/
gui_main.py
792 lines (743 loc) · 34.4 KB
/
gui_main.py
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import sys
from PyQt5.QtCore import QDateTime, Qt, QTimer, QThread, pyqtSignal
from PyQt5.QtWidgets import (QApplication, QCheckBox, QComboBox, QDateTimeEdit,
QDial, QDialog, QGridLayout, QGroupBox, QHBoxLayout, QLabel, QLineEdit,
QProgressBar, QPushButton, QRadioButton, QScrollBar, QSizePolicy,
QSlider, QSpinBox, QStyleFactory, QTableWidget, QTableWidgetItem, QTabWidget, QTextEdit,
QVBoxLayout, QWidget, QFileDialog, QButtonGroup)
from PyQt5.QtGui import QPixmap
import pyqtgraph as pg
import pyqtgraph.opengl as gl
from pyqtgraph.pgcollections import OrderedDict
import random
import numpy as np
import time
import math
import struct
import os
from oob_parser import uartParserSDK
from gui_threads import *
from graphUtilities import *
from gl_classes import GLTextItem
class Window(QDialog):
def __init__(self, parent=None, size=[]):
super(Window, self).__init__(parent)
#when running Gree Demo
self.Gree = 1
# set window toolbar options, and title. #deb_gp
self.setWindowFlags(
Qt.Window |
Qt.CustomizeWindowHint |
Qt.WindowTitleHint |
Qt.WindowMinimizeButtonHint |
Qt.WindowMaximizeButtonHint |
Qt.WindowCloseButtonHint
)
self.setWindowTitle("mmWave People Counting")
print('Python is ', struct.calcsize("P")*8, ' bit')
print('Python version: ', sys.version_info)
self.width=size.width()
self.height=size.height()
self.trafficVal=0 #신호등 gui 바꾸기 위한 변수
self.frameTime = 50
self.graphFin = 1
self.hGraphFin = 1
self.threeD = 1
self.lastFramePoints = np.zeros((5,1))
self.plotTargets = 1
self.frameNum = 0
self.lastTID = []
self.profile = {'startFreq': 60.25, 'numLoops': 64, 'numTx': 3, 'sensorHeight':3, 'maxRange':10, 'az_tilt':0, 'elev_tilt':0}
self.lastFrameHadTargets = False
self.sensorHeight = 1.5
self.numFrameAvg = 10
self.configSent = 0
self.previousFirstZ = -1
self.yzFlip = 0
#timer to reset fall detected message
self.fallTimer = QTimer()
self.fallTimer.setSingleShot(True)
self.fallTimer.timeout.connect(self.resetFallText)
self.fallResetTimerOn = 0
self.fallThresh = -0.22
#color gradients
self.Gradients = OrderedDict([
('bw', {'ticks': [(0.0, (0, 0, 0, 255)), (1, (255, 255, 255, 255))], 'mode': 'rgb'}),
('hot', {'ticks': [(0.3333, (185, 0, 0, 255)), (0.6666, (255, 220, 0, 255)), (1, (255, 255, 255, 255)), (0, (0, 0, 0, 255))], 'mode': 'rgb'}),
('jet', {'ticks': [(1, (166, 0, 0, 255)), (0.32247191011235954, (0, 255, 255, 255)), (0.11348314606741573, (0, 68, 255, 255)), (0.6797752808988764, (255, 255, 0, 255)), (0.902247191011236, (255, 0, 0, 255)), (0.0, (0, 0, 166, 255)), (0.5022471910112359, (0, 255, 0, 255))], 'mode': 'rgb'}),
('summer', {'ticks': [(1, (255, 255, 0, 255)), (0.0, (0, 170, 127, 255))], 'mode': 'rgb'} ),
('space', {'ticks': [(0.562, (75, 215, 227, 255)), (0.087, (255, 170, 0, 254)), (0.332, (0, 255, 0, 255)), (0.77, (85, 0, 255, 255)), (0.0, (255, 0, 0, 255)), (1.0, (255, 0, 127, 255))], 'mode': 'rgb'}),
('winter', {'ticks': [(1, (0, 255, 127, 255)), (0.0, (0, 0, 255, 255))], 'mode': 'rgb'}),
('spectrum2', {'ticks': [(1.0, (255, 0, 0, 255)), (0.0, (255, 0, 255, 255))], 'mode': 'hsv'}),
])
cmap = 'spectrum2'
if (cmap in self.Gradients):
self.gradientMode = self.Gradients[cmap]
self.zRange = [-3, 3]
self.plotHeights = 1
#gui size
if (size):
left = 50
top = 50
width = math.ceil(size.width()*0.9)
height = math.ceil(size.height()*0.9)
self.setGeometry(left, top, width, height)
#persistent point cloud
self.previousCloud = np.zeros((6,1150,10))
self.previousPointCount = np.zeros((10,1))
#self.previousIndex = np.zeros((1,1150,10))
#images
self.standingPicture = QPixmap('images/stickFigureStanding.png')
self.fallingPicture = QPixmap('images/stickFigureFalling.png')
#remove points outside boundary box
self.bbox = [-1000, 1000, -1000, 1000, -1000, 1000]
#setup graph pyqtgraph
self.plot3DQTGraph()
self.colorGradient()
#add connect options
self.setConnectionLayout()
self.setStatsLayout()
self.setPlotControlLayout()
self.setConfigLayout()
self.setUpBoundaryBoxControls()
self.setSensorPositionControls()
self.setTrafficLightLayout()
self.graphTabs = QTabWidget()
self.graphTabs.addTab(self.pcplot, '3D Plot')
self.graphTabs.currentChanged.connect(self.whoVisible)
gridlay = QGridLayout()
gridlay.addWidget(self.comBox, 0,0,1,1)
gridlay.addWidget(self.statBox, 1,0,1,1)
gridlay.addWidget(self.configBox,2,0,1,1)
gridlay.addWidget(self.plotControlBox,3,0,1,1)
gridlay.addWidget(self.boxTab,4,0,1,1)
gridlay.addWidget(self.trafficBox,5, 0, 1, 1)
gridlay.addWidget(self.graphTabs,0,1,6,1)
gridlay.setColumnStretch(0,1)
gridlay.setColumnStretch(1,3)
self.setLayout(gridlay)
self.selectCfg()
def setTrafficLightLayout(self):
self.trafficBox = QGroupBox('')
self.lbl=QLabel(self)
self.pixmapRed=QPixmap("light_red").scaled((int)(self.width/4),(int)(self.height/5))
self.pixmapGreen=QPixmap("light_green").scaled((int)(self.width/4),(int)(self.height/5))
self.pixmapCommon=QPixmap("light").scaled((int)(self.width/4),(int)(self.height/5))
self.pixmapGroup=[self.pixmapRed,self.pixmapGreen,self.pixmapCommon]
self.lbl.setPixmap(self.pixmapGroup[2])
self.trafficControlLayout = QGridLayout()
self.trafficControlLayout.addWidget(self.lbl,0,0)
self.trafficBox.setLayout(self.trafficControlLayout)
def setConnectionLayout(self):
self.comBox = QGroupBox('Connect to Com Ports')
self.uartCom = QLabel("10") #deb_gp
self.dataCom = QLabel("11") #deb_gp
self.uartLabel = QLabel('UART COM:')
self.dataLabel = QLabel('DATA COM:')
self.connectStatus = QLabel('Not Connected')
self.connectButton = QPushButton('Connect')
self.connectButton.clicked.connect(self.connectCom)
self.configLabel = QLabel('Config Type:')
self.configType = QComboBox()
self.configType.addItems(["(Legacy) 2D People Counting"])
self.comLayout = QGridLayout()
self.comLayout.addWidget(self.uartLabel,0,0)
self.comLayout.addWidget(self.uartCom,0,1)
self.comLayout.addWidget(self.dataLabel,1,0)
self.comLayout.addWidget(self.dataCom,1,1)
self.comLayout.addWidget(self.configLabel,2,0)
self.comLayout.addWidget(self.configType,2,1)
self.comLayout.addWidget(self.connectButton,3,0)
self.comLayout.addWidget(self.connectStatus,3,1)
self.comBox.setLayout(self.comLayout)
def setStatsLayout(self):
self.statBox = QGroupBox('Statistics')
self.frameNumDisplay = QLabel('Frame: 0')
self.plotTimeDisplay = QLabel('Average Plot Time: 0 ms')
self.numPointsDisplay = QLabel('Points: 0')
self.numTargetsDisplay = QLabel('Targets: 0')
self.statsLayout = QVBoxLayout()
self.statsLayout.addWidget(self.frameNumDisplay)
self.statsLayout.addWidget(self.plotTimeDisplay)
self.statsLayout.addWidget(self.numPointsDisplay)
self.statsLayout.addWidget(self.numTargetsDisplay)
self.statBox.setLayout(self.statsLayout)
def setPlotControlLayout(self):
self.plotControlBox = QGroupBox('Plot Controls')
self.staticclutter = QCheckBox('Display Static Points')
self.plotByIndex = QCheckBox('Plot Point Color by Index')
self.plotByHeight = QCheckBox('Plot Point Color By Height')
self.plotTracks = QCheckBox('Plot Tracks')
self.pointColorGroup = QButtonGroup()
self.pointColorGroup.addButton(self.plotByIndex)
self.pointColorGroup.addButton(self.plotByHeight)
self.pointColorGroup.setExclusive(True)
self.persistentFramesInput = QComboBox()
self.persistentFramesInput.addItems(['1','2','3','4','5','6','7','8','9','10'])
self.persistentFramesInput.setCurrentIndex(2)
self.pFILabel = QLabel('# of Persistent Frames')
self.orientationSelection = QComboBox()
self.orientationSelection.addItems(['Side Mount', 'Overhead Mount'])
self.orientationSelection.currentIndexChanged.connect(self.swapOrientations)
self.oriLabel = QLabel('Orientation')
self.plotControlLayout = QGridLayout()
self.plotControlLayout.addWidget(self.plotByIndex, 0, 0,1,1)
self.plotControlLayout.addWidget(self.plotByHeight, 1, 0,1,1)
self.plotControlLayout.addWidget(self.plotTracks, 2, 0,1,1)
self.plotControlLayout.addWidget(self.persistentFramesInput,4,0,1,1)
self.plotControlLayout.addWidget(self.pFILabel,4,1,1,1)
self.plotControlLayout.addWidget(self.staticclutter,3,0,1,1)
self.plotControlBox.setLayout(self.plotControlLayout)
self.plotByHeight.setChecked(True)
self.plotByIndex.setChecked(False)
self.plotTracks.setChecked(True)
def setConfigLayout(self):
self.configBox = QGroupBox('Configuration')
self.sendConfig = QPushButton('Send Configuration')
self.sendConfig.clicked.connect(self.sendCfg)
self.configTable = QTableWidget(5,2)
#set parameter names
self.configTable.setItem(0,0,QTableWidgetItem('Radar Parameter'))
self.configTable.setItem(0,1,QTableWidgetItem('Value'))
self.configTable.setItem(1,0,QTableWidgetItem('Max Range'))
self.configTable.setItem(2,0,QTableWidgetItem('Range Resolution'))
self.configTable.setItem(3,0,QTableWidgetItem('Max Velocity'))
self.configTable.setItem(4,0,QTableWidgetItem('Velcoity Resolution'))
self.configLayout = QVBoxLayout()
self.configLayout.addWidget(self.sendConfig)
self.configLayout.addWidget(self.configTable)
self.configBox.setLayout(self.configLayout)
def setControlLayout(self):
self.controlBox = QGroupBox('Control')
self.rangecfar = QSlider(Qt.Horizontal)
self.azcfar = QSlider(Qt.Horizontal)
self.snrthresh = QSlider(Qt.Horizontal)
self.pointsthresh = QSlider(Qt.Horizontal)
self.gatinggain = QSlider(Qt.Horizontal)
self.staticclutter = QCheckBox('Static Clutter Removal')
self.controlLayout = QVBoxLayout()
self.rangelabel = QLabel('Range CFAR Threshold: ')
self.azlabel = QLabel('Azimuth CFAR Threshold: ')
self.snrlabel = QLabel('SNR Threshold: ')
self.pointslabel = QLabel('Points Threshold: ')
self.gatinglabel = QLabel('Gating Gain: ')
self.controlLayout.addWidget(self.rangelabel)
self.controlLayout.addWidget(self.rangecfar)
self.controlLayout.addWidget(self.azlabel)
self.controlLayout.addWidget(self.azcfar)
self.controlLayout.addWidget(self.snrlabel)
self.controlLayout.addWidget(self.snrthresh)
self.controlLayout.addWidget(self.pointslabel)
self.controlLayout.addWidget(self.pointsthresh)
self.controlLayout.addWidget(self.gatinglabel)
self.controlLayout.addWidget(self.gatinggain)
self.controlLayout.addWidget(self.staticclutter)
self.controlBox.setLayout(self.controlLayout)
#boundary box control section
def setBoxControlLayout(self, name):
#set up one boundary box control
boxControl = QGroupBox(name)
#input boxes
lx = QLineEdit('-6')
rx = QLineEdit('6')
ny = QLineEdit('0')
fy = QLineEdit('6')
bz = QLineEdit('-6')
tz = QLineEdit('6')
enable = QCheckBox()
#labels
lxL = QLabel('Left X')
rxL = QLabel('Right X')
nyL = QLabel('Near Y')
fyL = QLabel('Far Y')
bzL = QLabel('Bottom Z')
tzL = QLabel('Top Z')
enableL = QLabel('Enable Box')
boxConLayout = QGridLayout()
boxConLayout.addWidget(lxL, 0, 0,1,1)
boxConLayout.addWidget(lx,0,1,1,1)
boxConLayout.addWidget(rxL,0,2,1,1)
boxConLayout.addWidget(rx,0,3,1,1)
boxConLayout.addWidget(nyL, 1, 0,1,1)
boxConLayout.addWidget(ny,1,1,1,1)
boxConLayout.addWidget(fyL,1,2,1,1)
boxConLayout.addWidget(fy,1,3,1,1)
boxConLayout.addWidget(bzL, 2, 0,1,1)
boxConLayout.addWidget(bz,2,1,1,1)
boxConLayout.addWidget(tzL,2,2,1,1)
boxConLayout.addWidget(tz,2,3,1,1)
boxConLayout.addWidget(enableL,3,0,1,1)
boxConLayout.addWidget(enable,3,1,1,1)
boxControl.setLayout(boxConLayout)
boundList = [lx,rx,ny,fy,bz,tz]
for text in boundList:
text.textEdited.connect(self.changeBoundaryBox)
enable.stateChanged.connect(self.changeBoundaryBox)
return {'boxCon':boxControl, 'boundList':boundList, 'checkEnable':enable, 'boxNum':-1}
def setSensorPositionControls(self):
self.az_tilt = QLineEdit('0')
self.az_tiltL = QLabel('Azimuth Tilt')
self.elev_tilt = QLineEdit('0')
self.elev_tiltL = QLabel('Elevation Tilt')
self.s_height = QLineEdit(str(self.profile['sensorHeight']))
self.s_heightL = QLabel('Sensor Height')
self.spLayout = QGridLayout()
self.spLayout.addWidget(self.az_tilt,0,1,1,1)
self.spLayout.addWidget(self.az_tiltL,0,0,1,1)
self.spLayout.addWidget(self.elev_tilt,1,1,1,1)
self.spLayout.addWidget(self.elev_tiltL,1,0,1,1)
self.spLayout.addWidget(self.s_height,2,1,1,1)
self.spLayout.addWidget(self.s_heightL,2,0,1,1)
self.spBox = QGroupBox('Sensor Position')
self.spBox.setLayout(self.spLayout)
self.s_height.textEdited.connect(self.updateSensorPosition)
self.az_tilt.textEdited.connect(self.updateSensorPosition)
self.elev_tilt.textEdited.connect(self.updateSensorPosition)
def updateSensorPosition(self):
try:
float(self.s_height.text())
float(self.az_tilt.text())
float(self.elev_tilt.text())
except:
print("fail to update")
return
command = "sensorPosition " + self.s_height.text() + " " + self.az_tilt.text() + " " + self.elev_tilt.text() + " \n"
self.cThread = sendCommandThread(self.parser,command)
self.cThread.start(priority=QThread.HighestPriority-2)
self.gz.translate(dx=0,dy=0,dz=self.profile['sensorHeight'])
self.profile['sensorHeight'] = float(self.s_height.text())
self.gz.translate(dx=0,dy=0,dz=-self.profile['sensorHeight'])
def setUpBoundaryBoxControls(self):
self.boundaryBoxes = []
self.boxTab = QTabWidget()
for i in range(1):
name = 'Box'
self.boundaryBoxes.append(self.setBoxControlLayout(name))
toAdd = self.boundaryBoxes[i]
toAdd['boxNum'] = i
self.boxTab.addTab(toAdd['boxCon'], name)
def changeBoundaryBox(self):
numBoxes = 0
for box in self.boundaryBoxes:
if(box['checkEnable'].isChecked()):
numBoxes += 1
boundaryString = "LiveScenery " + str(numBoxes) + " "
for box in self.boundaryBoxes:
if(box['checkEnable'].isChecked()):
for text in box['boundList']:
val = text.text()
val = val.replace(" ","")
try:
float(val)
except:
print('nothing here')
return
boundaryString += text.text() + " "
self.drawBoundaryBox3d(box['boxNum'])
else:
print("Setting box ", box['boxNum'], " invisisble")
self.boundaryBoxViz[box['boxNum']].setVisible(False)
self.bottomSquare[box['boxNum']].setVisible(False)
boundaryString += "\n"
if (self.configSent):
print(boundaryString)
self.cThread = sendCommandThread(self.parser,boundaryString)
self.cThread.start(priority=QThread.HighestPriority-2)
def setBoundaryTextVals(self, profile):
#update box text values based on config
for box in self.boundaryBoxes:
bList = box['boundList']
bList[0].setText(str(profile['leftX']))
bList[1].setText(str(profile['rightX']))
bList[2].setText(str(profile['nearY']))
bList[3].setText(str(profile['farY']))
bList[4].setText(str(profile['bottomZ']))
bList[5].setText(str(profile['topZ']))
def drawBoundaryGrid(self, mRange):
#re-draw the grid based on boundary box 2-dimensional
bList = self.boundaryBoxes[self.boxTab.currentIndex()]['boundList']
xL = mRange*2
xC = 0
yL = mRange
yC = yL/2
self.gz.resetTransform()
if (self.orientationSelection.currentText() == 'Overhead Mount'):
self.gz.setSize(x=8, y=8)
self.gz.translate(dx=xC, dy=0, dz=-2)
else:
self.gz.setSize(x=mRange*2, y=mRange)
self.gz.translate(dx=xC, dy=yC, dz=-2)
def drawBoundaryBox3d(self, index):
#print(index)
bList = self.boundaryBoxes[index]['boundList']
xl = float(bList[0].text())
xr = float(bList[1].text())
yl = float(bList[2].text())
yr = float(bList[3].text())
if (self.orientationSelection.currentText() == 'Side Mount'):
zl = float(bList[4].text())
zr = float(bList[5].text())
elif (self.orientationSelection.currentText() == 'Overhead Mount'):
zl = float(bList[4].text())-self.profile['sensorHeight']
zr = float(bList[5].text())-self.profile['sensorHeight']
#print(xl,yl,zl,xr,yr,zr)
self.bbox = [xl, xr, yl, yr, zl, zr]
boxLines = getBoxLines(xl,yl,zl,xr,yr,zr)
squareLine = getSquareLines(xl,yl,xr,yr,zl)
if (self.boundaryBoxViz[index].visible() == False):
print ("Setting Box ", str(index), " to visible")
self.boundaryBoxViz[index].setVisible(True)
self.bottomSquare[index].setVisible(True)
self.boundaryBoxViz[index].setData(pos=boxLines,color=pg.glColor('r'),width=2,antialias=True,mode='lines')
self.bottomSquare[index].setData(pos=squareLine,color=pg.glColor('b'),width=2,antialias=True,mode='line_strip')
print('Drew both boxes')
def colorGradient(self):
self.gw = pg.GradientWidget(orientation='right')
self.gw.restoreState(self.gradientMode)
def swapOrientations(self):
print('orientation changed')
print(self.orientationSelection.currentText())
dsh = self.profile['sensorHeight']
if (self.orientationSelection.currentText() == 'Overhead Mount'):
self.yzFlip = 1
self.evmBox.rotate(90,1,0,0)
self.gz.resetTransform()
#self.gz.setSize(x=self.profile['maxRange']*2, y=self.profile['maxRange']*2)
self.gz.setSize(x=8, y=8)
#self.gz.translate(0,0,0)
self.gz.translate(dx=0, dy=0, dz=-self.profile['sensorHeight'])
self.changeBoundaryBox()
self.zRange = [-1*self.profile['sensorHeight'], 0]
elif (self.orientationSelection.currentText() == 'Side Mount'):
self.yzFlip = 0
self.evmBox.rotate(-90,1,0,0)
self.gz.resetTransform()
self.gz.setSize(x=self.profile['maxRange']*2, y=self.profile['maxRange'])
#self.gz.translate(0,0,0)
self.gz.translate(dx=0, dy=self.profile['maxRange']/2, dz=-self.profile['sensorHeight'])
self.changeBoundaryBox()
self.zRange = [-3, 3]
def plot3DQTGraph(self):
sphereDebug = 0
self.pcplot = gl.GLViewWidget()
dummy = np.zeros((1,3))
#use if need to debug the ellipsoid drawing
if (sphereDebug == 1):
colorArray = ('r','g','b','w','y')
colors = np.zeros((42,4))
for c in range(0,7):
colors[c*6:c*6+6,:] = pg.glColor(colorArray[c%5])
sphereTrigs = getSphereMesh()
self.sphere =gl.GLMeshItem(vertexes=sphereTrigs,smooth=False,drawEdges=True,edgeColor=pg.glColor('w'),drawFaces=False)
self.pcplot.addItem(self.sphere)
# create the background grids
self.gz = gl.GLGridItem()
self.gz.translate(0, 0, -1*self.profile['sensorHeight'])
self.boundaryBoxViz = [gl.GLLinePlotItem(), gl.GLLinePlotItem()]
self.bottomSquare = [gl.GLLinePlotItem(), gl.GLLinePlotItem()]
for box in self.boundaryBoxViz:
box.setVisible(False)
self.scatter = gl.GLScatterPlotItem(size=5)
self.scatter.setData(pos=dummy)
self.pcplot.addItem(self.gz)
self.pcplot.addItem(self.boundaryBoxViz[0])
self.pcplot.addItem(self.boundaryBoxViz[1])
self.pcplot.addItem(self.bottomSquare[0])
self.pcplot.addItem(self.bottomSquare[1])
self.pcplot.addItem(self.scatter)
#create box to represent device
verX = 0.0625
verY = 0.05
verZ = 0.125
verts = np.empty((2,3,3))
verts[0,0,:] = [-verX, 0, verZ]
verts[0,1,:] = [-verX,0,-verZ]
verts[0,2,:] = [verX,0,-verZ]
verts[1,0,:] = [-verX, 0, verZ]
verts[1,1,:] = [verX, 0, verZ]
verts[1,2,:] = [verX, 0, -verZ]
self.evmBox = gl.GLMeshItem(vertexes=verts,smooth=False,drawEdges=True,edgeColor=pg.glColor('r'),drawFaces=False)
self.pcplot.addItem(self.evmBox)
#add text items for tracks
self.coordStr = []
self.ellipsoids = []
edgeColor = pg.glColor('k')
for m in range(0,20):
#add track object
mesh = gl.GLLinePlotItem()
mesh.setVisible(False)
self.pcplot.addItem(mesh)
self.ellipsoids.append(mesh)
#add track coordinate string
text = GLTextItem()
text.setGLViewWidget(self.pcplot)
text.setVisible(False)
self.pcplot.addItem(text)
self.coordStr.append(text)
def updateGraph(self, parsedData):
updateStart = int(round(time.time()*1000))
self.useFilter = 0
classifierOutput = []
pointCloud = parsedData[0]
targets = parsedData[1]
indexes = parsedData[2]
numPoints = parsedData[3]
self.numTargets = parsedData[4]
self.frameNum = parsedData[5]
fail = parsedData[6]
classifierOutput = parsedData[7]
fallDetEn = 0
indicesIn = []
if (fail != 1):
#left side
pointstr = 'Points: '+str(numPoints)
targetstr = 'Targets: '+str(self.numTargets)
self.numPointsDisplay.setText(pointstr)
self.numTargetsDisplay.setText(targetstr)
#right side fall detection
peopleStr = 'Number of Detected People: '+str(self.numTargets)
if (self.numTargets == 0):
fdestr = 'Fall Detection Disabled - No People Detected'
elif (self.numTargets == 1):
fdestr = 'Fall Detection Enabled'
fallDetEn = 1
elif (self.numTargets > 1):
fdestr = 'Fall Detected Disabled - Too Many People'
if (len(targets) < 13):
targets = []
classifierOutput = []
if (fail):
return
#check for mounting position
if (self.yzFlip == 1):
pointCloud[[1, 2]] = pointCloud[[2, 1]]
pointCloud[2,:] = -1*pointCloud[2,:]
targets[[2,3]] = targets[[3,2]]
targets[3,:] = -1*targets[3,:]
#remove static points
if (self.configType.currentText() == '3D People Counting' or self.configType.currentText() == 'Capon3DAOP' or self.configType.currentText() == 'Sense and Detect HVAC Control'):
if (not self.staticclutter.isChecked()):
statics = np.where(pointCloud[3,:] == 0)
try:
firstZ = statics[0][0]
numPoints = firstZ
pointCloud = pointCloud[:,:firstZ]
indexes = indexes[:,:self.previousFirstZ]
self.previousFirstZ = firstZ
except:
firstZ = -1
#point cloud persistence
fNum = self.frameNum%10
if (numPoints):
self.previousCloud[:5,:numPoints,fNum] = pointCloud[:5,:numPoints]
self.previousCloud[5,:len(indexes),fNum] = indexes
self.previousPointCount[fNum]=numPoints
#plotting 3D - get correct point cloud (persistent points and synchronize the frame)
if (self.configType.currentText() == 'SDK3xPeopleCount'):
pointIn = pointCloud
else:
totalPoints = 0
persistentFrames = int(self.persistentFramesInput.currentText())
#allocate new array for all the points
for i in range(1,persistentFrames+1):
totalPoints += self.previousPointCount[fNum-i]
pointIn = np.zeros((5,int(totalPoints)))
indicesIn = np.ones((1, int(totalPoints)))*255
totalPoints = 0
#fill array
for i in range(1,persistentFrames+1):
prevCount = int(self.previousPointCount[fNum-i])
pointIn[:,totalPoints:totalPoints+prevCount] = self.previousCloud[:5,:prevCount,fNum-i]
if (self.numTargets > 0):
indicesIn[0,totalPoints:totalPoints+prevCount] = self.previousCloud[5,:prevCount,fNum-i]
totalPoints+=prevCount
if (self.graphFin):
self.plotstart = int(round(time.time()*1000))
self.graphFin = 0
if (self.threeD):
try:
indicesIn = indicesIn[0,:]
except:
indicesIn = []
self.get_thread = updateQTTargetThread3D(pointIn, targets, indicesIn, self.scatter, self.pcplot, self.numTargets, self.ellipsoids, self.coordStr, classifierOutput, self.zRange, self.gw, self.plotByIndex.isChecked(), self.plotTracks.isChecked(), self.bbox,self.boundaryBoxes[0]['checkEnable'].isChecked())
self.get_thread.done.connect(self.graphDone)
self.get_thread.start(priority=QThread.HighestPriority-1)
else:
npc = pointIn[0:2,:]
print (np.shape(npc))
self.legacyThread = update2DQTGraphThread(npc, targets, self.numTargets, indexes, numPoints, self.trailData, self.activeTrail, self.trails, self.scatter2D, self.gatingScatter)
self.legacyThread.done.connect(self.graphDone)
self.legacyThread.start(priority=QThread.HighestPriority-1)
else:
return
#pointIn = self.previousCloud[:,:int(self.previousPointCount[fNum-1]),fNum-1]
#state tracking
if (self.numTargets > 0):
self.lastFrameHadTargets = True
else:
self.lastFrameHadTargets = False
if (self.numTargets):
self.lastTID = targets[0,:]
else:
self.lastTID = []
def graphDone(self):
plotend = int(round(time.time()*1000))
plotime = plotend - self.plotstart
try:
if (self.frameNum > 1):
self.averagePlot = (plotime*1/self.frameNum) + (self.averagePlot*(self.frameNum-1)/(self.frameNum))
else:
self.averagePlot = plotime
except:
self.averagePlot = plotime
self.graphFin = 1
pltstr = 'Average Plot time: '+str(plotime)[:5] + ' ms'
fnstr = 'Frame: '+str(self.frameNum)
self.frameNumDisplay.setText(fnstr)
self.plotTimeDisplay.setText(pltstr)
before = 0
if(self.parser.fail == 1 ) :
self.lbl.setPixmap(self.pixmapGroup[before])
else:
if(self.numTargets>0):
self.trafficVal=self.parser.dangerNum
if(self.trafficVal==0): #red
self.lbl.setPixmap(self.pixmapGroup[0])
before = 0
elif(self.trafficVal==1): #green
self.lbl.setPixmap(self.pixmapGroup[1])
before = 1
else:
self.lbl.setPixmap(self.pixmapGroup[2])
def resetFallText(self):
self.fallAlert.setText('Standing')
self.fallPic.setPixmap(self.standingPicture)
self.fallResetTimerOn = 0
def updateFallThresh(self):
try:
newThresh = float(self.fallThreshInput.text())
self.fallThresh = newThresh
self.fallThreshMarker.setPos(self.fallThresh)
except:
print('No numberical threshold')
def connectCom(self):
#get parser
self.parser = uartParserSDK(type=self.configType.currentText())
self.parser.frameTime = self.frameTime
print('Parser type: ',self.configType.currentText())
#init threads and timers
self.uart_thread = parseUartThread(self.parser)
if (self.configType.currentText() != 'Replay'):
self.uart_thread.fin.connect(self.parseData)
self.uart_thread.fin.connect(self.updateGraph)
self.parseTimer = QTimer()
self.parseTimer.setSingleShot(False)
self.parseTimer.timeout.connect(self.parseData)
try:
uart = "COM"+ str(10) #deb_gp
data = "COM"+ str(11) #deb_gp
self.parser.connectComPorts(uart, data)
self.connectStatus.setText('Connected') #deb_gp
self.connectButton.setText('Disconnect') #deb_gp
except Exception as e:
print (e)
self.connectStatus.setText('Unable to Connect')
if (self.configType.currentText() == "Replay"):
self.connectStatus.setText('Replay')
if (self.configType.currentText() == "Long Range People Detection"):
self.frameTime = 400
def selectCfg(self):
try:
fname="C:\mmw_tm_demo_longRange.cfg"
self.parseCfg(fname)
except Exception as e:
print(e)
print('No cfg file selected!')
def parseCfg(self, fname):
cfg_file = open(fname, 'r')
self.cfg = cfg_file.readlines()
counter = 0
chirpCount = 0
for line in self.cfg:
args = line.split()
if (len(args) > 0):
if (args[0] == 'cfarCfg'): zy = 4
elif (args[0] == 'AllocationParam'): zy=3
elif (args[0] == 'GatingParam'): zy=2
elif (args[0] == 'SceneryParam' or args[0] == 'boundaryBox'):
self.boundaryLine = counter
self.profile['leftX'] = float(args[1])
self.profile['rightX'] = float(args[2])
self.profile['nearY'] = float(args[3])
self.profile['farY'] = float(args[4])
if (self.configType.currentText() == '3D People Counting'):
self.profile['bottomZ'] = float(args[5])
self.profile['topZ'] = float(args[6])
else:
self.profile['bottomZ'] = float(-3)
self.profile['topZ'] = float(3)
self.setBoundaryTextVals(self.profile)
self.boundaryBoxes[0]['checkEnable'].setChecked(True)
elif (args[0] == 'staticBoundaryBox'):
self.staticLine = counter
elif (args[0] == 'profileCfg'):
self.profile['startFreq'] = float(args[2])
self.profile['idle'] = float(args[3])
self.profile['adcStart'] = float(args[4])
self.profile['rampEnd'] = float(args[5])
self.profile['slope'] = float(args[8])
self.profile['samples'] = float(args[10])
self.profile['sampleRate'] = float(args[11])
print(self.profile)
elif (args[0] == 'frameCfg'):
self.profile['numLoops'] = float(args[3])
self.profile['numTx'] = float(args[2])+1
elif (args[0] == 'chirpCfg'):
chirpCount += 1
elif (args[0] == 'sensorPosition'):
self.profile['sensorHeight'] = float(args[1])
self.profile['az_tilt'] = float(args[2])
self.profile['elev_tilt'] = float(args[3])
counter += 1
self.profile['maxRange'] = self.profile['sampleRate']*1e3*0.9*3e8/(2*self.profile['slope']*1e12)
#update boundary box
self.drawBoundaryGrid(self.profile['maxRange'])
#update chirp table values
bw = self.profile['samples']/(self.profile['sampleRate']*1e3)*self.profile['slope']*1e12
rangeRes = 3e8/(2*bw)
Tc = (self.profile['idle']*1e-6 + self.profile['rampEnd']*1e-6)*chirpCount
lda = 3e8/(self.profile['startFreq']*1e9)
maxVelocity = lda/(4*Tc)
velocityRes = lda/(2*Tc*self.profile['numLoops']*self.profile['numTx'])
self.configTable.setItem(1,1,QTableWidgetItem(str(self.profile['maxRange'])[:5]))
self.configTable.setItem(2,1,QTableWidgetItem(str(rangeRes)[:5]))
self.configTable.setItem(3,1,QTableWidgetItem(str(maxVelocity)[:5]))
self.configTable.setItem(4,1,QTableWidgetItem(str(velocityRes)[:5]))
#update sensor position
self.az_tilt.setText(str(self.profile['az_tilt']))
self.elev_tilt.setText(str(self.profile['elev_tilt']))
self.s_height.setText(str(self.profile['sensorHeight']))
def sendCfg(self):
try:
if (self.configType.currentText() != "Replay"):
self.parser.sendCfg(self.cfg)
self.configSent = 1
self.parseTimer.start(self.frameTime)
except Exception as e:
print(e)
print ('No cfg file selected!')
def parseData(self):
self.uart_thread.start(priority=QThread.HighestPriority)
def whoVisible(self):
if (self.threeD):
self.threeD = 0
else:
self.threeD = 1
print('3d: ', self.threeD)
if __name__ == '__main__':
app = QApplication(sys.argv)
screen = app.primaryScreen()
size = screen.size()
main = Window(size=size)
main.show()
sys.exit(app.exec_())