def on_pushButton_calibrate_clicked(self):
self._widget.pushButton_calibrate.setEnabled(False)
status_icon = QIcon.fromTheme('stock_no')
# Fill request information
request = self._selected_service['service_class']._request_class()
request.target_hue.data = self._widget.spinBox_hue.value()
request.mult_diffs.data = self._widget.spinBox_diff.value()
request.mult_sat.data = self._widget.spinBox_sat.value()
try:
# Call service
response = self._selected_service['service_proxy'](request)
except rospy.ServiceException as e:
qWarning('on_pushButton_calibrate_clicked(): error calling service "%s":\n%s' % (self._selected_service['service_name'], e))
else:
# Get debug image and show
img = response.image_debug
qImage = QImage(img.data, img.width, img.height, img.step, QImage.Format_RGB888)
qPixmap = QPixmap()
qPixmap.convertFromImage(qImage)
pixmapItem = QGraphicsPixmapItem(qPixmap)
self._qGraphicsScene.clear()
self._qGraphicsScene.addItem(pixmapItem)
self._widget.graphicsView.fitInView(QRectF(qPixmap.rect()), Qt.KeepAspectRatio)
if response.success.data == True:
status_icon = QIcon.fromTheme('stock_yes')
self._widget.label_status.setPixmap(status_icon.pixmap(status_icon.actualSize(QSize(24, 24))))
self._widget.pushButton_calibrate.setEnabled(True)
def handle_signal(self, image, qPixmapItem, qGraphicsView):
qImage = QImage(image.data, image.width, image.height, image.step, QImage.Format_RGB888)
qPixmap = QPixmap()
qPixmap.convertFromImage(qImage)
qPixmapItem.setPixmap(qPixmap)
qGraphicsView.fitInView(qPixmapItem, Qt.KeepAspectRatio)
def rocon_icon_to_qicon(icon):
"""
:param rocon_std_msgs.Icon icon: icon to use for the pixmap
"""
pixmap = QPixmap()
pixmap.loadFromData(icon.data, format=icon.format)
return QIcon(pixmap)
def __init__(self, img):
splash_pix = QPixmap(img)
self.splash = QSplashScreen(splash_pix, Qt.WindowStaysOnTopHint)
self.splash.setMask(splash_pix.mask())
self.splash.show()
for i in range(100):
time.sleep(0.01)
QApplication.processEvents()
def __init__(self, img):
splash_pix = QPixmap(img)
self.splash = QSplashScreen(splash_pix, Qt.WindowStaysOnTopHint)
self.splash.setMask(splash_pix.mask())
self.splash.show()
for i in range(100):
time.sleep(0.01)
QApplication.processEvents()
def update(self):
"""
Updates the widget.
"""
if not self.__deleted:
if self.__selected_item is not None:
data_dict = self.__selected_item.get_latest_data()
self.__state = data_dict["state"]
self.host_node_label.setText(
self.tr(self.__selected_item.get_seuid()))
if self.__previous_state is not self.__state:
self.__previous_state = self.__state
if self.__state == "ok":
self.current_status_label.setText(self.tr("ok"))
#self.host_node_label.setText(self.tr("Current Status: Ok"))
pixmap = QPixmap(
os.path.join(
self.rp.get_path('rqt_arni_gui_detail'),
'resources/graphics', 'block_green.png'))
elif self.__state == "warning":
self.current_status_label.setText(self.tr("warning"))
#self.host_node_label.setText(self.tr("Current Status: Warning"))
pixmap = QPixmap(
os.path.join(
self.rp.get_path('rqt_arni_gui_detail'),
'resources/graphics', 'block_orange.png'))
elif self.__state == "unknown":
self.current_status_label.setText(self.tr("unkown"))
#self.host_node_label.setText(self.tr("Current Status: Unkown"))
pixmap = QPixmap(
os.path.join(
self.rp.get_path('rqt_arni_gui_detail'),
'resources/graphics', 'block_grey.png'))
else: # error or offline
self.current_status_label.setText(self.tr(
self.__state))
pixmap = QPixmap(
os.path.join(
self.rp.get_path('rqt_arni_gui_detail'),
'resources/graphics', 'block_red.png'))
self.status_light_label.setPixmap(pixmap)
content = self.__selected_item.get_detailed_data()
scroll_value = self.information_tab_text_browser.verticalScrollBar(
).value()
self.information_tab_text_browser.setHtml(content)
self.information_tab_text_browser.verticalScrollBar(
).setSliderPosition(scroll_value)
else:
self.host_node_label.setText(self.tr("No item selected"))
self.current_status_label.setText(self.tr("Offline"))
self.information_tab_text_browser.setText(
self.
tr("Please select an item in the TreeView to get more information"
" about it"))
def __init__(self, context):
"""
Constructor
"""
super(CarlaControlPlugin, self).__init__(context)
self.setObjectName('CARLA Control')
self._widget = QWidget()
self._node = CompatibleNode('rqt_carla_control_node')
package_share_dir = roscomp.get_package_share_directory(
'rqt_carla_control')
ui_file = os.path.join(package_share_dir, 'resource',
'CarlaControl.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('CarlaControl')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self.pause_icon = QIcon(
QPixmap(os.path.join(package_share_dir, 'resource', 'pause.png')))
self.play_icon = QIcon(
QPixmap(os.path.join(package_share_dir, 'resource', 'play.png')))
self._widget.pushButtonStepOnce.setIcon(
QIcon(
QPixmap(
os.path.join(package_share_dir, 'resource',
'step_once.png'))))
self.carla_status = None
self.carla_status_subscriber = self._node.new_subscription(
CarlaStatus,
"/carla/status",
self.carla_status_changed,
qos_profile=10)
self.carla_control_publisher = self._node.new_publisher(
CarlaControl, "/carla/control", qos_profile=10)
self._widget.pushButtonPlayPause.setDisabled(True)
self._widget.pushButtonStepOnce.setDisabled(True)
self._widget.pushButtonPlayPause.setIcon(self.play_icon)
self._widget.pushButtonPlayPause.clicked.connect(
self.toggle_play_pause)
self._widget.pushButtonStepOnce.clicked.connect(self.step_once)
context.add_widget(self._widget)
if roscomp.get_ros_version() == 2:
spin_thread = threading.Thread(target=self._node.spin, daemon=True)
spin_thread.start()
def redraw(self):
with self.lock:
if self.cv_image != None:
size = self.cv_image.shape
img = QImage(self.cv_image.data, size[1], size[0],
size[2] * size[1], QImage.Format_RGB888)
# convert to QPixmap
self.pixmap = QPixmap(size[1], size[0])
self.pixmap.convertFromImage(img)
self.label.setPixmap(
self.pixmap.scaled(self.label.width(), self.label.height(),
QtCore.Qt.KeepAspectRatio))
def image_callback(self, ros_data):
np_arr = np.fromstring(ros_data.data, np.uint8)
image = cv.imdecode(np_arr, cv.IMREAD_COLOR)
height, width, _ = image.shape
bytes_per_line = 3 * width
qImage = QImage(image.data, width, height, bytes_per_line,
QImage.Format_RGB888).rgbSwapped()
pix = QPixmap(qImage)
h_label = self._widget.videoDisplay.height()
w_label = self._widget.videoDisplay.width()
self._widget.videoDisplay.setPixmap(
pix.scaled(w_label, h_label, Qt.KeepAspectRatio))
def mouseMoveEvent(self, event):
'''
Determine if the current movement is a drag. If it is, convert it into a QDrag. If the
drag ends inside the tab bar, emit an move_tab_signal. If the drag ends outside the tab
bar, emit an detach_tab_signal.
'''
# Determine if the current movement is detected as a drag
if not self.drag_start_pos.isNull() and ((event.pos() - self.drag_start_pos).manhattanLength() > QApplication.startDragDistance()):
self.drag_initiated = True
# If the current movement is a drag initiated by the left button
if ((event.buttons() & Qt.LeftButton)) and self.drag_initiated:
# Stop the move event
finishMoveEvent = QMouseEvent(QEvent.MouseMove, event.pos(), Qt.NoButton, Qt.NoButton, Qt.NoModifier)
QTabBar.mouseMoveEvent(self, finishMoveEvent)
# Convert the move event into a drag
drag = QDrag(self)
mime_data = QMimeData()
mime_data.setData('action', b'application/tab-detach')
drag.setMimeData(mime_data)
# Create the appearance of dragging the tab content
# tab_index = self.tabAt(self.drag_start_pos)
pixmap = self.parentWidget().grab()
targetPixmap = QPixmap(pixmap.size())
targetPixmap.fill(Qt.transparent)
painter = QPainter(targetPixmap)
painter.setOpacity(0.85)
painter.drawPixmap(0, 0, pixmap)
painter.end()
drag.setPixmap(targetPixmap)
# Initiate the drag
dropAction = drag.exec_(Qt.MoveAction | Qt.CopyAction)
# If the drag completed outside of the tab bar, detach the tab and move
# the content to the current cursor position
if dropAction == Qt.IgnoreAction:
event.accept()
self.detach_tab_signal.emit(self.tabAt(self.drag_start_pos), self.mouse_cursor.pos(), False)
elif dropAction == Qt.MoveAction:
# else if the drag completed inside the tab bar, move the selected tab to the new position
if not self.drag_droped_pos.isNull():
self.move_tab_signal.emit(self.tabAt(self.drag_start_pos), self.tabAt(self.drag_droped_pos))
else:
# else if the drag completed inside the tab bar new TabBar, move the selected tab to the new TabBar
self.detach_tab_signal.emit(self.tabAt(self.drag_start_pos), self.mouse_cursor.pos(), False)
event.accept()
else:
QTabBar.mouseMoveEvent(self, event)
def on_compressed_image_received(self, image):
'''
:param sensor_msgs.CompressedImage image: convert and display this in the QGraphicsView.
'''
if len(self.scene.items()) > 1:
self.scene.removeItem(self.scene.items()[0])
pixmap = QPixmap()
pixmap.loadFromData(image.data, format=image.format)
self.scene.addPixmap(pixmap)
self.scene.update()
# setting fitInvView seems sensitive to here or prior to scene update
self.fitInView(QRectF(0, 0, self.scene.width(), self.scene.height()),
Qt.KeepAspectRatio)
def __init__(self, parent=None, info=False):
QFrame.__init__(self, parent=parent)
self.setObjectName('MessageFrame')
self.questionid = self.TYPE_INVALID
self.text = ""
self.data = MessageData(None)
self.IMAGES = {1: QPixmap(),
2: QPixmap(':/icons/crystal_clear_question.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
3: QPixmap(':/icons/crystal_clear_launch_file.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
4: QPixmap(":/icons/default_cfg.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
5: QPixmap(":/icons/crystal_clear_nodelet_q.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
6: QPixmap(":/icons/crystal_clear_launch_file_transfer.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
7: QPixmap(":/icons/crystal_clear_question.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
8: QPixmap(":/icons/crystal_clear_no_io.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation)
}
self._new_request = False
self.frameui = QFrame()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'MessageFrame.ui')
loadUi(ui_file, self.frameui)
color = QColor(255, 207, 121)
self.frameui.setVisible(False)
self.frameui.listLabel.setVisible(False)
self.frameui.questionOkButton.clicked.connect(self._on_question_ok)
self.frameui.questionCancelButton.clicked.connect(self._on_question_cancel)
self.frameui.checkBox_dnaa.stateChanged.connect(self._on_checkbox_state_changed)
self._ask = 'ask'
if info:
color = QColor(232, 104, 80)
self.frameui.questionCancelButton.setVisible(False)
self._ask = 'show'
bg_style = "QFrame#questionFame { background-color: %s;}" % color.name()
self.frameui.setStyleSheet("%s" % (bg_style))
self._queue = MessageQueue()
self._do_not_ask = {}
def __init__(self, context):
super(SpeechStatusPlugin, self).__init__(context)
self.setObjectName('SpeechStatusPlugin')
self._widget = QWidget()
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_speech_status'),
'resource', 'speech_widget.ui')
loadUi(ui_file, self._widget)
context.add_widget(self._widget)
file_live = os.path.join(
rospkg.RosPack().get_path('rqt_speech_status'), 'resource',
'microphone.png')
file_mute = os.path.join(
rospkg.RosPack().get_path('rqt_speech_status'), 'resource',
'muted.png')
file_silency = os.path.join(
rospkg.RosPack().get_path('rqt_speech_status'), 'resource',
'silence-face.png')
file_speech = os.path.join(
rospkg.RosPack().get_path('rqt_speech_status'), 'resource',
'surprise-face.png')
self.img_mute = QPixmap(file_mute).scaled(160, 160)
self.img_live = QPixmap(file_live).scaled(160, 160)
self.img_silency = QPixmap(file_silency).scaled(160, 160)
self.img_speech = QPixmap(file_speech).scaled(160, 160)
self._widget.imgRecognition.setPixmap(self.img_live)
self._widget.imgSilency.setPixmap(self.img_silency)
self.signal_render_recog_status = SignalRender()
self.signal_render_recog_status.renderSignal.connect(
self.render_recog_status)
self.signal_render_silency_status = SignalRender()
self.signal_render_silency_status.renderSignal.connect(
self.render_silency_status)
rospy.Subscriber('enable_recognition', Bool,
self.handle_enable_recognition)
rospy.Subscriber('start_of_speech', Empty, self.handle_start_speech)
rospy.Subscriber('end_of_speech', Empty, self.handle_end_speech)
rospy.Subscriber('silency_detected', Empty,
self.handle_silency_detection)
def _show_image(self, bin_, index):
target_name = self.bin_contents[bin_][index]
target_image_path = os.path.join(self.image_path, target_name,
'image.jpg')
target_pixmap = QPixmap(target_image_path).scaled(100, 100)
self.bin_dict[bin_]['image'].setPixmap(target_pixmap)
self.bin_dict[bin_]['image'].show()
def update(self):
if self.mapitem:
self.scene.removeItem(self.mapitem)
qpix = QPixmap.fromImage(self.map)
self.mapitem = self.scene.addPixmap(qpix)
self.mirror(self.mapitem)
self.show()
def update_description(self, index, cfg, name, displayed_name, robot_type,
description, images):
'''
Sets the values of an existing item to the given items only if the current
value is empty.
'''
if index < len(self._data):
obj = self._data[index]
if cfg not in obj['cfgs']:
obj['cfgs'].append(cfg)
if not obj['name']:
obj['name'] = name
if not obj['displayed_name']:
obj['displayed_name'] = displayed_name
if not obj['type']:
obj['type'] = robot_type
if not obj['description']:
obj['description'] = replace_paths(description)
if not obj['images']:
for image_path in images:
img = interpret_path(image_path)
if img and img[0] != os.path.sep:
img = os.path.join(nm.settings().PACKAGE_DIR,
image_path)
if os.path.isfile(img):
obj['images'].append(QPixmap(img))
def _setup_tab_view_page(self, sid, mid):
tabContent = InnerWidget(mid, sid)
tabContent.mesaurementLabel.setText(
"<html><head/><body><p><span style=\" font-size:14pt; "
"font-weight:600;\">Measurement {}</span></p></body></html>".
format(mid + 1))
measurement = self.last_site_data.sites[sid].measurements[
mid] # type: rover_science.msg.Measurement
tabContent.latitudeLabel.setText("Latitude: {}".format(
measurement.location.latitude))
tabContent.longitudeLabel.setText("Longitude: {}".format(
measurement.location.longitude))
tabContent.altitudeLabel.setText("Altitude: {}".format(
measurement.location.altitude))
site = self.last_site_data.sites[sid]
if site.has_pano & site.HAS_PANO == site.HAS_PANO:
pmap = QPixmap(site.pano_location)
tabContent.panorama.clear()
tabContent.panorama.setPixmap(pmap)
tabContent.panorama.setMaximumSize(500, 350)
if measurement.data_completeness & measurement.HAS_PH == measurement.HAS_PH:
tabContent.phLabel.setText("PH: {}".format(measurement.ph))
if measurement.data_completeness & measurement.HAS_TEMP == measurement.HAS_TEMP:
tabContent.tempLabel.setText("Temperature: {}".format(
measurement.temp))
if measurement.data_completeness & measurement.HAS_HUMIDITY == measurement.HAS_HUMIDITY:
tabContent.humidityLabel.setText("Humidity: {}".format(
measurement.humidity))
tabContent.retake.connect(self.retake_measurement_clicked)
self.tabWidget.addTab(tabContent, "Measurement {}".format(mid + 1))
def __init__(self, context):
"""
Constructor
"""
super(CarlaControlPlugin, self).__init__(context)
self.setObjectName('CARLA Control')
self._widget = QWidget()
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_carla_control'),
'resource', 'CarlaControl.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('CarlaControl')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self.pause_icon = QIcon(
QPixmap(
os.path.join(rospkg.RosPack().get_path('rqt_carla_control'),
'resource', 'pause.png')))
self.play_icon = QIcon(
QPixmap(
os.path.join(rospkg.RosPack().get_path('rqt_carla_control'),
'resource', 'play.png')))
self._widget.pushButtonStepOnce.setIcon(
QIcon(
QPixmap(
os.path.join(
rospkg.RosPack().get_path('rqt_carla_control'),
'resource', 'step_once.png'))))
self.carla_status = None
self.carla_status_subscriber = rospy.Subscriber(
"/carla/status", CarlaStatus, self.carla_status_changed)
self.carla_control_publisher = rospy.Publisher("/carla/control",
CarlaControl,
queue_size=10)
self._widget.pushButtonPlayPause.setDisabled(True)
self._widget.pushButtonStepOnce.setDisabled(True)
self._widget.pushButtonPlayPause.setIcon(self.play_icon)
self._widget.pushButtonPlayPause.clicked.connect(
self.toggle_play_pause)
self._widget.pushButtonStepOnce.clicked.connect(self.step_once)
context.add_widget(self._widget)
def put_image_into_scene(self):
if self._image:
resized_image = self._image.resize((self._image_view.size().width() - 2, self._image_view.size().height() - 2), self.quality)
QtImage = ImageQt(resized_image)
pixmap = QPixmap.fromImage(QtImage)
self._scene.clear()
self._scene.addPixmap(pixmap)
def put_image_into_scene(self):
if self._image:
resized_image = self._image.resize((self._image_view.size().width() - 2, self._image_view.size().height() - 2), self.quality)
QtImage = ImageQt(resized_image)
pixmap = QPixmap.fromImage(QtImage)
self._scene.clear()
self._scene.addPixmap(pixmap)
def put_image_into_scene(self):
if self._image:
if self.capture is None:
resized_image = self._image.resize(
(self._image_view.size().width() - 2,
self._image_view.size().height() - 2, self.quality))
QtImage = ImageQt(resized_image)
pixmap = QPixmap.fromImage(QtImage)
self._scene.clear()
self._scene.addPixmap(pixmap)
else:
QtImage = ImageQt(self._image)
pixmap = QPixmap.fromImage(QtImage)
self.label = CaptureImage(self._timeline, self._topic,
self._image_msg, self.capture)
self.label.setPixmap(pixmap)
self._scene.addWidget(self.label)
def __init__(self, context):
super(MasterInfo, self).__init__(context)
self.initialised = False
self.setObjectName('MasterInfo')
self._current_dotcode = None
self._master_info = rocon_master_info.get_master_info(0.5) # at worst a small timeout here, but perhaps should be run in a thread.
self._widget = QWidget()
self._widget.setObjectName('RoconMasterInfoUi')
rospack = rospkg.RosPack()
ui_file = os.path.join(rospack.get_path('rocon_qt_master_info'), 'ui', 'master_info.ui')
loadUi(ui_file, self._widget)
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
pixmap = QPixmap()
pixmap.loadFromData(self._master_info.icon.data, format=self._master_info.icon.format)
self._widget.icon_label.setPixmap(pixmap)
self._widget.icon_label.resize(pixmap.width(), pixmap.height())
self._widget.info_label.resize(200, pixmap.height())
self._widget.info_label.setText("<b>Name:</b> %s<br/><b>Rocon Version:</b> %s<br/><b>Description:</b> %s" % (self._master_info.name, self._master_info.version, self._master_info.description))
self._widget.adjustSize()
context.add_widget(self._widget)
def make_icon(self, image_list, mode=QIcon.Normal, state=QIcon.On):
"""
Helper function to create QIcons from lists of image files
Warning: svg files interleaved with other files will not render correctly
:param image_list: list of image paths to layer into an icon.
:type image: list of str
:param mode: The mode of the QIcon to be created.
:type mode: int
:param state: the state of the QIcon to be created.
:type state: int
"""
if type(image_list) is not list:
image_list = [image_list]
if len(image_list) <= 0:
raise TypeError('The list of images is empty.')
num_svg = 0
for item in image_list:
if item[-4:].lower() == '.svg':
num_svg = num_svg + 1
if num_svg != len(image_list):
# Legacy support for non-svg images
icon_pixmap = QPixmap()
icon_pixmap.load(image_list[0])
painter = QPainter(icon_pixmap)
for item in image_list[1:]:
painter.drawPixmap(0, 0, QPixmap(item))
icon = QIcon()
icon.addPixmap(icon_pixmap, mode, state)
painter.end()
return icon
else:
# rendering SVG files into a QImage
renderer = QSvgRenderer(image_list[0])
icon_image = QImage(renderer.defaultSize(), QImage.Format_ARGB32)
icon_image.fill(0)
painter = QPainter(icon_image)
renderer.render(painter)
if len(image_list) > 1:
for item in image_list[1:]:
renderer.load(item)
renderer.render(painter)
painter.end()
# Convert QImage into a pixmap to create the icon
icon_pixmap = QPixmap()
icon_pixmap.convertFromImage(icon_image)
icon = QIcon(icon_pixmap)
return icon
def _load_default_image(self):
joystick_icon = os.path.join(
rospkg.RosPack().get_path('rocon_bubble_icons'), 'icons',
'joystick.png')
pixmap = QPixmap(joystick_icon, format="png")
self.scene.addPixmap(pixmap)
self.scene.update()
self.fitInView(QRectF(0, 0, self.scene.width(), self.scene.height()),
Qt.KeepAspectRatio)
def _update(self):
if self._map_item:
self._scene.removeItem(self._map_item)
pixmap = QPixmap.fromImage(self._map)
self._map_item = self._scene.addPixmap(pixmap)
self.centerOn(self._map_item)
self.show()
def _update(self):
if self._map_item:
self._scene.removeItem(self._map_item)
pixmap = QPixmap.fromImage(self._map)
self._map_item = self._scene.addPixmap(pixmap)
self.centerOn(self._map_item)
self.show()
def load_map(self, scenario):
self.scenario = scenario
map_yaml = os.path.join(rospkg.RosPack().get_path('rqt_simulation'),
'scenarios', scenario, 'map.yaml')
self.loadConfig(map_yaml)
map = 'map.png'
map_file = os.path.join(rospkg.RosPack().get_path('rqt_simulation'),
'scenarios', scenario, map)
pixmap = QPixmap(map_file)
self.mapSize = pixmap.size()
self.addPixmap(pixmap)
# Add world origin
self.worldOrigin = QPointF(
-self.map_origin[0] / self.map_resolution,
self.map_origin[1] / self.map_resolution + self.mapSize.height())
self.addCoordinateSystem(self.worldOrigin, 0.0)
class ScaledLabel(QLabel):
def __init__(self, *args, **kwargs):
QLabel.__init__(self)
self._pixmap = QPixmap(self.pixmap())
def resizeEvent(self, event):
self.setPixmap(
self._pixmap.scaled(self.width(), self.height(),
QtCore.Qt.KeepAspectRatio))
def getRobotLabel(self, colorStr):
"""
initiates the robot label
:param colorStr: color as string
:return:
"""
ls = self.pool.get(colorStr)
if ls == []:
pxmap = QPixmap(self._getRobFile(colorStr))
rob = QLabel(parent=self.frame)
rob.setPixmap(pxmap)
rob.originalPixmap = QPixmap(pxmap)
rob.setScaledContents(True)
rob.setFixedSize(self.size, self.size)
rob.show()
return rob
else:
rob = ls.pop()
rob.show()
return rob
def _update(self):
if self._map_item:
self._scene.removeItem(self._map_item)
pixmap = QPixmap.fromImage(self._map)
self._map_item = self._scene.addPixmap(pixmap)
# Everything must be mirrored
self._mirror(self._map_item)
self.centerOn(self._map_item)
self.show()
def _set_icon(self):
pixmap = QPixmap()
pixmap.loadFromData(
self.qt_rapp_manager_info._get_icon().data,
format=self.qt_rapp_manager_info._get_icon().format)
self._widget.icon_label.setPixmap(pixmap)
self._widget.icon_label.resize(pixmap.width(), pixmap.height())
def fome_raw(self, data):
try:
cvImage = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
height, width, byteValue = cvImage.shape
byteValue = byteValue * width
cv2.cvtColor(cvImage, cv2.COLOR_BGR2RGB, cvImage)
r_image = QImage(cvImage, width, height, byteValue,
QImage.Format_RGB888)
r_image = QPixmap.fromImage(r_image)
r_image = r_image.scaledToHeight(300)
self.r_label.setPixmap(r_image)
def redraw(self):
with self.lock:
if self.cv_image != None:
size = self.cv_image.shape
img = QImage(self.cv_image.data,
size[1], size[0], size[2] * size[1],
QImage.Format_RGB888)
# convert to QPixmap
self.pixmap = QPixmap(size[1], size[0])
self.pixmap.convertFromImage(img)
self.label.setPixmap(self.pixmap.scaled(
self.label.width(), self.label.height(),
QtCore.Qt.KeepAspectRatio))
def msg_to_pixmap(self, msg):
cv_img = self.bridge.imgmsg_to_cv2(msg)
shape = cv_img.shape
if len(shape) == 3 and shape[2] == 3: # RGB888
h, w, _ = shape
bytesPerLine = 3 * w
img_format = QImage.Format_RGB888
else: # Grayscale8
h, w = shape[0], shape[1]
bytesPerLine = 1 * w
img_format = QImage.Format_Grayscale8
q_img = QImage(cv_img.data, w, h, bytesPerLine, img_format)
return QPixmap.fromImage(q_img).scaled(320, 240)
def updateCupMask(self, img):
try:
image = self.__cvBridge.imgmsg_to_cv2(img) # Convert ROS' sensor_msgs/Image to cv2 image
image = cv2.merge((image, image, image)) # QImage only supports colour images or 1-bit mono (which opencv does not)
height, width = image.shape[:2]
frame = QImage(image.data, width, height, QImage.Format_RGB888)
self.__cupImageScene.clear()
self.__cupImageScene.addPixmap(QPixmap.fromImage(frame))
self.__cupImageScene.update()
self._widget.cupGraphicsView.setScene(self.__cupImageScene)
self._widget.cupGraphicsView.ensureVisible(self.__cupImageScene.sceneRect());
self._widget.cupGraphicsView.fitInView(self.__cupImageScene.sceneRect(), Qt.KeepAspectRatio);
except Exception as e:
rospy.logerr("update updatecupMask: %s", e)
def update(self):
"""
Updates the Plugin and draws the graphs if draw_graphs is true.
"""
data_dict = self.__model.get_root_item().get_latest_data("state")
self.__state = data_dict["state"]
if self.__previous_state is not self.__state:
self.__previous_state = self.__state
if self.__state == "ok":
self.status_text_line_edit.setText(
self.tr("Current status: Ok"))
pixmap = QPixmap(
os.path.join(self.rp.get_path('rqt_arni_gui_overview'),
'resources/graphics', 'light_green.png'))
elif self.__state == "warning":
self.status_text_line_edit.setText(
self.tr("Current status: Warning"))
pixmap = QPixmap(
os.path.join(self.rp.get_path('rqt_arni_gui_overview'),
'resources/graphics', 'light_orange.png'))
else:
self.status_text_line_edit.setText(
self.tr("Current status: Error"))
pixmap = QPixmap(
os.path.join(self.rp.get_path('rqt_arni_gui_overview'),
'resources/graphics', 'light_red.png'))
self.status_light_label.setPixmap(pixmap)
if self.information_tab_text_browser:
scroll_value = self.information_tab_text_browser.verticalScrollBar(
).value()
self.information_tab_text_browser.setHtml(
self.__model.get_overview_text())
self.information_tab_text_browser.verticalScrollBar(
).setSliderPosition(scroll_value)
def _update(self):
if self._map_item:
self._scene.removeItem(self._map_item)
pixmap = QPixmap.fromImage(self._map)
self._map_item = self._scene.addPixmap(pixmap)
# Everything must be mirrored
self._mirror(self._map_item)
# Add drag and drop functionality
self.add_dragdrop(self._map_item)
self.centerOn(self._map_item)
self.show()
def _update(self):
if self._map_item:
self._scene.removeItem(self._map_item)
pixmap = QPixmap.fromImage(self._map)
self._map_item = self._scene.addPixmap(pixmap)
# Everything must be mirrored
self._mirror(self._map_item)
# Add drag and drop functionality
self.add_dragdrop(self._map_item)
self.centerOn(self._map_item)
self.show()
def updateImage(self, img):
try:
img.encoding = "bgr8" # no, it's not but cv_bridge can't handle hsv
image = self.__cvBridge.imgmsg_to_cv2(img) # Convert ROS' sensor_msgs/Image to cv2 image
self.__lastHSVimage = image.copy()
image = cv2.cvtColor(image, cv2.COLOR_HSV2RGB)
height, width = image.shape[:2]
frame = QImage(image.data, width, height, QImage.Format_RGB888)
self.__colorImageScene.clear()
self.__colorImageScene.addPixmap(QPixmap.fromImage(frame))
self.__colorImageScene.update()
self._widget.lightCorrectedGraphicsView.setScene(self.__colorImageScene)
self._widget.lightCorrectedGraphicsView.ensureVisible(self.__colorImageScene.sceneRect());
self._widget.lightCorrectedGraphicsView.fitInView(self.__colorImageScene.sceneRect(), Qt.KeepAspectRatio);
except Exception as e:
rospy.logerr("update image: %s", e)
def make_icon(self, image_list, mode=QIcon.Normal, state=QIcon.On):
"""
Helper function to create QIcons from lists of image files
Warning: svg files interleaved with other files will not render correctly
:param image_list: list of image paths to layer into an icon.
:type image: list of str
:param mode: The mode of the QIcon to be created.
:type mode: int
:param state: the state of the QIcon to be created.
:type state: int
"""
if type(image_list) is not list:
image_list = [image_list]
if len(image_list) <= 0:
raise TypeError('The list of images is empty.')
num_svg = 0
for item in image_list:
if item[-4:].lower() == '.svg':
num_svg = num_svg + 1
if num_svg != len(image_list):
# Legacy support for non-svg images
icon_pixmap = QPixmap()
icon_pixmap.load(image_list[0])
painter = QPainter(icon_pixmap)
for item in image_list[1:]:
painter.drawPixmap(0, 0, QPixmap(item))
icon = QIcon()
icon.addPixmap(icon_pixmap, mode, state)
painter.end()
return icon
else:
# rendering SVG files into a QImage
renderer = QSvgRenderer(image_list[0])
icon_image = QImage(renderer.defaultSize(), QImage.Format_ARGB32)
icon_image.fill(0)
painter = QPainter(icon_image)
renderer.render(painter)
if len(image_list) > 1:
for item in image_list[1:]:
renderer.load(item)
renderer.render(painter)
painter.end()
# Convert QImage into a pixmap to create the icon
icon_pixmap = QPixmap()
icon_pixmap.convertFromImage(icon_image)
icon = QIcon(icon_pixmap)
return icon
def __init__(self, img):
splash_pix = QPixmap(img)
self.splash = QSplashScreen(splash_pix, Qt.WindowStaysOnTopHint)
self.splash.setMask(splash_pix.mask())
self.splash.show()
QApplication.processEvents()
class ImageView2Widget(QWidget):
"""
Qt widget to communicate with image_view2
"""
cv_image = None
pixmap = None
def __init__(self):
super(ImageView2Widget, self).__init__()
self.left_button_clicked = False
self.lock = Lock()
self.event_pub = rospy.Publisher("event", MouseEvent)
self.bridge = CvBridge()
self.label = ScaledLabel()
self.label.setAlignment(Qt.AlignCenter)
self.label.setSizePolicy(QSizePolicy(QSizePolicy.Ignored, QSizePolicy.Ignored))
#self.label.installEventFilter(self)
hbox = QtGui.QHBoxLayout(self)
hbox.addWidget(self.label)
self.setLayout(hbox)
self.image_sub = rospy.Subscriber("image_marked", Image,
self.imageCallback)
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.redraw)
self._update_plot_timer.start(40)
self.setMouseTracking(True)
self.show()
def imageCallback(self, msg):
with self.lock:
cv_image = self.bridge.imgmsg_to_cv2(msg, msg.encoding)
if msg.encoding == "bgr8":
self.cv_image = cv2.cvtColor(cv_image, cv2.COLOR_BGR2RGB)
elif msg.encoding == "rgb8":
self.cv_image = cv_image
self.numpy_image = np.asarray(self.cv_image)
def redraw(self):
with self.lock:
if self.cv_image != None:
size = self.cv_image.shape
img = QImage(self.cv_image.data,
size[1], size[0], size[2] * size[1],
QImage.Format_RGB888)
# convert to QPixmap
self.pixmap = QPixmap(size[1], size[0])
self.pixmap.convertFromImage(img)
self.label.setPixmap(self.pixmap.scaled(
self.label.width(), self.label.height(),
QtCore.Qt.KeepAspectRatio))
#self.label.setPixmap(self.pixmap)
def mousePosition(self, e):
label_x = self.label.x()
label_y = self.label.y()
label_width = self.label.width()
label_height = self.label.height()
pixmap_width = self.label.pixmap().width()
pixmap_height = self.label.pixmap().height()
x_offset = (label_width - pixmap_width) / 2.0 + label_x
y_offset = (label_height - pixmap_height) / 2.0 + label_y
return (e.x() - x_offset, e.y()- y_offset)
def mouseMoveEvent(self, e):
if self.left_button_clicked:
msg = MouseEvent()
msg.header.stamp = rospy.Time.now()
msg.type = MouseEvent.MOUSE_MOVE
msg.x, msg.y = self.mousePosition(e)
msg.width = self.label.pixmap().width()
msg.height = self.label.pixmap().height()
self.event_pub.publish(msg)
def mousePressEvent(self, e):
msg = MouseEvent()
msg.header.stamp = rospy.Time.now()
if e.button() == Qt.LeftButton:
msg.type = MouseEvent.MOUSE_LEFT_DOWN
self.left_button_clicked = True
elif msg.type == Qt.RightButton:
msg.type = MouseEvent.MOUSE_RIGHT_DOWN
msg.width = self.label.pixmap().width()
msg.height = self.label.pixmap().height()
msg.x, msg.y = self.mousePosition(e)
self.event_pub.publish(msg)
def mouseReleaseEvent(self, e):
if e.button() == Qt.LeftButton:
self.left_button_clicked = False
msg = MouseEvent()
msg.header.stamp = rospy.Time.now()
msg.width = self.label.pixmap().width()
msg.height = self.label.pixmap().height()
msg.type = MouseEvent.MOUSE_LEFT_UP
msg.x, msg.y = self.mousePosition(e)
self.event_pub.publish(msg)
def eventFilter(self, widget, event):
if not self.pixmap:
return QtGui.QMainWindow.eventFilter(self, widget, event)
if (event.type() == QtCore.QEvent.Resize and
widget is self.label):
self.label.setPixmap(self.pixmap.scaled(
self.label.width(), self.label.height(),
QtCore.Qt.KeepAspectRatio))
return True
return QtGui.QMainWindow.eventFilter(self, widget, event)
def draw_timeline_segment(self, painter, topic, stamp_start, stamp_end, x, y, width, height):
"""
draws a stream of images for the topic
:param painter: painter object, ''QPainter''
:param topic: topic to draw, ''str''
:param stamp_start: stamp to start drawing, ''rospy.Time''
:param stamp_end: stamp to end drawing, ''rospy.Time''
:param x: x to draw images at, ''int''
:param y: y to draw images at, ''int''
:param width: width in pixels of the timeline area, ''int''
:param height: height in pixels of the timeline area, ''int''
"""
if x < self.timeline._history_left:
width += x - self.timeline._history_left
x = self.timeline._history_left
max_interval_thumbnail = self.timeline.map_dx_to_dstamp(self.thumbnail_combine_px)
max_interval_thumbnail = max(0.1, max_interval_thumbnail)
thumbnail_gap = 6
thumbnail_x, thumbnail_y, thumbnail_height = x + 1, y + 1, height - 2 - thumbnail_gap # leave 1px border
# set color to white draw rectangle over messages
painter.setBrush(QBrush(Qt.white))
painter.drawRect(x, y, width, height - thumbnail_gap)
thumbnail_width = None
while True:
available_width = (x + width) - thumbnail_x
# Check for enough remaining to draw thumbnail
if width > 1 and available_width < self.min_thumbnail_width:
break
# Try to display the thumbnail, if its right edge is to the right of the timeline's left side
if not thumbnail_width or thumbnail_x + thumbnail_width >= self.timeline._history_left:
stamp = self.timeline.map_x_to_stamp(thumbnail_x, clamp_to_visible=False)
thumbnail_bitmap = self.thumbnail_cache.get_item(topic, stamp, max_interval_thumbnail)
# Cache miss
if not thumbnail_bitmap:
thumbnail_details = (thumbnail_height,)
self.thumbnail_cache.enqueue((topic, stamp, max_interval_thumbnail, thumbnail_details))
if not thumbnail_width:
break
else:
thumbnail_width, _ = thumbnail_bitmap.size
if width > 1:
if available_width < thumbnail_width:
thumbnail_width = available_width - 1
QtImage = ImageQt(thumbnail_bitmap)
pixmap = QPixmap.fromImage(QtImage)
painter.drawPixmap(thumbnail_x, thumbnail_y, thumbnail_width, thumbnail_height, pixmap)
thumbnail_x += thumbnail_width
if width == 1:
break
painter.setPen(QPen(QBrush(Qt.black)))
painter.setBrush(QBrush(Qt.transparent))
if width == 1:
painter.drawRect(x, y, thumbnail_x - x, height - thumbnail_gap - 1)
else:
painter.drawRect(x, y, width, height - thumbnail_gap - 1)
return True
def mousePressEvent(self, event):
thing = QPixmap.grabWidget(self._layoutmanager._view)
if thing.save(self.filename, "png", 100):
print "Saved image to ", self.filename
class ImageView2Widget(QWidget):
"""
Qt widget to communicate with image_view2
"""
cv_image = None
pixmap = None
repaint_trigger = pyqtSignal()
def __init__(self):
super(ImageView2Widget, self).__init__()
self.left_button_clicked = False
self.repaint_trigger.connect(self.redraw)
self.lock = Lock()
self.need_to_rewrite = False
self.bridge = CvBridge()
self.image_sub = None
self.event_pub = None
self.label = ScaledLabel()
self.label.setAlignment(Qt.AlignCenter)
self.label.setSizePolicy(QSizePolicy(QSizePolicy.Ignored, QSizePolicy.Ignored))
#self.label.installEventFilter(self)
vbox = QtGui.QVBoxLayout(self)
vbox.addWidget(self.label)
self.setLayout(vbox)
self._image_topics = []
self._update_topic_thread = Thread(target=self.updateTopics)
self._update_topic_thread.start()
self._active_topic = None
self.setMouseTracking(True)
self.label.setMouseTracking(True)
self._dialog = ComboBoxDialog()
self.show()
def trigger_configuration(self):
self._dialog.exec_()
self.setupSubscriber(self._image_topics[self._dialog.number])
def setupSubscriber(self, topic):
if self.image_sub:
self.image_sub.unregister()
rospy.loginfo("Subscribing %s" % (topic + "/marked"))
self.image_sub = rospy.Subscriber(topic + "/marked",
Image,
self.imageCallback)
self.event_pub = rospy.Publisher(topic + "/event", MouseEvent)
self._active_topic = topic
def onActivated(self, number):
self.setupSubscriber(self._image_topics[number])
def imageCallback(self, msg):
with self.lock:
if msg.width == 0 or msg.height == 0:
rospy.logdebug("Looks input images is invalid")
return
cv_image = self.bridge.imgmsg_to_cv2(msg, msg.encoding)
if msg.encoding == "bgr8":
self.cv_image = cv2.cvtColor(cv_image, cv2.COLOR_BGR2RGB)
elif msg.encoding == "rgb8":
self.cv_image = cv_image
self.numpy_image = np.asarray(self.cv_image)
self.need_to_rewrite = True
self.repaint_trigger.emit()
def updateTopics(self):
need_to_update = False
for (topic, topic_type) in rospy.get_published_topics():
if topic_type == "sensor_msgs/Image":
with self.lock:
if not topic in self._image_topics:
self._image_topics.append(topic)
need_to_update = True
if need_to_update:
with self.lock:
self._image_topics = sorted(self._image_topics)
self._dialog.combo_box.clear()
for topic in self._image_topics:
self._dialog.combo_box.addItem(topic)
if self._active_topic:
self._dialog.combo_box.setCurrentIndex(self._image_topics.index(self._active_topic))
time.sleep(1)
@pyqtSlot()
def redraw(self):
with self.lock:
if not self.need_to_rewrite:
return
if self.cv_image != None:
size = self.cv_image.shape
img = QImage(self.cv_image.data,
size[1], size[0], size[2] * size[1],
QImage.Format_RGB888)
# convert to QPixmap
self.pixmap = QPixmap(size[1], size[0])
self.pixmap.convertFromImage(img)
self.label.setPixmap(self.pixmap.scaled(
self.label.width(), self.label.height(),
QtCore.Qt.KeepAspectRatio))
#self.label.setPixmap(self.pixmap)
def mousePosition(self, e):
label_x = self.label.x()
label_y = self.label.y()
label_width = self.label.width()
label_height = self.label.height()
pixmap_width = self.label.pixmap().width()
pixmap_height = self.label.pixmap().height()
x_offset = (label_width - pixmap_width) / 2.0 + label_x
y_offset = (label_height - pixmap_height) / 2.0 + label_y
return (e.x() - x_offset, e.y()- y_offset)
def mouseMoveEvent(self, e):
msg = MouseEvent()
msg.header.stamp = rospy.Time.now()
msg.type = MouseEvent.MOUSE_MOVE
msg.x, msg.y = self.mousePosition(e)
msg.width = self.label.pixmap().width()
msg.height = self.label.pixmap().height()
if self.event_pub:
self.event_pub.publish(msg)
def mousePressEvent(self, e):
msg = MouseEvent()
msg.header.stamp = rospy.Time.now()
if e.button() == Qt.LeftButton:
msg.type = MouseEvent.MOUSE_LEFT_DOWN
self.left_button_clicked = True
elif e.button() == Qt.RightButton:
msg.type = MouseEvent.MOUSE_RIGHT_DOWN
msg.width = self.label.pixmap().width()
msg.height = self.label.pixmap().height()
msg.x, msg.y = self.mousePosition(e)
if self.event_pub:
self.event_pub.publish(msg)
def mouseReleaseEvent(self, e):
if e.button() == Qt.LeftButton:
self.left_button_clicked = False
msg = MouseEvent()
msg.header.stamp = rospy.Time.now()
msg.width = self.label.pixmap().width()
msg.height = self.label.pixmap().height()
msg.type = MouseEvent.MOUSE_LEFT_UP
msg.x, msg.y = self.mousePosition(e)
if self.event_pub:
self.event_pub.publish(msg)
def save_settings(self, plugin_settings, instance_settings):
if self._active_topic:
instance_settings.set_value("active_topic", self._active_topic)
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.value("active_topic"):
topic = instance_settings.value("active_topic")
self._dialog.combo_box.addItem(topic)
self.setupSubscriber(topic)
