def init_camera(self):
"""Initializes the camera connecting to one if possible,
this is where adjustments need to be made if you want to change the settings."""
if not self.cam_ctrl.pmd:
self.cam_ctrl_tx.emit(JMsg('configure_cam', {'ir_stream': {}, 'depth_stream': {}}))
# self.cam_ctrl_tx.emit(JMsg('depth_stream'))
self.cam_ctrl_tx.emit(JMsg('start_cam'))
def run(self):
# self.app = QApplication(sys.argv)
# Creates the new main window
# self.window = DisplayWindow()
self.window.statusBar().showMessage("Initializing...")
# Sets up the grid layout
# self.grid = QGridLayout()
self.grid.setSpacing(10)
# Creates basic layout widget
widg = QWidget()
widg.setLayout(self.grid)
self.set_widget(JMsg("", widg))
self.window.setGeometry(300, 300, 500, 400)
self.window.setWindowTitle('Depth Averaging Utility')
self.window.statusBar().showMessage('Ready')
self.window.show()
# region Sets up the states dict
self.states['set_widget'] = self.set_widget
self.states['status'] = self.set_status
self.states['title'] = self.set_title
self.states['show'] = self.window.show
self.states['hide'] = self.window.hide
self.states['create_button'] = self.create_button
self.states['create_label'] = self.create_label
self.states['create_text_entry'] = self.create_line_edit
self.states['create_slider'] = self.create_slider
self.states['create_widget'] = self.create_widget
def idle_state(self):
# Collects and sends off a frame if there isn't anything else the daemon needs to do
if self.cam is not None and self.cam.isCapturing:
frames = self.cam.get_frame()
if frames is not None:
self.tx.emit(JMsg('frame_update', frames))
def update_slider(self, value: int, slider: str):
"""Updates the value of the adjusted slider"""
if slider != 'scale':
value /= self.slider_scale
self.set_status('Updating slider bars')
self.data_proc.cmap_up_to_date = False
self.data_proc.rx.emit(JMsg(slider, value))
q = queue.Queue()
def linker():
global q
q.put(True)
sl = self.data_proc.slider_tx.connect(linker)
while q.empty():
pass
self.data_proc.slider_tx.disconnect(sl)
self.set_slider_limits()
self.reset_status()
def plot_data(self, msg: JMsg):
"""Plots the frame data onto the window."""
if msg.data is None:
print_warning('Trying to display empty frame!')
return
img = msg.data[0]
depth = msg.data[1]
# print(depth.shape[0], ", ", depth.shape[1])
img_disp = self.disp_ctrl.widgets['img']
img_disp.setImage(img)
if len(self.data_proc.state_queue) < self.data_proc.buffer_limit:
if self.use_roi:
# Generates the roi coordinates only if the roi has been changed, this takes a long time (~50 ms)
if self.roi_coords is None:
self.roi_coords = self.roi.getArrayRegion(
ct.get_roi_coords_matrix(img.shape[0], img.shape[1]),
img_disp.getImageItem())
self.data_proc.rx.emit(JMsg('enable_roi', self.roi_coords))
elif self.roi_coords is not None:
self.data_proc.rx.emit(JMsg('disable_roi'))
self.data_proc.rx.emit(JMsg('frame', depth))
if self.prev_skipped:
print()
self.prev_skipped = False
self.frame_count = 1
self.set_status('Ready')
else:
not_string = "Data processor buffer full, skipping {} cloud frames!".format(
self.frame_count)
print_notification(not_string,
begin='\r' if self.prev_skipped else '',
end='')
self.prev_skipped = True
self.frame_count += 1
self.set_status(not_string)
def create_slider(self, msg: JMsg):
"""Creates a new slider with the given arguments"""
msg.data['type'] = QSlider
msg.data['kwargs'] = {'orientation': msg.data['orient']}
self.create_widget(msg)
def create_line_edit(self, msg: JMsg):
"""Creates a new lineEdit (text entry) box with the given arguments"""
msg.data['type'] = QLineEdit
self.create_widget(msg)
def create_label(self, msg: JMsg):
"""Creates a new label with the given arguments"""
msg.data['type'] = QLabel
msg.data['kwargs'] = {'text': msg.data['text']}
self.create_widget(msg)
def create_button(self, msg: JMsg):
"""Creates a new button with the given arguments"""
msg.data['type'] = QPushButton
msg.data['kwargs'] = {'text': msg.data['text']}
self.create_widget(msg)
def set_status(self, message: str):
"""Sets the status bar of the main display"""
self.disp_ctrl_update.emit(JMsg('status', message))
def init_widget(self):
"""Creates the window layout for the main display"""
# region Sets up the roi and exit buttons
self.disp_ctrl_update.emit(JMsg('create_button',
get_text_widg_dict('roi', 'roi_btn', 0, 1, col_span=3,
tip='Create a new <b>ROI</b> (region of interest)' +
' or edit the current one.')))
#
# self.disp_ctrl_update.emit(JMsg('create_button',
# get_text_widg_dict('Exit', 'exit_btn', 2, 1, 'Exit the program')))
# self.disp_ctrl.widgets['exit_btn'].clicked.connect(self.stop)
# endregion
# region Sets up the colormap sliders
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('Max', 'cmap_max_lbl', 4, 1)))
self.disp_ctrl_update.emit(JMsg('create_slider',
get_slider_widg_dict(Qt.Vertical, 'cmap_max', 5, 1,
tip='Adjusts the upper saturation limit of the colormap')))
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('3.0 m', 'cmap_max_lbl_val', 6, 1)))
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('Mid', 'cmap_mid_lbl', 4, 2)))
self.disp_ctrl_update.emit(JMsg('create_slider',
get_slider_widg_dict(Qt.Vertical, 'cmap_mid', 5, 2,
tip='Adjusts the mid-point of the colormap')))
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('1.5 m', 'cmap_mid_lbl_val', 6, 2)))
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('Min', 'cmap_min_lbl', 4, 3)))
self.disp_ctrl_update.emit(JMsg('create_slider',
get_slider_widg_dict(Qt.Vertical, 'cmap_min', 5, 3,
tip='Adjusts the lower saturation limit of the colormap')))
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('0.0 m', 'cmap_min_lbl_val', 6, 3)))
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('Depth Scale: {} x'.format(self.depth_scale_max >> 1),
'dmp_scale_lbl', 7, 0)))
self.disp_ctrl.widgets['dmp_scale_lbl'].setAlignment(Qt.AlignLeft)
self.disp_ctrl_update.emit(JMsg('create_slider',
get_slider_widg_dict(Qt.Horizontal, 'dmp_scale', 6, 0)))
# endregion
# region Sets up the depth data labels
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('Average depth: 0.0 m', 'dmp_avg_lbl', 1, 1, 1, 3)))
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('Minimum depth: 0.0 m', 'dmp_min_lbl', 2, 1, 1, 3)))
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('Maximum depth: 0.0 m', 'dmp_max_lbl', 3, 1, 1, 3)))
# endregion
# region Sets up the plots
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('Grayscale', 'img_lbl', 0, 0)))
self.disp_ctrl_update.emit(JMsg('create_widget',
get_custom_widg_dict(pg.ImageView, 'img', 1, 0, 3, 1)))
# self.disp_ctrl_update.emit(JMsg('create_label',
# get_text_widg_dict('Depth Image', 'dimg_lbl', 0, 1)))
# args = get_custom_widg_dict(pg.ImageView, 'dimg', 1, 1, 1, 3)
# self.disp_ctrl_update.emit(JMsg('create_widget',
# args))
self.disp_ctrl_update.emit(JMsg('create_label',
get_text_widg_dict('Point Cloud', 'dmp_lbl', 4, 0)))
self.disp_ctrl_update.emit(JMsg('create_widget',
get_custom_widg_dict(pgl.GLViewWidget, 'dmp', 5, 0)))
self.scatter = pgl.GLScatterPlotItem(pos=np.zeros(shape=(307200, 3), dtype=float), size=3)
self.disp_ctrl.widgets['dmp'].addItem(self.scatter)
# region view formatting
self.scatter.rotate(180, 0, 0, 0)
self.scatter.setGLOptions('opaque')
widg = self.disp_ctrl.widgets['dmp']
# widg.mouseReleaseEvent = lambda v: self.update_center_display()
widg.pan(-320, -240, 0)
widg.setCameraPosition(distance=1746, elevation=43, azimuth=-479)
# endregion
# endregion
# Sets up the filename bar
self.disp_ctrl_update.emit(JMsg('create_text_entry',
get_text_entry_widg_dict('file_entry', 7, 1, 1, 3,
tip='Enter a video filename to load in.')))