def __init__(self, winParent):
super(ColorFilterWidget, self).__init__()
self.setupUi(self)
self.winParent = winParent
self.imageUpdate.connect(self.updateImage)
self.filterValues = ColorFilterValues()
self.resetButton.clicked[bool].connect(self.resetValues)
self.hminSlider.valueChanged[int].connect(self.hminValueChange)
self.hmaxSlider.valueChanged[int].connect(self.hmaxValueChange)
self.sminSlider.valueChanged[int].connect(self.sminValueChange)
self.smaxSlider.valueChanged[int].connect(self.smaxValueChange)
self.vminSlider.valueChanged[int].connect(self.vminValueChange)
self.vmaxSlider.valueChanged[int].connect(self.vmaxValueChange)
def __init__(self,winParent):
super(ColorFilterWidget, self).__init__()
self.setupUi(self)
self.winParent=winParent
self.imageUpdate.connect(self.updateImage)
self.filterValues = ColorFilterValues()
self.resetButton.clicked[bool].connect(self.resetValues)
self.hminSlider.valueChanged[int].connect(self.hminValueChange)
self.hmaxSlider.valueChanged[int].connect(self.hmaxValueChange)
self.sminSlider.valueChanged[int].connect(self.sminValueChange)
self.smaxSlider.valueChanged[int].connect(self.smaxValueChange)
self.vminSlider.valueChanged[int].connect(self.vminValueChange)
self.vmaxSlider.valueChanged[int].connect(self.vmaxValueChange)
def __init__(self):
self.lock = threading.Lock()
self.playButton = False
self.cmd = jderobot.CMDVelData()
self.cmd.linearX = self.cmd.linearY = self.cmd.linearZ = 0
self.cmd.angularZ = 0
''' With values distinct to 0 in the next fields, the ardrone not enter in hover mode'''
self.cmd.angularX = 0.5
self.cmd.angularY = 1.0
try:
ic = Ice.initialize(sys.argv)
properties = ic.getProperties()
basecamera = ic.propertyToProxy("Introrob.Camera.Proxy")
self.cameraProxy = jderobot.CameraPrx.checkedCast(basecamera)
if self.cameraProxy:
self.image = self.cameraProxy.getImageData("RGB8")
self.height = self.image.description.height
self.width = self.image.description.width
self.trackImage = np.zeros((self.height, self.width, 3),
np.uint8)
self.trackImage.shape = self.height, self.width, 3
self.thresoldImage = np.zeros((self.height, self.width, 1),
np.uint8)
self.thresoldImage.shape = self.height, self.width, 1
self.filterValues = ColorFilterValues()
else:
print 'Interface camera not connected'
basecmdVel = ic.propertyToProxy("Introrob.CMDVel.Proxy")
self.cmdVelProxy = jderobot.CMDVelPrx.checkedCast(basecmdVel)
if not self.cmdVelProxy:
print 'Interface cmdVel not connected'
basenavdata = ic.propertyToProxy("Introrob.Navdata.Proxy")
self.navdataProxy = jderobot.NavdataPrx.checkedCast(basenavdata)
if self.navdataProxy:
self.navdata = self.navdataProxy.getNavdata()
if self.navdata.vehicle == self.ARDRONE_SIMULATED:
self.virtualDrone = True
else:
self.virtualDrone = False
else:
print 'Interface navdata not connected'
self.virtualDrone = True
baseextra = ic.propertyToProxy("Introrob.Extra.Proxy")
self.extraProxy = jderobot.ArDroneExtraPrx.checkedCast(baseextra)
if not self.extraProxy:
print 'Interface ardroneExtra not connected'
basepose3D = ic.propertyToProxy("Introrob.Pose3D.Proxy")
self.pose3DProxy = jderobot.Pose3DPrx.checkedCast(basepose3D)
if self.pose3DProxy:
self.pose = jderobot.Pose3DData()
else:
print 'Interface pose3D not connected'
except:
traceback.print_exc()
exit()
status = 1
class ColorFilterWidget(QtGui.QWidget, Ui_Form):
IMAGE_COLS_MAX=320
IMAGE_ROWS_MAX=240
imageUpdate=QtCore.pyqtSignal()
def __init__(self,winParent):
super(ColorFilterWidget, self).__init__()
self.setupUi(self)
self.winParent=winParent
self.imageUpdate.connect(self.updateImage)
self.filterValues = ColorFilterValues()
self.resetButton.clicked[bool].connect(self.resetValues)
self.trackButton.clicked[bool].connect(self.track)
self.trackObject = False
self.hminSlider.valueChanged[int].connect(self.hminValueChange)
self.hmaxSlider.valueChanged[int].connect(self.hmaxValueChange)
self.sminSlider.valueChanged[int].connect(self.sminValueChange)
self.smaxSlider.valueChanged[int].connect(self.smaxValueChange)
self.vminSlider.valueChanged[int].connect(self.vminValueChange)
self.vmaxSlider.valueChanged[int].connect(self.vmaxValueChange)
def updateImage(self):
img = self.setInputImage()
#self.setThresoldImage()
#self.winParent.getSensor().setColorFilterValues(self.filterValues)
if img is not None:
img_out = self.processImage(img)
self.setOutputImage(img_out)
def setInputImage(self):
if self.trackObject:
img = self.winParent.getSensor().getTrackImage()
else:
img = self.winParent.getSensor().getImage()
if img is not None:
image = QtGui.QImage(img.data, img.shape[1], img.shape[0], img.shape[1]*img.shape[2], QtGui.QImage.Format_RGB888);
self.inputImage.setPixmap(QtGui.QPixmap.fromImage(image))
return img
def setThresoldImage(self):
img = self.winParent.getSensor().getThresoldImage()
if img is not None:
image = QtGui.QImage(img.data, img.shape[1], img.shape[0], img.shape[1], QtGui.QImage.Format_Indexed8)
self.outputFilterImage.setPixmap(QtGui.QPixmap.fromImage(image))
def setOutputImage(self, img):
image = QtGui.QImage(img.data, img.shape[1], img.shape[0], img.shape[1]*img.shape[2], QtGui.QImage.Format_RGB888);
self.outputFilterImage.setPixmap(QtGui.QPixmap.fromImage(image))
def processImage(self, img_in):
hsv = cv2.cvtColor(img_in, cv2.COLOR_RGB2HSV)
vmin = (self.filterValues.hmin, self.filterValues.smin, self.filterValues.vmin)
vmax = (self.filterValues.hmax, self.filterValues.smax, self.filterValues.vmax)
mask = cv2.inRange(hsv, vmin, vmax)
img_out = cv2.bitwise_and(img_in, img_in, mask=mask)
return img_out
def track(self):
if(self.trackObject==False):
self.trackButton.setText("Untrack")
self.trackObject=True
else:
self.trackButton.setText("Track")
self.trackObject=False
def getFilterValues(self):
return self.filterValues
def setFilterValues(self,values):
self.filterValues=values
def resetValues(self):
self.filterValues.setHMin(0)
self.hminSlider.setValue(self.filterValues.getHMin())
self.filterValues.setHMax(180)
self.hmaxSlider.setValue(self.filterValues.getHMax())
self.filterValues.setSMin(0)
self.sminSlider.setValue(self.filterValues.getSMin())
self.filterValues.setSMax(255)
self.smaxSlider.setValue(self.filterValues.getSMax())
self.filterValues.setVMin(0)
self.vminSlider.setValue(self.filterValues.getVMin())
self.filterValues.setVMax(255)
self.vmaxSlider.setValue(self.filterValues.getVMax())
def closeEvent(self, event):
self.winParent.closeColorFilterWidget()
def hminValueChange(self, value):
self.filterValues.setHMin(value)
self.hminValue.setNum(self.filterValues.getHMin())
def hmaxValueChange(self, value):
self.filterValues.setHMax(value)
self.hmaxValue.setNum(self.filterValues.getHMax())
def sminValueChange(self, value):
self.filterValues.setSMin(value)
self.sminValue.setNum(self.filterValues.getSMin())
def smaxValueChange(self, value):
self.filterValues.setSMax(value)
self.smaxValue.setNum(self.filterValues.getSMax())
def vminValueChange(self, value):
self.filterValues.setVMin(value)
self.vminValue.setNum(self.filterValues.getVMin())
def vmaxValueChange(self, value):
self.filterValues.setVMax(value)
self.vmaxValue.setNum(self.filterValues.getVMax())
class ColorFilterWidget(QtGui.QWidget, Ui_Form):
IMAGE_COLS_MAX = 320
IMAGE_ROWS_MAX = 240
imageUpdate = QtCore.pyqtSignal()
def __init__(self, winParent):
super(ColorFilterWidget, self).__init__()
self.setupUi(self)
self.winParent = winParent
self.imageUpdate.connect(self.updateImage)
self.filterValues = ColorFilterValues()
self.resetButton.clicked[bool].connect(self.resetValues)
self.hminSlider.valueChanged[int].connect(self.hminValueChange)
self.hmaxSlider.valueChanged[int].connect(self.hmaxValueChange)
self.sminSlider.valueChanged[int].connect(self.sminValueChange)
self.smaxSlider.valueChanged[int].connect(self.smaxValueChange)
self.vminSlider.valueChanged[int].connect(self.vminValueChange)
self.vmaxSlider.valueChanged[int].connect(self.vmaxValueChange)
def updateImage(self):
self.setInputImage()
self.setThresoldImage()
def setInputImage(self):
img = self.winParent.grid.map
if img != None:
image = QtGui.QImage(img.data, img.shape[1], img.shape[0],
img.shape[1], QtGui.QImage.Format_Indexed8)
self.inputImage.setPixmap(QtGui.QPixmap.fromImage(image))
else:
print "image is none"
def setThresoldImage(self):
if not self.winParent.colorFilter.isChecked():
return
img = self.winParent.grid.map
img = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
minVals = np.array([
self.filterValues.getHMin(),
self.filterValues.getVMin(),
self.filterValues.getSMin()
])
maxVals = np.array([
self.filterValues.getHMax(),
self.filterValues.getVMax(),
self.filterValues.getSMax()
])
img = cv2.inRange(img, minVals, maxVals)
if img != None:
image = QtGui.QImage(img.data, img.shape[1], img.shape[0],
img.shape[1], QtGui.QImage.Format_Indexed8)
self.outputFilterImage.setPixmap(QtGui.QPixmap.fromImage(image))
def getFilterValues(self):
return self.filterValues
def setFilterValues(self, values):
self.filterValues = values
def resetValues(self):
self.filterValues.setHMin(0)
self.hminSlider.setValue(self.filterValues.getHMin())
self.filterValues.setHMax(0)
self.hmaxSlider.setValue(self.filterValues.getHMax())
self.filterValues.setSMin(0)
self.sminSlider.setValue(self.filterValues.getSMin())
self.filterValues.setSMax(0)
self.smaxSlider.setValue(self.filterValues.getSMax())
self.filterValues.setVMin(0)
self.vminSlider.setValue(self.filterValues.getVMin())
self.filterValues.setVMax(0)
self.vmaxSlider.setValue(self.filterValues.getVMax())
def closeEvent(self, event):
self.winParent.closeColorFilterWidget()
def hminValueChange(self, value):
self.filterValues.setHMin(value)
self.hminValue.setNum(self.filterValues.getHMin())
def hmaxValueChange(self, value):
self.filterValues.setHMax(value)
self.hmaxValue.setNum(self.filterValues.getHMax())
def sminValueChange(self, value):
self.filterValues.setSMin(value)
self.sminValue.setNum(self.filterValues.getSMin())
def smaxValueChange(self, value):
self.filterValues.setSMax(value)
self.smaxValue.setNum(self.filterValues.getSMax())
def vminValueChange(self, value):
self.filterValues.setVMin(value)
self.vminValue.setNum(self.filterValues.getVMin())
def vmaxValueChange(self, value):
self.filterValues.setVMax(value)
self.vmaxValue.setNum(self.filterValues.getVMax())
class ColorFilterWidget(QtGui.QWidget, Ui_Form):
IMAGE_COLS_MAX=320
IMAGE_ROWS_MAX=240
imageUpdate=QtCore.pyqtSignal()
def __init__(self,winParent):
super(ColorFilterWidget, self).__init__()
self.setupUi(self)
self.winParent=winParent
self.imageUpdate.connect(self.updateImage)
self.filterValues = ColorFilterValues()
self.resetButton.clicked[bool].connect(self.resetValues)
self.trackButton.clicked[bool].connect(self.track)
self.trackObject = False
self.hminSlider.valueChanged[int].connect(self.hminValueChange)
self.hmaxSlider.valueChanged[int].connect(self.hmaxValueChange)
self.sminSlider.valueChanged[int].connect(self.sminValueChange)
self.smaxSlider.valueChanged[int].connect(self.smaxValueChange)
self.vminSlider.valueChanged[int].connect(self.vminValueChange)
self.vmaxSlider.valueChanged[int].connect(self.vmaxValueChange)
def updateImage(self):
self.setInputImage()
self.setThresoldImage()
self.winParent.getSensor().setColorFilterValues(self.filterValues)
def setInputImage(self):
if self.trackObject:
img = self.winParent.getSensor().getTrackImage()
else:
img = self.winParent.getSensor().getImage()
if img != None:
image = QtGui.QImage(img.data, img.shape[1], img.shape[0], img.shape[1]*img.shape[2], QtGui.QImage.Format_RGB888);
self.inputImage.setPixmap(QtGui.QPixmap.fromImage(image))
def setThresoldImage(self):
img = self.winParent.getSensor().getThresoldImage()
if img != None:
image = QtGui.QImage(img.data, img.shape[1], img.shape[0], img.shape[1], QtGui.QImage.Format_Indexed8)
self.outputFilterImage.setPixmap(QtGui.QPixmap.fromImage(image))
def track(self):
if(self.trackObject==False):
self.trackButton.setText("Untrack")
self.trackObject=True
else:
self.trackButton.setText("Track")
self.trackObject=False
def getFilterValues(self):
return self.filterValues
def setFilterValues(self,values):
self.filterValues=values
def resetValues(self):
self.filterValues.setHMin(0)
self.hminSlider.setValue(self.filterValues.getHMin())
self.filterValues.setHMax(0)
self.hmaxSlider.setValue(self.filterValues.getHMax())
self.filterValues.setSMin(0)
self.sminSlider.setValue(self.filterValues.getSMin())
self.filterValues.setSMax(0)
self.smaxSlider.setValue(self.filterValues.getSMax())
self.filterValues.setVMin(0)
self.vminSlider.setValue(self.filterValues.getVMin())
self.filterValues.setVMax(0)
self.vmaxSlider.setValue(self.filterValues.getVMax())
def closeEvent(self, event):
self.winParent.closeColorFilterWidget()
def hminValueChange(self, value):
self.filterValues.setHMin(value)
self.hminValue.setNum(self.filterValues.getHMin())
def hmaxValueChange(self, value):
self.filterValues.setHMax(value)
self.hmaxValue.setNum(self.filterValues.getHMax())
def sminValueChange(self, value):
self.filterValues.setSMin(value)
self.sminValue.setNum(self.filterValues.getSMin())
def smaxValueChange(self, value):
self.filterValues.setSMax(value)
self.smaxValue.setNum(self.filterValues.getSMax())
def vminValueChange(self, value):
self.filterValues.setVMin(value)
self.vminValue.setNum(self.filterValues.getVMin())
def vmaxValueChange(self, value):
self.filterValues.setVMax(value)
self.vmaxValue.setNum(self.filterValues.getVMax())
class ColorFilterWidget(QtGui.QWidget, Ui_Form):
IMAGE_COLS_MAX=320
IMAGE_ROWS_MAX=240
imageUpdate=QtCore.pyqtSignal()
def __init__(self,winParent):
super(ColorFilterWidget, self).__init__()
self.setupUi(self)
self.winParent=winParent
self.imageUpdate.connect(self.updateImage)
self.filterValues = ColorFilterValues()
self.resetButton.clicked[bool].connect(self.resetValues)
self.hminSlider.valueChanged[int].connect(self.hminValueChange)
self.hmaxSlider.valueChanged[int].connect(self.hmaxValueChange)
self.sminSlider.valueChanged[int].connect(self.sminValueChange)
self.smaxSlider.valueChanged[int].connect(self.smaxValueChange)
self.vminSlider.valueChanged[int].connect(self.vminValueChange)
self.vmaxSlider.valueChanged[int].connect(self.vmaxValueChange)
def updateImage(self):
self.setInputImage()
self.setThresoldImage()
def setInputImage(self):
img = self.winParent.grid.map
if img != None:
image = QtGui.QImage(img.data, img.shape[1], img.shape[0], img.shape[1], QtGui.QImage.Format_Indexed8)
self.inputImage.setPixmap(QtGui.QPixmap.fromImage(image))
else:
print "image is none"
def setThresoldImage(self):
if not self.winParent.colorFilter.isChecked():
return
img = self.winParent.grid.map
img = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
minVals = np.array([self.filterValues.getHMin(), self.filterValues.getVMin(), self.filterValues.getSMin()])
maxVals = np.array([self.filterValues.getHMax(), self.filterValues.getVMax(), self.filterValues.getSMax()])
img = cv2.inRange(img, minVals, maxVals)
if img != None:
image = QtGui.QImage(img.data, img.shape[1], img.shape[0], img.shape[1], QtGui.QImage.Format_Indexed8)
self.outputFilterImage.setPixmap(QtGui.QPixmap.fromImage(image))
def getFilterValues(self):
return self.filterValues
def setFilterValues(self,values):
self.filterValues=values
def resetValues(self):
self.filterValues.setHMin(0)
self.hminSlider.setValue(self.filterValues.getHMin())
self.filterValues.setHMax(0)
self.hmaxSlider.setValue(self.filterValues.getHMax())
self.filterValues.setSMin(0)
self.sminSlider.setValue(self.filterValues.getSMin())
self.filterValues.setSMax(0)
self.smaxSlider.setValue(self.filterValues.getSMax())
self.filterValues.setVMin(0)
self.vminSlider.setValue(self.filterValues.getVMin())
self.filterValues.setVMax(0)
self.vmaxSlider.setValue(self.filterValues.getVMax())
def closeEvent(self, event):
self.winParent.closeColorFilterWidget()
def hminValueChange(self, value):
self.filterValues.setHMin(value)
self.hminValue.setNum(self.filterValues.getHMin())
def hmaxValueChange(self, value):
self.filterValues.setHMax(value)
self.hmaxValue.setNum(self.filterValues.getHMax())
def sminValueChange(self, value):
self.filterValues.setSMin(value)
self.sminValue.setNum(self.filterValues.getSMin())
def smaxValueChange(self, value):
self.filterValues.setSMax(value)
self.smaxValue.setNum(self.filterValues.getSMax())
def vminValueChange(self, value):
self.filterValues.setVMin(value)
self.vminValue.setNum(self.filterValues.getVMin())
def vmaxValueChange(self, value):
self.filterValues.setVMax(value)
self.vmaxValue.setNum(self.filterValues.getVMax())
