def init_ui(self):
""" Initialize visual elements of widget. """
logger.info('Appending photo image widget to main app')
# Image display label
self.initial_im = tk.PhotoImage()
self.image_label = tk.Label(self, image=self.initial_im)
self.image_label.grid(row=0, column=0, rowspan = 2, sticky = 'nsew')
self.image_label.bind('<Configure>', self.image_resize)
logger.info('Launching telemetry widget')
# telemetry display widget
self.telemetry_w = TelemetryWidget(self)
self.telemetry_w.grid(row=0, column=1, sticky='nsew')
logger.info('Launching Control Widget')
# control and logging widget
self.command_w = ControlWidget(self, self.client_queue_cmd, self.client_queue_log)
self.command_w.grid(row=1, column=1, sticky='nsew')
logger.info('Finalizing frame...')
# radiobuttons for choosing which stream is in focus
self.stream_active = tk.IntVar()
self.focus_center()
#self.pump = tk.IntVar()
#tk.Checkbutton(frame, text='Pumpkin', variable=self.pump).grid(row=0, column=4)
self.grid(row = 0, column=0, sticky="nsew")
logger.info('Client GUI Initialized')
self.parent.grid_columnconfigure(0, weight=1)
self.parent.grid_rowconfigure(0, weight=1)
for i in range(0,2):
self.grid_columnconfigure(i, weight=1)
self.grid_rowconfigure(i, weight=1)
def initComponent(self):
self.drawPanel = GLWidget(self)
self.infoPanel = InfoWidget(self)
self.controlPanel = ControlWidget(self)
self.splitterPanel = SplitWidget(self)
self.globalPanel = mylable(self)
controlLayout = QVBoxLayout()
controlLayout.addWidget(self.infoPanel)
controlLayout.addWidget(self.controlPanel)
# controlLayout.addWidget(self.globalPanel)
controlLayout.addWidget(self.splitterPanel)
subLayout = QVBoxLayout()
subLayout.addWidget(self.globalPanel)
mainLayout = QHBoxLayout()
mainLayout.addWidget(self.drawPanel)
mainLayout.addLayout(controlLayout)
mainLayout.addWidget(self.globalPanel)
mainWidget = QWidget()
mainWidget.setLayout(mainLayout)
# mainWidget.setLayout(subLayout)
return mainWidget
def __init__(self, *args, **kwargs):
super(MainWindow, self).__init__(*args, **kwargs)
self.resize(1624, 660)
controlWidget = ControlWidget()
monitorWidget = TableWidget()
splitter = QSplitter()
splitter.addWidget(controlWidget)
splitter.addWidget(monitorWidget)
splitter.setStretchFactor(0, 6)
splitter.setStretchFactor(1, 10)
self.setCentralWidget(splitter)
class MainApplication(tk.Frame):
'''
Main application handle, contains the frame that contains all other widgets
'''
def __init__(self, parent, client_queue_cmd, client_queue_log, client_queue_telem, client_queue_beam, destroy_event, server_ip):
tk.Frame.__init__(self, parent)
self.parent = parent
#this is now depricated, we no longer need the ip, but we may in the future so i'm leaving it here
self.server_ip = server_ip
self.client_queue_cmd = client_queue_cmd
self.client_queue_log = client_queue_log
self.client_queue_telem = client_queue_telem
self.client_queue_beam = client_queue_beam
#fod detection
self.surveyors = [None, None, None]
self.call_surveyor = False
self.fod_enabled = False
#we found 720/640 to give the most aesthetic view
self.imageHeight = 720
self.imageWidth = 640
self.destroy_event = destroy_event
#Left Camera, Center Camera, Right Camera
self.streams = [None, None, None]
self.displayed_image = numpy.zeros((self.imageHeight,self.imageWidth,3))
self.init_ui()
self.runStreams = False
def image_resize(self, event):
'''
Handles the 'OnResize' for the ImageTk window
'''
if abs(event.width - self.imageWidth) > 2 or abs(event.height - self.imageHeight) > 2:
self.imageHeight = event.height
self.imageWidth = event.width
self.displayed_image = numpy.zeros((self.imageHeight,self.imageWidth,3))
def init_ui(self):
""" Initialize visual elements of widget. """
logger.info('Appending photo image widget to main app')
# Image display label
self.initial_im = tk.PhotoImage()
self.image_label = tk.Label(self, image=self.initial_im)
self.image_label.grid(row=0, column=0, rowspan = 2, sticky = 'nsew')
self.image_label.bind('<Configure>', self.image_resize)
logger.info('Launching telemetry widget')
# telemetry display widget
self.telemetry_w = TelemetryWidget(self)
self.telemetry_w.grid(row=0, column=1, sticky='nsew')
logger.info('Launching Control Widget')
# control and logging widget
self.command_w = ControlWidget(self, self.client_queue_cmd, self.client_queue_log)
self.command_w.grid(row=1, column=1, sticky='nsew')
logger.info('Finalizing frame...')
# radiobuttons for choosing which stream is in focus
self.stream_active = tk.IntVar()
self.focus_center()
#self.pump = tk.IntVar()
#tk.Checkbutton(frame, text='Pumpkin', variable=self.pump).grid(row=0, column=4)
self.grid(row = 0, column=0, sticky="nsew")
logger.info('Client GUI Initialized')
self.parent.grid_columnconfigure(0, weight=1)
self.parent.grid_rowconfigure(0, weight=1)
for i in range(0,2):
self.grid_columnconfigure(i, weight=1)
self.grid_rowconfigure(i, weight=1)
def define_ideal_images(self):
self.call_surveyor = True
def toggle_fod(self):
self.fod_enabled = not self.fod_enabled
def get_ideal_images(self, left, center, right):
logger.warning('Piping ideal images to modules...')
self.pause_acquisition()
self.call_surveyor = False
values = []
get_thresholds_widget(self.parent, values)
tkMessageBox.showinfo('Ideal Image Set', 'For each Image do the following:\n\n1) Left click to select a point, continue to left click until you form a simple polygon, these polygons will be highlighted when a fod enters them\n\n2) Repeat this process until the window disappears')
self.surveyors[0] = GlobalSurveyor(self.parent, left, values[2], (values[0], values[1]))
self.surveyors[1] = GlobalSurveyor(self.parent, center, values[2], (values[0], values[1]))
self.surveyors[2] = GlobalSurveyor(self.parent, right, values[2], (values[0], values[1]))
self.start_acquisition()
def focus_left(self):
self.stream_active.set(0)
def focus_center(self):
self.stream_active.set(1)
def focus_right(self):
self.stream_active.set(2)
def get_stream_order(self):
if self.stream_active.get() == 0:
return (1, 0, 2)
elif self.stream_active.get() == 1:
return (0, 1, 2)
elif self.stream_active.get() == 2:
return (0, 2, 1)
def addText(self, big_frame):
""" Change text on boxes to their designated names """
font = cv2.FONT_HERSHEY_SIMPLEX
center = (10, (self.imageHeight - 10))
topright = ((self.imageWidth / 2) + 10, (self.imageHeight / 3) - 10)
topleft = (10, (self.imageHeight / 3 - 10))
def setText(l_text, c_text, r_text):
cv2.putText(big_frame, l_text, topleft, font, 0.5, (255,0,0), 1)
cv2.putText(big_frame, c_text, center, font, 0.5, (255,0,0), 1)
cv2.putText(big_frame, r_text, topright, font, 0.5, (255,0,0), 1)
if self.stream_active.get() == 0: # left focus
setText('Center', 'Left', 'Right')
#default
elif self.stream_active.get() == 1: # center focus
setText('Left', 'Center', 'Right')
elif self.stream_active.get() == 2: # right focus
setText('Left', 'Right', 'Center')
return big_frame
def apply_misc_img_proc(self, image, flip):
corrected = color_correct(image)
if flip == True:
return mirror_vertical(corrected)
return corrected
def grab_frames(self, order, blocking):
if order is None:
order = [0, 1, 2]
# Note, we don't do a simple check to see if it's empty because of the non-gaurenteeness of python empty function
# Our flip flag is order[0] == 1 because if the order is 1 then we are the center image, this is the only
# camera that is not upside down
# additionally, we explicitely (without a for loop) do this because of the verboseness, it's better to be overly verbose than a clever programmer
try:
l_frame = self.apply_misc_img_proc(self.streams[order[0]]._queue.get(blocking), order[0] != 1)
except Empty:
l_frame = None
try:
c_frame = self.apply_misc_img_proc(self.streams[order[1]]._queue.get(blocking), order[1] != 1)
except Empty:
c_frame = None
try:
r_frame = self.apply_misc_img_proc(self.streams[order[2]]._queue.get(blocking), order[2] != 1)
except Empty:
r_frame = None
return (l_frame, c_frame, r_frame)
def pause_acquisition(self):
for stream in self.streams:
stream.disable_display()
def start_acquisition(self):
for stream in self.streams:
stream.enable_display()
def display_streams(self, delay=0):
'''
Where the Image window gets updated.
Check to see if we're obtaining data
attempt to grab a non-blocking frame from each camera
On success, color correct, and pipe into it's designated portion of the image.
We then have to do some slight manipulation with a matrix to get it to fit
properly. Then we slam it on the ImageTk window.
'''
try:
if self.destroy_event.isSet() == True:
self.runStreams = False
self.parent.displayMarsDisconnected()
return
if self.runStreams == False:
return
if self.call_surveyor == True:
logger.warning('Setting Ideal Images...')
left, center, right = self.grab_frames(None, True)
self.get_ideal_images(left, center, right)
frameOrder = self.get_stream_order()
l_frame, c_frame, r_frame = self.grab_frames(frameOrder, False)
if self.fod_enabled and self.surveyors[0] is not None:
l_frame = self.surveyors[frameOrder[0]].run_basic_fod(l_frame)
c_frame = self.surveyors[frameOrder[1]].run_basic_fod(c_frame)
r_frame = self.surveyors[frameOrder[2]].run_basic_fod(r_frame)
thirdHeight = int(self.imageHeight / 3)
halfWidth = int(self.imageWidth / 2)
#put images in their correct spot
if l_frame is not None:
l_frame = cv2.resize(l_frame, (halfWidth, thirdHeight))
self.displayed_image[:thirdHeight,:halfWidth,:] = l_frame
if c_frame is not None:
c_frame = cv2.resize(c_frame, (self.imageWidth, self.imageHeight - thirdHeight))
self.displayed_image[thirdHeight:, :,:] = c_frame
if r_frame is not None:
r_frame = cv2.resize(r_frame, (self.imageWidth - halfWidth, thirdHeight))
self.displayed_image[:thirdHeight,halfWidth:self.imageWidth,:] = r_frame
big_frame = numpy.asarray(self.displayed_image, dtype=numpy.uint8)
self.addText(big_frame)
imageFromArray = Image.fromarray(big_frame)
try:
tkImage = ImageTk.PhotoImage(image=imageFromArray)
self.image_label.configure(image=tkImage)
self.image_label._image_cache = tkImage # avoid garbage collection
self.update()
except RuntimeError:
logger.warning('Unable to update image frame. Assuming application has been killed unexpectidly.')
return
self.after(delay, self.display_streams, delay)
except KeyboardInterrupt:
self.close_()
def start_streams(self):
'''
1) If streams are open, close them
2) Attempt connection to each RTP stream
'''
if self.runStreams:
logger.info('Streams were already open on GUI, releasing and restarting capture')
self.runStreams = False
for s in self.streams:
if s is not None and s._vidcap is not None and s._vidcap.isOpened():
s.stop()
s.join()
s = None
self.runStreams = True
self.displayed_image = numpy.zeros((self.imageHeight,self.imageWidth,3))
for camera in range(0, len(CAMERAS)):
#logger.info('Attempting to connect to ' + camera + ' on port ' + str(CAMERA_PORT_MAP[camera]))
captureCv = VideoThread(CAMERAS[camera], CAMERAS[camera], Queue())
self.streams[camera] = captureCv
for s in self.streams:
s.start()
self.runStreams = True
self.after(100, self.display_streams)
def close_(self):
logger.info('GUI: Stopping all video streams...')
self.runStreams = False
#stop the threads
for stream in self.streams:
stream.stop()
if stream.is_alive():
stream.join()
logger.info('GUI destroying widgets...')
#throw widgets in garbage
self.telemetry_w.destroy()
self.command_w.quit_()
logger.info('GUI Destorying main application box...')
self.destroy()
class BVHPlayerPy(QMainWindow):
def __init__(self, pathCD):
super().__init__()
self.setMaximumSize(800, 500)
self.pathCurrentDir = pathCD
self.pathMotionFileDir = pathCD.rstrip(os.path.basename(pathCD))
self.setCentralWidget(self.initComponent())
menuBar = self.menuBar()
menuBar.setNativeMenuBar(False)
fileMenu = menuBar.addMenu("&File")
loadAction = QAction("&Open...", self)
loadAction.triggered.connect(self.loadFile)
loadAction.setShortcut("Ctrl+l")
fileMenu.addAction(loadAction)
quitAction = QAction("&Quit...", self)
quitAction.triggered.connect(self.quit)
quitAction.setShortcut("Ctrl+q")
fileMenu.addAction(quitAction)
self.setMenuBar(menuBar)
self.setWindowTitle("BVH Player")
def initComponent(self):
self.drawPanel = GLWidget(self)
self.infoPanel = InfoWidget(self)
self.controlPanel = ControlWidget(self)
self.splitterPanel = SplitWidget(self)
controlLayout = QVBoxLayout()
controlLayout.addWidget(self.infoPanel)
controlLayout.addWidget(self.controlPanel)
controlLayout.addWidget(self.splitterPanel)
mainLayout = QHBoxLayout()
mainLayout.addWidget(self.drawPanel)
mainLayout.addLayout(controlLayout)
mainWidget = QWidget()
mainWidget.setLayout(mainLayout)
return mainWidget
def quit(self):
sys.exit()
def loadFile(self):
filePath = QFileDialog.getOpenFileName(self, "Choose Motion File...", self.pathMotionFileDir, "Biovision Hierarchy (*.bvh)")
if filePath[0] == "":
# print("Error: Motion file is not given")
pass
else:
root, motion, frames, frameTime = BVH.readBVH(filePath[0])
self.pathMotionFileDir = os.path.dirname(filePath[0])
self.drawPanel.setMotion(root, motion, frames, frameTime)
self.infoPanel.initInfo(os.path.basename(filePath[0]), frameTime, frames)
self.controlPanel.setPlayMode(True)
self.splitterPanel.setActive()
self.splitterPanel.initMotionData(os.path.basename(filePath[0]), root, motion, frameTime)
def keyPressEvent(self, event:QKeyEvent):
if event.key() == Qt.Key_Escape:
self.quit()
elif event.key() == Qt.Key_S:
if self.drawPanel.motion is not None:
self.drawPanel.isPlaying = not self.drawPanel.isPlaying
self.controlPanel.setPlayMode(self.drawPanel.isPlaying)
elif event.key() == Qt.Key_F:
self.drawPanel.fastRatio *= 2.0
elif event.key() == Qt.Key_D:
self.drawPanel.fastRatio /= 2.0
elif event.key() == Qt.Key_Right:
if self.drawPanel.frames is not None:
self.drawPanel.frameCount += 1
if self.drawPanel.frameCount >= self.drawPanel.frames:
self.drawPanel.frameCount = 0
elif event.key() == Qt.Key_Left:
if self.drawPanel.frames is not None:
self.drawPanel.frameCount -= 1
if self.drawPanel.frameCount < 0:
self.drawPanel.frameCount = self.drawPanel.frames - 1
else:
pass