get_image(self.cam_url[i])
except:
self.cam_img[i] = None
# flag update as finished
self.cam_updating = False
def tick(self):
if not self.cam_updating:
self.tick_timer.stop()
self.updateCameras()
def calibrate(self):
# read all the text fields
distances = {}
all_ok = True
for label, field in zip(self.dist_labels, self.dist_fields):
if field.text() != '':
try:
distances[label] = float(field.text())
except:
distances[label] = -1
all_ok = False
break
interdistances = ['d12', 'd13', 'd14', 'd23', 'd24', 'd34']
wall_distances = ['W4','W1','N4','N3','S1','S2','E2','E3']
if np.array([distances[dp] != -1 for dp in interdistances]).all():
D = np.zeros((self.markers.m, self.markers.m))
# create EDM from distances
diam = self.markers.diameter
D[0,1] = D[1,0] = distances['d12'] + diam
D[0,2] = D[2,0] = distances['d13'] + diam
D[0,3] = D[3,0] = distances['d14'] + diam
D[1,2] = D[2,1] = distances['d23'] + diam
D[1,3] = D[3,1] = distances['d24'] + diam
D[3,2] = D[2,3] = distances['d34'] + diam
D **= 2
self.markers.fromEDM(D)
self.markers.normalize()
self.figure.update_figure(self.markers)
else:
QtGui.QMessageBox.about(self, 'Error','Please, fill distances properly')
