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 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 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
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)
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)
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.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._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.redraw)
self._update_plot_timer.start(40)
self._image_topics = []
self._update_topic_timer = QTimer(self)
self._update_topic_timer.timeout.connect(self.updateTopics)
self._update_topic_timer.start(1)
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
def updateTopics(self):
need_to_update = False
for (topic, topic_type) in rospy.get_published_topics():
if topic_type == "sensor_msgs/Image":
if not topic in self._image_topics:
self._image_topics.append(topic)
need_to_update = True
if need_to_update:
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))
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 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 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)
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)
