def writeSvg(self, fileName=None):
if fileName is None:
fileName = QtGui.QFileDialog.getSaveFileName()
fileName = str(fileName)
PlotItem.lastFileDir = os.path.dirname(fileName)
self.svg = QtSvg.QSvgGenerator()
self.svg.setFileName(fileName)
res = 120.
view = self.scene().views()[0]
bounds = view.viewport().rect()
bounds = QtCore.QRectF(0, 0, bounds.width(), bounds.height())
self.svg.setResolution(res)
self.svg.setViewBox(bounds)
self.svg.setSize(QtCore.QSize(bounds.width(), bounds.height()))
painter = QtGui.QPainter(self.svg)
view.render(painter, bounds)
painter.end()
## Workaround to set pen widths correctly
import re
data = open(fileName).readlines()
for i in range(len(data)):
line = data[i]
m = re.match(
r'(<g .*)stroke-width="1"(.*transform="matrix\(([^\)]+)\)".*)',
line)
if m is not None:
#print "Matched group:", line
g = m.groups()
matrix = list(map(float, g[2].split(',')))
#print "matrix:", matrix
scale = max(abs(matrix[0]), abs(matrix[3]))
if scale == 0 or scale == 1.0:
continue
data[i] = g[0] + ' stroke-width="%0.2g" ' % (
1.0 / scale) + g[1] + '\n'
#print "old line:", line
#print "new line:", data[i]
open(fileName, 'w').write(''.join(data))
def __init__(self,
size=None,
offset=None,
horSpacing=25,
verSpacing=0,
box=True):
"""
============== ===============================================================
**Arguments:**
size Specifies the fixed size (width, height) of the legend. If
this argument is omitted, the legend will autimatically resize
to fit its contents.
offset Specifies the offset position relative to the legend's parent.
Positive values offset from the left or top; negative values
offset from the right or bottom. If offset is None, the
legend must be anchored manually by calling anchor() or
positioned by calling setPos().
horSpacing Specifies the spacing between the line symbol and the label.
verSpacing Specifies the spacing between individual entries of the legend
vertically. (Can also be negative to have them really close)
box Specifies if the Legend should will be drawn with a rectangle
around it.
============== ===============================================================
"""
GraphicsWidget.__init__(self)
GraphicsWidgetAnchor.__init__(self)
self.setFlag(self.ItemIgnoresTransformations)
self.layout = QtGui.QGraphicsGridLayout()
self.layout.setVerticalSpacing(verSpacing)
self.layout.setHorizontalSpacing(horSpacing)
self.setLayout(self.layout)
self.legendItems = []
self.plotItems = []
self.size = size
self.offset = offset
self.box = box
#A numItems variable needs to be introduced, because chaining removeItem and addItem function in random order,
# will otherwise lead to writing in the same layout row. Idea here is to always insert LabelItems on larger
# and larger layout row numbers. The GraphicsGridlayout item will not care about empty rows.
self.numItems = 0
if size is not None:
self.setGeometry(QtCore.QRectF(0, 0, self.size[0], self.size[1]))
def __init__(self,
text='',
color=(200, 200, 200),
html=None,
anchor=(0, 0),
border=None,
fill=None,
angle=0):
"""
=========== =================================================================================
Arguments:
*text* The text to display
*color* The color of the text (any format accepted by pg.mkColor)
*html* If specified, this overrides both *text* and *color*
*anchor* A QPointF or (x,y) sequence indicating what region of the text box will
be anchored to the item's position. A value of (0,0) sets the upper-left corner
of the text box to be at the position specified by setPos(), while a value of (1,1)
sets the lower-right corner.
*border* A pen to use when drawing the border
*fill* A brush to use when filling within the border
=========== =================================================================================
"""
## not working yet
#*angle* Angle in degrees to rotate text (note that the rotation assigned in this item's
#transformation will be ignored)
self.anchor = pg.Point(anchor)
#self.angle = 0
UIGraphicsItem.__init__(self)
self.textItem = QtGui.QGraphicsTextItem()
self.textItem.setParentItem(self)
self.lastTransform = None
self._bounds = QtCore.QRectF()
if html is None:
self.setText(text, color)
else:
self.setHtml(html)
self.fill = pg.mkBrush(fill)
self.border = pg.mkPen(border)
self.rotate(angle)
self.setFlag(
self.ItemIgnoresTransformations
) ## This is required to keep the text unscaled inside the viewport
def __init__(self,
buffer_size=0,
data_buffer=[],
graph_title="",
parent=None):
super(App, self).__init__(parent)
#### Create Gui Elements ###########
self.mainbox = QtGui.QWidget()
self.setCentralWidget(self.mainbox)
self.mainbox.setLayout(QtGui.QVBoxLayout())
self.canvas = pg.GraphicsLayoutWidget()
self.mainbox.layout().addWidget(self.canvas)
self.label = QtGui.QLabel()
self.mainbox.layout().addWidget(self.label)
self.view = self.canvas.addViewBox()
self.view.setAspectLocked(True)
self.view.setRange(QtCore.QRectF(0, 0, 100, 100))
self.numDstreams = 1
self.bufferLength = buffer_size
self.graphTitle = graph_title
self.otherplot = [
[self.canvas.addPlot(row=i, col=0, title=self.graphTitle)
] # , repeat line for more
for i in range(0, self.numDstreams)
]
self.h2 = [
[self.otherplot[i][0].plot(pen='r')]
for i in range(0, self.numDstreams)
] # , self.otherplot[i][1].plot(pen='g'), self.otherplot[i][2].plot(pen='b')
self.ydata = [
[np.zeros((1, self.bufferLength))]
for i in range(0, self.numDstreams)
] # ,np.zeros((1,self.bufferLength)),np.zeros((1,self.bufferLength))
for i in range(0, self.numDstreams):
self.otherplot[i][0].setYRange(min=-100, max=100)
self.update_plot(data_buffer)
def __init__(self, controller):
super().__init__()
self._controller = controller
self._frame_data = ''
GraphicsScene.registerObject(self)
# This will be a list of function calls that expect to be called with the painter object only
self._painter_function_calls = []
# The current view rectangle should increase as things are drawn. This is also used as the bounding rectangle,
# since pyqtgraph setRange appears to do strange things if the bounding rect varies independently of the
# view rect.
# We *must* have a default bounding rectangle before we have any data, otherwise Qt will fall over.
self._current_view_rect = QtCore.QRectF(0, 0, 1, 1)
# Specify the point extent as a QPoint - think of this as a delta that we add and subtract
self._point_extent = QtCore.QPointF(OPTIONS.point_extent,
OPTIONS.point_extent)
def paintEvent(self, ev):
QtGui.QPushButton.paintEvent(self, ev)
margin = 7
geom = QtCore.QRectF(0, 0, self.width(),
self.height()).adjusted(margin, margin, -margin,
-margin)
rect = self.path.boundingRect()
scale = min(geom.width() / float(rect.width()),
geom.height() / float(rect.height()))
p = QtGui.QPainter(self)
p.setRenderHint(p.Antialiasing)
p.translate(geom.center())
p.scale(scale, scale)
p.translate(-rect.center())
p.setPen(self.pen)
p.setBrush(self.brush)
p.drawPath(self.path)
p.end()
def scaleBy(self, s, center=None):
"""
Scale by *s* around given center point (or center of view).
*s* may be a Point or tuple (x, y)
"""
scale = Point(s)
if self.state['aspectLocked'] is not False:
scale[0] = self.state['aspectLocked'] * scale[1]
vr = self.targetRect()
if center is None:
center = Point(vr.center())
else:
center = Point(center)
tl = center + (vr.topLeft() - center) * scale
br = center + (vr.bottomRight() - center) * scale
self.setRange(QtCore.QRectF(tl, br), padding=0)
def paint(self, p, *args):
profile = debug.Profiler()
if self.image is None:
return
if self.qimage is None:
self.render()
if self.qimage is None:
return
profile('render QImage')
if self.paintMode is not None:
p.setCompositionMode(self.paintMode)
profile('set comp mode')
shape = self.image.shape[:2] if self.axisOrder == 'col-major' else self.image.shape[:2][::-1]
p.drawImage(QtCore.QRectF(0,0,*shape), self.qimage)
profile('p.drawImage')
if self.border is not None:
p.setPen(self.border)
p.drawRect(self.boundingRect())
def newColorbar(view, left, top, impixpervoxx, impixpervoxy, imgsize):
cb_xdim = imgsize // 10
cb_ydim = imgsize
theviewbox = pg.ViewBox(enableMouse=False)
theviewbox.setRange(QtCore.QRectF(0, 0, cb_xdim, cb_ydim),
xRange=(0, cb_xdim - 1), yRange=(0, cb_ydim - 1), padding=0.0,
disableAutoRange=False)
theviewbox.setAspectLocked()
thecolorbarwin = pg.ImageItem()
theviewbox.addItem(thecolorbarwin)
thecolorbarwin.translate(left, top)
thecolorbarwin.scale(impixpervoxx, impixpervoxy)
colorbarvals = np.zeros((cb_xdim, cb_ydim), dtype=np.float64)
for i in range(0, cb_ydim):
colorbarvals[:, i] = i * (1.0 / (cb_ydim - 1.0))
thecolorbarwin.setImage(colorbarvals, levels=[0.0, 1.0])
return thecolorbarwin, theviewbox
def __init__(self, qnt_pontos=10):
self.qnt_pontos = qnt_pontos
self.app = QtGui.QApplication([])
self.plot = pg.plot()
self.plot.setBackgroundBrush(QBrush(QColor.fromRgb(255, 255, 255)))
#self.plot.windowTitle().
#self.plot.setForegroundBrush(QBrush(QColor.fromRgb(250,0,0,30)))
self.plot.setWindowTitle('PlotterHandler')
self.plot.setRange(QtCore.QRectF(0, -10, 5000, 20))
self.plot.setLabel('bottom', 'Index', units='un')
self.plot.setLabel('left', 'Valor', units='V')
self.curve = self.plot.plot(pen='b')
# self.plot.enableAutoRange('xy', True)
self.plot.enableAutoRange('xy', False)
self.plot.setXRange(0, 5000)
self.plot.setYRange(0, 5)
#self.plot.enableAutoRange('xy', True)
#grade = pg.GridItem()
#self.plot.addItem(grade)
self.plot.showGrid(True, True)
#self.plot.showAxis('top', False)
#self.plot.showAxis('bottom', False)
#self.plot.showAxis('left', False)
#self.plot.showAxis('right', False)
self.plot.getAxis('left').setPen(QPen(QColor.fromRgb(0, 0, 0)))
self.plot.getAxis('bottom').setPen(QPen(QColor.fromRgb(0, 0, 0)))
#print self.plot.getRange
#self.plot.
# self.plot.showGrid(2,3)
#self.plot.hideAxis(ax)
#
self.timer = QtCore.QTimer()
self.timer.timeout.connect(self.update_y_points)
self.lastTime = time()
self.fps = None
self.y_values = [0] * self.qnt_pontos
self.plot_buffer = Queue(qnt_pontos)
def mkPath(self):
self.prepareGeometryChange()
r = self.r
d = self.d
h2 = d/2.
self.path = QtGui.QPainterPath()
if r == 0: ## flat surface
self.path.moveTo(0, h2)
self.path.lineTo(0, -h2)
else:
## half-height of surface can't be larger than radius
h2 = min(h2, abs(r))
arc = QtCore.QRectF(0, -r, r*2, r*2)
a1 = np.arcsin(h2/r) * 180. / np.pi
a2 = -2*a1
a1 += 180.
self.path.arcMoveTo(arc, a1)
self.path.arcTo(arc, a1, a2)
self.h2 = h2
def __init__(self, walls, obs, goal, start, parent=None):
super(App, self).__init__(parent)
w, o, g, m = -100, -5000, 1e5, -2
self.start = start
self.map = np.zeros((*obs.shape,3))
self.map[:,:,2] = walls * g
self.map[:,:,0] = obs * g
self.map[:,:,1] = goal * g
self.mask = (walls + obs + goal) == 0
self.mask[0] = self.mask[-1] = self.mask[:,0] = self.mask[:,-1] = False
self.mdp = MDPPlanner(walls, obs, goal, w, o, g, m)
self.idx = 0
self.running = True
self.min_delta = obs.size / 2
#### Create Gui Elements ###########
self.mainbox = QtGui.QWidget()
self.setCentralWidget(self.mainbox)
self.mainbox.setLayout(QtGui.QVBoxLayout())
self.canvas = pg.GraphicsLayoutWidget()
self.mainbox.layout().addWidget(self.canvas)
self.label = QtGui.QLabel()
self.mainbox.layout().addWidget(self.label)
self.view = self.canvas.addViewBox()
self.view.setAspectLocked(True)
self.view.setRange(QtCore.QRectF(0,0,*self.mask.T.shape )) #size screen
# image plot
self.img = pg.ImageItem(border='w')
self.view.addItem(self.img)
#### Set Data #####################
self.counter = 0
self.fps = 0.
self.lastupdate = time.time()
#### Start #####################
self._update()
def test_setRect():
def assert_equal_transforms(tr1, tr2):
dic = { # there seems to be no easy way to get the matrix in one call:
'tr11': (tr1.m11(), tr2.m11()),
'tr12': (tr1.m12(), tr2.m12()),
'tr13': (tr1.m13(), tr2.m13()),
'tr21': (tr1.m21(), tr2.m21()),
'tr22': (tr1.m22(), tr2.m22()),
'tr23': (tr1.m23(), tr2.m23()),
'tr31': (tr1.m31(), tr2.m31()),
'tr32': (tr1.m32(), tr2.m32()),
'tr33': (tr1.m33(), tr2.m33())
}
log_string = 'Matrix element mismatch\n'
good = True
for key, values in dic.items():
val1, val2 = values
if val1 != val2:
good = False
log_string += f'{key}: {val1} != {val2}\n'
assert good, log_string
tr = QtGui.QTransform() # construct a reference transform
tr.scale(2, 4) # scale 2x2 image to 4x8
tr.translate(-1, -1) # after shifting by -1, -1
# the transformed 2x2 image would cover (-2,-4) to (2,4).
# Now have setRect construct the same transform:
imgitem = pg.ImageItem(np.eye(2),
rect=(-2, -4, 4, 8)) # test tuple of floats
assert_equal_transforms(tr, imgitem.transform())
imgitem = pg.ImageItem(np.eye(2), rect=QtCore.QRectF(-2, -4, 4,
8)) # test QRectF
assert_equal_transforms(tr, imgitem.transform())
imgitem = pg.ImageItem(np.eye(2))
imgitem.setRect(-2, -4, 4, 8) # test individual parameters
assert_equal_transforms(tr, imgitem.transform())
imgitem = pg.ImageItem(np.eye(2))
imgitem.setRect(QtCore.QRect(-2, -4, 4, 8)) # test QRect argument
assert_equal_transforms(tr, imgitem.transform())
def resize_to_scaling_factor(self, image):
"""
Handles loading of image according to scaling_factor
"""
self.update_scaling_factor()
if self.ui.spot_radioButton.isChecked() and self.ui.resize_image_checkBox.isChecked():
image = self.original_image.resize((round(image.size[0]*self.scaling_factor), round(image.size[1]*self.scaling_factor)))
self.image_plot.getAxis("bottom").setScale(scale = 1)
self.image_plot.getAxis("left").setScale(scale = 1)
else:
image = self.original_image
self.image_plot.getAxis("bottom").setScale(scale = self.scaling_factor)
self.image_plot.getAxis("left").setScale(scale = self.scaling_factor)
if self.ui.greyscale_checkBox.isChecked():
image = image.convert("L") #convert to greyscale
self.image_array = np.array(image)
width = self.image_array.shape[0]
height = self.image_array.shape[1]
try:
#set image bounds with qrect
self.img_item_rect = QtCore.QRectF(0, 0, width, height)
self.img_item.setImage(image=self.image_array)
self.img_item.setRect(self.img_item_rect)
# if self.ui.greyscale_checkBox.isChecked():
# self.hist_lut.setImageItem(self.img_item)
if self.ui.vertical_radioButton.isChecked():
roi_height = self.scaling_factor * height
self.roi.setSize([width, roi_height])
elif self.ui.horizontal_radioButton.isChecked():
roi_height = self.scaling_factor * width
self.roi.setSize([roi_height, height])
self.roi.setAngle(0)
self.roi.setPos(0, 0)
self.line_profile_update_plot()
except:
pass
def export(self, fileName=None):
if fileName is None:
filter = [
"*." + str(f)
for f in QtGui.QImageWriter.supportedImageFormats()
]
preferred = ['*.png', '*.tif', '*.jpg']
for p in preferred[::-1]:
if p in filter:
filter.remove(p)
filter.insert(0, p)
self.fileSaveDialog(filter=filter)
return
targetRect = QtCore.QRect(0, 0, self.params['width'],
self.params['height'])
sourceRect = self.getSourceRect()
#self.png = QtGui.QImage(targetRect.size(), QtGui.QImage.Format_ARGB32)
#self.png.fill(pyqtgraph.mkColor(self.params['background']))
bg = np.empty((self.params['width'], self.params['height'], 4),
dtype=np.ubyte)
color = self.params['background']
bg[:, :, 0] = color.blue()
bg[:, :, 1] = color.green()
bg[:, :, 2] = color.red()
bg[:, :, 3] = color.alpha()
self.png = pg.makeQImage(bg, alpha=True)
painter = QtGui.QPainter(self.png)
try:
self.setExportMode(
True, {
'antialias': self.params['antialias'],
'background': self.params['background']
})
painter.setRenderHint(QtGui.QPainter.Antialiasing,
self.params['antialias'])
self.getScene().render(painter, QtCore.QRectF(targetRect),
sourceRect)
finally:
self.setExportMode(False)
self.png.save(fileName)
painter.end()
def __init__(self, parent=None):
super(App, self).__init__(parent)
#### Create Gui Elements ###########
self.mainbox = QtGui.QWidget()
self.setCentralWidget(self.mainbox)
self.mainbox.setLayout(QtGui.QVBoxLayout())
self.canvas = pg.GraphicsLayoutWidget()
self.mainbox.layout().addWidget(self.canvas)
self.label = QtGui.QLabel()
self.mainbox.layout().addWidget(self.label)
self.view = self.canvas.addViewBox()
self.view.setAspectLocked(True)
self.view.setRange(QtCore.QRectF(0, 0, 100, 100))
# image plot
#self.img = pg.ImageItem(border='w')
#self.view.addItem(self.img)
self.canvas.nextRow()
# line plot
self.otherplot = self.canvas.addPlot()
self.h2 = self.otherplot.plot(pen='y')
### F**k knows what I am doing
self.arduinoData = serial.Serial(
'com3', 9600,
timeout=None) # Creating our serial object named arduinoData
self.readSerialLine = ReadLine(self.arduinoData)
#### Set Data #####################
self.x = np.linspace(0, 50., num=100)
self.X, self.Y = np.meshgrid(self.x, self.x)
self.counter = 0
self.fps = 0.
self.lastupdate = time.time()
self.ydata = np.zeros([100])
#### Start #####################
self._update()
def generatePicture(self):
# pre-computing a QPicture object allows paint() to run much more quickly,
# rather than re-drawing the shapes every time.
self.picture = QtGui.QPicture()
p = QtGui.QPainter(self.picture)
p.setPen(self.WLinePen)
w = self.PenWidth
for (i, t, open, high, low, close) in self.data.itertuples():
p.drawLine(QtCore.QPointF(i, low), QtCore.QPointF(i, high))
if self.is_current_bar:
self.hline.setPos(close)
self.htext.setText(f'{close}', color='w')
if open > close:
p.setBrush(self.GreenBrush)
self.hline.setPen(self.GLinePen)
else:
p.setBrush(self.RedBrush)
self.hline.setPen(self.RLinePen)
p.drawRect(QtCore.QRectF(i-w, open, w*2, close-open))
p.end()
def mouseDragEvent(self, ev):
if ev.button() == QtCore.Qt.RightButton:
ev.ignore()
else:
pg.ViewBox.mouseDragEvent(self, ev)
ev.accept()
pos = ev.pos()
if ev.button() == QtCore.Qt.RightButton:
if ev.isFinish():
self.rbScaleBox.hide()
self.ax = QtCore.QRectF(Point(ev.buttonDownPos(ev.button())), Point(pos))
self.ax = self.childGroup.mapRectFromParent(self.ax)
self.Coords = self.ax.getCoords()
self.getdataInRect()
self.changePointsColors()
else:
self.updateScaleBox(ev.buttonDownPos(), ev.pos())
def paint(self, p, *args):
pg.ROI.paint(self, p, *args)
h1 = self.handles[0]['item'].pos()
h2 = self.handles[1]['item'].pos()
h4 = self.handles[3]['item']
h5 = self.handles[4]['item']
h4.setVisible(False)
h5.setVisible(False)
p1 = p.transform().map(h1)
p2 = p.transform().map(h2)
vec = pg.Point(h2) - pg.Point(h1)
length = vec.length()
pvec = p2 - p1
pvecT = pg.Point(pvec.y(), -pvec.x())
pos = 0.5 * (p1 + p2) + pvecT * 40 / pvecT.length()
angle = pg.Point(1, 0).angle(pg.Point(pvec))
self.ab_angle = angle
# Overlay a line to signal which side of the ROI is the back.
if self.ac_angle > 0:
self.newRoi.setVisible(True)
self.newRoi.setPos(h5.pos())
elif self.ac_angle < 0:
self.newRoi.setVisible(True)
self.newRoi.setPos(h4.pos())
else:
self.newRoi.setVisible(False)
self.newRoi.setSize(pg.Point(self.size()[0], 0))
p.resetTransform()
txt = pg.siFormat(
length,
suffix='m') + '\n%0.1f deg' % angle + '\n%0.1f deg' % self.ac_angle
p.drawText(QtCore.QRectF(pos.x() - 50,
pos.y() - 50, 100, 100),
QtCore.Qt.AlignCenter | QtCore.Qt.AlignVCenter, txt)
def boundingRect(self):
br = QtCore.QRectF(self.viewRect(
)) # bounds of containing ViewBox mapped to local coords.
nominalBoxSizePx = 20
#
lenX = self.pixelLength(pg.Point([1, 0])) * nominalBoxSizePx
lenY = self.pixelLength(pg.Point([0, 1])) * nominalBoxSizePx
br.setTop(self.lines[1].value() + lenY * 0.5)
br.setBottom(self.lines[1].value() - lenY * 0.5)
br.setLeft(self.lines[0].value() - lenX * 0.5)
br.setRight(self.lines[0].value() + lenX * 0.5)
br = br.normalized()
if self._boundingRectCache != br:
self._boundingRectCache = br
self.prepareGeometryChange()
return br
def __init__(self, X, z, parent=None):
super(App, self).__init__(parent)
self.X = X
self.z = z
self.idx = 0
self.running = True
grid_size = 1
self.map = OccupancyGridMap(100//grid_size, 100//grid_size, grid_size)
#### Create Gui Elements ###########
self.mainbox = QtGui.QWidget()
self.setCentralWidget(self.mainbox)
self.mainbox.setLayout(QtGui.QVBoxLayout())
self.canvas = pg.GraphicsLayoutWidget()
self.mainbox.layout().addWidget(self.canvas)
self.label = QtGui.QLabel()
self.mainbox.layout().addWidget(self.label)
self.view = self.canvas.addViewBox()
self.view.setAspectLocked(True)
self.view.setRange(QtCore.QRectF(0,0, 100, 100))
# image plot
self.img = pg.ImageItem(border='w')
self.turtlebot = TurtleBotItem(self.X[:,self.idx], 1.5)
self.view.addItem(self.img)
self.view.addItem(self.turtlebot)
#### Set Data #####################
self.counter = 0
self.fps = 0.
self.lastupdate = time.time()
#### Start #####################
self._update()
def __init__(self, node, brush=None):
super().__init__()
self.pen = fn.mkPen(0, 0, 0)
self.selectPen = fn.mkPen(200, 200, 200, width=2)
if brush:
self.brush = brush
else:
self.brush = fn.mkBrush(255, 255, 255, 255)
self.hoverBrush = fn.mkBrush(200, 200, 200, 200)
self.selectBrush = fn.mkBrush(200, 200, 255, 200)
self.hovered = False
self.node = node
flags = self.ItemIsMovable | self.ItemIsSelectable | self.ItemSendsGeometryChanges
self.setFlags(flags)
self.bounds = QtCore.QRectF(0, 0, 100, 100)
self.nameItem = QtGui.QGraphicsTextItem(self.node.name(), self)
self.nameItem.setDefaultTextColor(QtGui.QColor(50, 50, 50))
self.nameItem.moveBy(
self.bounds.width() / 2. -
self.nameItem.boundingRect().width() / 2., 0)
self.updateTerminals()
self.menu = None
self.connectedTo = None
self.enabled = QtGui.QAction("Enabled",
self.menu,
checkable=True,
checked=True)
self.optional = QtGui.QAction("Optional Inputs",
self.menu,
checkable=True,
checked=False)
self.buildMenu()
def __init__(self, parent=None):
super(App, self).__init__(parent)
#### Create Gui Elements ###########
self.mainbox = QtGui.QWidget()
self.setCentralWidget(self.mainbox)
self.mainbox.setLayout(QtGui.QVBoxLayout())
self.canvas = pg.GraphicsLayoutWidget()
self.mainbox.layout().addWidget(self.canvas)
self.label = QtGui.QLabel()
self.mainbox.layout().addWidget(self.label)
self.view = self.canvas.addViewBox()
self.view.setAspectLocked(True)
self.view.setRange(QtCore.QRectF(0, 0, 100, 100))
#### Set Data #####################
self.idx = 10
self.x = np.linspace(0, 50., num=100)
self.X, self.Y = np.meshgrid(self.x, self.x)
# image plot
self.img = pg.ImageItem(border='w')
self.turtlebot = TurtleBotItem(self.X[:, self.idx], 1.5)
self.view.addItem(self.img)
self.view.addItem(self.turtlebot)
self.counter = 0
self.fps = 0.
self.lastupdate = time.time()
# Variables used for creating and visualizing the map
self.grid = OccupancyGrid()
self.data = self.grid.map * 255
#### Start #####################
self._update()
def mouseDragEvent(self, ev):
if ev.button() == QtCore.Qt.LeftButton:
boundingRect = self.boundingRect()
width = boundingRect.width()
height = boundingRect.height()
rect = QtCore.QRectF(width - 50, height - 50, 50, 50)
if rect.contains(ev.pos()):
ev.ignore()
self.view.commentRect = self
else:
ev.accept()
pos = self.pos()+self.mapToParent(ev.pos())-self.mapToParent(ev.lastPos())
old_pos = self.pos()
if ev.isFinish():
pos = clamp(pos)
self.setPos(pos)
diff = pos - old_pos
for child in self.childNodes:
child.moveBy(*diff)
def writeImage(self, fileName=None):
if fileName is None:
self.fileDialog = FileDialog()
if PlotItem.lastFileDir is not None:
self.fileDialog.setDirectory(PlotItem.lastFileDir)
self.fileDialog.setFileMode(QtGui.QFileDialog.AnyFile)
self.fileDialog.setAcceptMode(QtGui.QFileDialog.AcceptSave)
self.fileDialog.show()
self.fileDialog.fileSelected.connect(self.writeImage)
return
#if fileName is None:
#fileName = QtGui.QFileDialog.getSaveFileName()
if isinstance(fileName, tuple):
raise Exception("Not implemented yet..")
fileName = str(fileName)
PlotItem.lastFileDir = os.path.dirname(fileName)
self.png = QtGui.QImage(int(self.size().width()), int(self.size().height()), QtGui.QImage.Format_ARGB32)
painter = QtGui.QPainter(self.png)
painter.setRenderHints(painter.Antialiasing | painter.TextAntialiasing)
self.scene().render(painter, QtCore.QRectF(), self.mapRectToScene(self.boundingRect()))
painter.end()
self.png.save(fileName)
def __init__(self, parent=None):
super(App, self).__init__(parent)
#### Create Gui Elements ###########
self.mainbox = QtGui.QWidget()
self.setCentralWidget(self.mainbox)
self.mainbox.setLayout(QtGui.QVBoxLayout())
self.canvas = pg.GraphicsLayoutWidget()
self.mainbox.layout().addWidget(self.canvas)
self.label = QtGui.QLabel()
self.mainbox.layout().addWidget(self.label)
self.view = self.canvas.addViewBox()
self.view.setAspectLocked(True)
self.view.setRange(QtCore.QRectF(0,0, 100, 100))
# image plot
self.img = pg.ImageItem(border='w')
self.view.addItem(self.img)
self.canvas.nextRow()
# line plot
# self.otherplot = self.canvas.addPlot()
# self.h2 = self.otherplot.plot(pen='y')
#### Set Data #####################
self.x = np.linspace(0,50., num=1000)
self.X,self.Y = np.meshgrid(self.x,self.x)
self.counter = 0
self.fps = 0.
self.lastupdate = time.time()
#### Start #####################
self._update()
def initialize_plots(self):
N = 512
cmap = vispy.color.get_colormap(self.params['colormap'])
self.lut = (255*cmap.map(np.arange(N)[:,None]/float(N))).astype('uint8')
tfr_params = self.params.param('timefreq')
for i in range(self.nb_channel):
if self.by_channel_params.children()[i]['visible']:
for item in self.plots[i].items:
# remove old images
self.plots[i].removeItem(item)
clim = self.by_channel_params.children()[i]['clim']
f_start, f_stop = tfr_params['f_start'], tfr_params['f_stop']
image = pg.ImageItem()
image.setImage(np.zeros((self.plot_length,self.wavelet_fourrier.shape[1])), lut=self.lut, levels=[0,clim])
self.plots[i].addItem(image)
image.setRect(QtCore.QRectF(-self.wanted_size, f_start,self.wanted_size, f_stop-f_start))
self.plots[i].setXRange(-self.wanted_size, 0.)
self.plots[i].setYRange(f_start, f_stop)
self.images[i] =image
def boundingRect(self):
(xmn, xmx) = self.dataBounds(ax=0)
(ymn, ymx) = self.dataBounds(ax=1)
if xmn is None or xmx is None:
xmn = 0
xmx = 0
if ymn is None or ymx is None:
ymn = 0
ymx = 0
px = py = 0.0
pxPad = self.pixelPadding()
if pxPad > 0:
# determine length of pixel in local x, y directions
px, py = self.pixelVectors()
px = 0 if px is None else px.length()
py = 0 if py is None else py.length()
# return bounds expanded by pixel size
px *= pxPad
py *= pxPad
return QtCore.QRectF(xmn-px, ymn-py, (2*px)+xmx-xmn, (2*py)+ymx-ymn)
def newViewWindow(view,
xdim,
ydim,
left,
top,
impixpervoxx,
impixpervoxy,
imgsize,
enableMouse=False):
theviewbox = view.addViewBox(enableMouse=enableMouse,
enableMenu=False,
lockAspect=1.0)
theviewbox.setAspectLocked()
theviewbox.setRange(QtCore.QRectF(0, 0, imgsize, imgsize),
padding=0.0,
disableAutoRange=True)
theviewbox.setBackgroundColor([50, 50, 50])
theviewfgwin = pg.ImageItem()
theviewbox.addItem(theviewfgwin)
theviewfgwin.setZValue(10)
theviewfgwin.translate(left, top)
theviewfgwin.scale(impixpervoxx, impixpervoxy)
theviewbgwin = pg.ImageItem()
theviewbox.addItem(theviewbgwin)
theviewbgwin.setZValue(0)
theviewbgwin.translate(left, top)
theviewbgwin.scale(impixpervoxx, impixpervoxy)
theviewvLine = pg.InfiniteLine(angle=90, movable=False, pen="g")
theviewvLine.setZValue(20)
theviewbox.addItem(theviewvLine)
theviewhLine = pg.InfiniteLine(angle=0, movable=False, pen="g")
theviewhLine.setZValue(20)
theviewbox.addItem(theviewhLine)
return theviewfgwin, theviewbgwin, theviewvLine, theviewhLine, theviewbox
def newViewWindow(view, imgxsize, imgysize, enableMouse=False):
theviewbox = view.addViewBox(enableMouse=enableMouse, enableMenu=False)
theviewbox.setRange(QtCore.QRectF(0, 0, imgxsize, imgysize), padding=0.0, disableAutoRange=False)
theviewbox.setBackgroundColor([50, 50, 50])
theviewbox.setAspectLocked()
theviewfgposwin = pg.ImageItem()
theviewbox.addItem(theviewfgposwin)
theviewfgposwin.setZValue(10)
theviewfgnegwin = pg.ImageItem()
theviewbox.addItem(theviewfgnegwin)
theviewfgnegwin.setZValue(5)
theviewbgwin = pg.ImageItem()
theviewbox.addItem(theviewbgwin)
theviewbgwin.setZValue(0)
thelabel = pg.TextItem(anchor=(0.0,1.0))
theviewbox.addItem(thelabel)
thelabel.setZValue(20)
return theviewfgposwin, theviewfgnegwin, theviewbgwin, thelabel, theviewbox