def __init__(self, endpoint, modules):
print modules.keys()
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print "endpoint", endpoint
print "prx", self.prx
print self.mods.keys()
print "ya"
self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
print "yaya"
self.show()
self.lalala = 0
self.maxDepth = 9.0
self.job()
def __init__(self, endpoint, modules):
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=10240")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print endpoint
self.proxy = self.mods['RoboCompKinect'].KinectPrx.checkedCast(
self.prx)
self.show()
self.ui.cbLedOpt.addItem("OFF")
self.ui.cbLedOpt.addItem("GREEN")
self.ui.cbLedOpt.addItem("RED")
self.ui.cbLedOpt.addItem("YELLOW")
self.ui.cbLedOpt.addItem("blinkGREEN")
self.ui.cbLedOpt.addItem("blinkREDYELLOW")
self.connect(self.ui.pbSetLed, SIGNAL('clicked()'), self.doSetLed)
self.connect(self.ui.sbTilt, SIGNAL('valueChanged(double)'),
self.doSetTilt)
self.vector = []
self.job()
def __init__(self, endpoint, modules):
print modules.keys()
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print "endpoint", endpoint
print "prx", self.prx
print self.mods.keys()
print "ya"
self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
print "yaya"
self.show()
self.lalala = 0
self.maxDepth = 9.0
self.job()
def __init__(self, endpoint, modules):
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=10240")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print endpoint
self.proxy = self.mods['RoboCompKinect'].KinectPrx.checkedCast(self.prx)
self.show()
self.ui.cbLedOpt.addItem("OFF")
self.ui.cbLedOpt.addItem("GREEN")
self.ui.cbLedOpt.addItem("RED")
self.ui.cbLedOpt.addItem("YELLOW")
self.ui.cbLedOpt.addItem("blinkGREEN")
self.ui.cbLedOpt.addItem("blinkREDYELLOW")
self.connect( self.ui.pbSetLed, SIGNAL('clicked()'), self.doSetLed )
self.connect( self.ui.sbTilt, SIGNAL('valueChanged(double)'),self.doSetTilt )
self.vector = []
self.job()
def __init__(self, endpoint, modules):
print modules.keys()
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print endpoint
print self.mods.keys()
#self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
self.proxy = self.mods['RoboCompRGBDBus'].RGBDBusPrx.checkedCast(
self.prx)
self.paramsMap = self.proxy.getAllCameraParams()
self.listCamera = []
for n in self.paramsMap:
print 'name Camera: ' + n
self.listCamera.append(n)
self.nameActive = self.listCamera.pop()
self.show()
#To draw depth image. Maximum device depth. Now in milimeters
self.maxDepth = 10000.0
self.mySlot()
self.myTimer = QTimer()
self.myTimer.start(10000)
self.connect(self.myTimer, SIGNAL('timeout()'), self.mySlot)
self.job()
def __init__(self, endpoint, modules):
QWidget.__init__(self)
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
self.show()
self.maxDepth = 90000
self.method_combo = ""
self.job()
def __init__(self, endpoint, modules):
print modules.keys()
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print endpoint
print self.mods.keys()
#self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
self.proxy = self.mods['RoboCompRGBDBus'].RGBDBusPrx.checkedCast(self.prx)
self.paramsMap= self.proxy.getAllCameraParams()
self.listCamera=[]
for n in self.paramsMap:
print 'name Camera: '+ n
self.listCamera.append(n)
self.nameActive=self.listCamera.pop()
self.show()
#To draw depth image. Maximum device depth. Now in milimeters
self.maxDepth = 10000.0
self.mySlot()
self.myTimer = QTimer()
self.myTimer.start(10000)
self.connect(self.myTimer, SIGNAL('timeout()'), self.mySlot)
self.job()
class C(QWidget):
def __init__(self, endpoint, modules):
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=10240")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print endpoint
self.proxy = self.mods['RoboCompKinect'].KinectPrx.checkedCast(
self.prx)
self.show()
self.ui.cbLedOpt.addItem("OFF")
self.ui.cbLedOpt.addItem("GREEN")
self.ui.cbLedOpt.addItem("RED")
self.ui.cbLedOpt.addItem("YELLOW")
self.ui.cbLedOpt.addItem("blinkGREEN")
self.ui.cbLedOpt.addItem("blinkREDYELLOW")
self.connect(self.ui.pbSetLed, SIGNAL('clicked()'), self.doSetLed)
self.connect(self.ui.sbTilt, SIGNAL('valueChanged(double)'),
self.doSetTilt)
self.vector = []
self.job()
def job(self):
try:
self.vector = self.proxy.getDataRGBZinIR(
) # imageVector, depthVector, headState, baseState
if len(self.vector) == 0:
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
def paintEvent(self, event=None):
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing, True)
image = QImage(self.vector[0], 640, 480, QImage.Format_RGB888)
painter.drawImage(QPointF(self.ui.frame.x(), self.ui.frame.y()), image)
painter.end()
#painter = None
def doSetLed(self):
ledLight = self.textToEnum(self.ui.cbLedOpt.currentText())
print ledLight
try:
self.proxy.setLed(ledLight)
except Ice.Exception:
traceback.print_exc()
def doSetTilt(self):
try:
self.proxy.setTilt(self.ui.sbTilt.value())
self.ui.lcdTilt.display(self.ui.sbTilt.value())
except Ice.Exception:
traceback.print_exc()
def textToEnum(self, pos):
if (pos == "OFF"):
return self.mods['RoboCompKinect'].LedOptions.OFF
elif (pos == "GREEN"):
return self.mods['RoboCompKinect'].LedOptions.GREEN
elif (pos == "RED"):
return self.mods['RoboCompKinect'].LedOptions.RED
elif (pos == "YELLOW"):
return self.mods['RoboCompKinect'].LedOptions.YELLOW
elif (pos == "blinkYELLOW"):
return self.mods['RoboCompKinect'].LedOptions.blinkYELLOW
elif (pos == "blinkGREEN"):
return self.mods['RoboCompKinect'].LedOptions.blinkGREEN
elif (pos == "blinkREDYELLOW"):
return self.mods['RoboCompKinect'].LedOptions.blinkREDYELLOW
class C(QWidget):
def __init__(self, endpoint, modules):
print modules.keys()
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print endpoint
print self.mods.keys()
#self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
self.proxy = self.mods['RoboCompRGBDBus'].RGBDBusPrx.checkedCast(
self.prx)
self.paramsMap = self.proxy.getAllCameraParams()
self.listCamera = []
for n in self.paramsMap:
print 'name Camera: ' + n
self.listCamera.append(n)
self.nameActive = self.listCamera.pop()
self.show()
#To draw depth image. Maximum device depth. Now in milimeters
self.maxDepth = 10000.0
self.mySlot()
self.myTimer = QTimer()
self.myTimer.start(10000)
self.connect(self.myTimer, SIGNAL('timeout()'), self.mySlot)
self.job()
def mySlot(self):
if (len(self.listCamera) == 0):
print "refill"
for n in self.paramsMap:
self.listCamera.append(n)
self.nameActive = self.listCamera.pop()
def job(self):
try:
print 'name Camera Active: ' + self.nameActive
self.cameralist = [self.nameActive]
self.imagemap = self.proxy.getImages(self.cameralist)
self.ui.nameRGBD.setText('RGBD name: ' + self.nameActive)
self.depth = self.imagemap[self.nameActive].depthImage
self.color = self.imagemap[self.nameActive].colorImage
if (len(self.color) == 0) or (len(self.depth) == 0):
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
def paintEvent(self, event=None):
print "paint Event"
print len(self.color)
print len(self.depth)
print 3 * ((640 * 480) / 2)
if (len(self.color) == 3 * 640 * 480 or len(self.depth) == 640 * 480):
w = 640
h = 480
elif (len(self.color) == 3 * 320 * 240
or len(self.depth) == (640 * 480) / 2):
w = 320
h = 240
else:
print 'we shall not paint!'
return
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing, True)
v = ''
for i in range(len(self.depth)):
ascii = 0
try:
ascii = int((self.depth[i] / self.maxDepth) * 256)
except:
pass
if ascii > 255: ascii = 255
v += chr(ascii)
image = QImage(self.color, w, h, QImage.Format_RGB888)
imageGrey = QImage(v, w, h, QImage.Format_Indexed8)
for i in range(256):
imageGrey.setColor(i, QColor(i, i, i).rgb())
painter.drawImage(QPointF(self.ui.frameRGB.x(), self.ui.frameRGB.y()),
image)
painter.drawImage(QPointF(self.ui.frame.x(), self.ui.frame.y()),
imageGrey)
painter.end()
painter = None
class C(QWidget):
def __init__(self, endpoint, modules):
QWidget.__init__(self)
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
self.show()
self.maxDepth = 90000
self.method_combo = ""
self.job()
def job(self):
self.method_combo = unicode(self.ui.method_combobox.currentText())
if "getData" in self.method_combo:
try:
self.color, self.depth, self.headState, self.baseState = self.proxy.getData(
)
#print 'c', len(self.color)
#print 'd', len(self.depth)
if (len(self.color) == 0) or (len(self.depth) == 0):
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
elif "getImage" in self.method_combo:
try:
self.color, self.depth, _, self.headState, self.baseState = self.proxy.getImage(
)
#print 'c', len(self.color)
#print 'd', len(self.depth)
if (len(self.color) == 0) or (len(self.depth) == 0):
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
elif "getRGB" in self.method_combo:
try:
self.color, self.headState, self.baseState = self.proxy.getRGB(
)
#print 'c', len(self.color)
#print 'd', len(self.depth)
if (len(self.color) == 0) or (len(self.depth) == 0):
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
elif "getDepth" in self.method_combo:
try:
self.depth, self.headState, self.baseState = self.proxy.getDepth(
)
#print 'c', len(self.color)
#print 'd', len(self.depth)
if (len(self.color) == 0) or (len(self.depth) == 0):
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
def paintEvent(self, event=None):
color_image_height = 0
color_image_width = 0
depth_image_height = 0
depth_image_width = 0
if "getData" in self.method_combo or "getImage" in self.method_combo or "getDepth" in self.method_combo:
if (len(self.depth) == 640 * 480):
depth_image_width = 640
depth_image_height = 480
elif (len(self.depth) == 320 * 240):
depth_image_width = 320
depth_image_height = 240
# print "color", len(self.color), "depth", len(self.depth)
else:
print 'Undetermined Depth image size: we shall not paint! %d' % (
len(self.depth))
return
if "getData" in self.method_combo:
# print type(self.color)
if (len(self.color) == 3 * 640 * 480):
color_image_width = 640
color_image_height = 480
elif (len(self.color) == 3 * 320 * 240):
color_image_width = 320
color_image_height = 240
#print "color", len(self.color), "depth", len(self.depth)
else:
print 'Undetermined Color image size: we shall not paint! %d' % (
len(self.color))
return
elif "getRGB" in self.method_combo or "getImage" in self.method_combo:
new_color = ''
if (len(self.color) == 640 * 480):
color_image_width = 640
color_image_height = 480
elif (len(self.color) == 320 * 240):
color_image_width = 320
color_image_height = 240
else:
print 'Undetermined Color image size in getRGB: we shall not paint! %d' % (
len(self.color))
return
for color_struct in self.color:
new_color += chr(color_struct.red)
new_color += chr(color_struct.green)
new_color += chr(color_struct.blue)
self.color = new_color
if depth_image_height != color_image_height or depth_image_width != color_image_width:
print "Warning: Depth (%d,%d) and Color(%d,%d) sizes mismatch" % (
depth_image_width, depth_image_height, color_image_width,
color_image_height)
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing, True)
if depth_image_width != 0 and depth_image_height != 0:
# Interpolate values from depth float arrray to 0-255 integers
depth = np.array(self.depth, dtype=np.float32)
depth_min = np.min(depth)
depth_max = np.max(depth)
if depth_max != depth_min and depth_max > 0:
depth = np.interp(depth, [depth_min, depth_max], [255.0, 0.0],
right=0.0,
left=0.0)
depth = depth.astype(np.uint8)
# Reshape to grayscale matrix
depth = depth.reshape(depth_image_height, depth_image_width)
# Convert to
if depth.dtype == np.uint8:
if len(depth.shape) == 2:
gray_color_table = [qRgb(i, i, i) for i in range(256)]
imageGrey = QImage(depth.data, depth.shape[1],
depth.shape[0], depth.strides[0],
QImage.Format_Indexed8)
imageGrey.setColorTable(gray_color_table)
else:
print("Wrong depth matrix format: Shape %s" %
(depth.shape))
# imageGrey = QImage(depth, depth_image_width, depth_image_height, QImage.Format_Mono)
# for i in range(256):
# imageGrey.setColor(i, QColor(i, i, i).rgb())
painter.drawImage(QPointF(self.ui.frame.x(), self.ui.frame.y()),
imageGrey)
#print 'mean', float(m)/t
if color_image_width != 0 and color_image_height != 0:
image = QImage(self.color, color_image_width, color_image_height,
QImage.Format_RGB888)
#image.save("images/image"+str(self.lalala)+'.png')
painter.drawImage(
QPointF(self.ui.frameRGB.x(), self.ui.frameRGB.y()), image)
painter.end()
class C(QWidget):
def __init__(self, endpoint, modules):
print modules.keys()
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print "endpoint", endpoint
print "prx", self.prx
print self.mods.keys()
print "ya"
self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
print "yaya"
self.show()
self.maxDepth = 9.0
self.job()
def job(self):
print "hola"
try:
self.color, self.depth, self.headState, self.baseState = self.proxy.getData(
)
#print len(self.color)
if (len(self.color) == 0) or (len(self.depth) == 0):
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
def paintEvent(self, event=None):
if (len(self.color) == 3 * 640 * 480) and (len(self.depth)
== 640 * 480):
width = 640
height = 480
elif (len(self.color) == 3 * 320 * 240) and (len(self.depth)
== 320 * 240):
width = 320
height = 240
#print "color", len(self.color), "depth", len(self.depth)
else:
print 'we shall not paint!'
return
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing, True)
v = ''
for i in range(len(self.depth)):
ascii = 0
try:
ascii = int(255. - 255. *
(self.depth[i] / self.maxDepth / 1000.))
if ascii > 255: ascii = 255
if ascii < 0: ascii = 0
except:
pass
if ascii > 255: ascii = 255
v += chr(ascii)
image = QImage(self.color, width, height, QImage.Format_RGB888)
imageGrey = QImage(v, width, height, QImage.Format_Indexed8)
for i in range(256):
imageGrey.setColor(i, QColor(i, i, i).rgb())
painter.drawImage(QPointF(self.ui.frameRGB.x(), self.ui.frameRGB.y()),
image)
painter.drawImage(QPointF(self.ui.frame.x(), self.ui.frame.y()),
imageGrey)
painter.end()
class C(QWidget):
def __init__(self, endpoint, modules):
QWidget.__init__(self)
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
self.proxy = self.mods[
'RoboCompCameraRGBDSimple'].CameraRGBDSimplePrx.checkedCast(
self.prx)
self.show()
self.maxDepth = 90000
self.method_combo = ""
self.job()
def job(self):
self.method_combo = str(self.ui.method_combobox.currentText())
if "getData" in self.method_combo:
try:
self.color, self.depth = self.proxy.getAll()
if (len(self.color.image) == 0) or (len(self.depth.depth)
== 0):
print('Error retrieving images!')
except Ice.Exception:
traceback.print_exc()
elif "getImage" in self.method_combo:
try:
self.color = self.proxy.getImage()
if (len(self.color.image) == 0):
print('Error retrieving images!')
except Ice.Exception:
traceback.print_exc()
elif "getDepth" in self.method_combo:
try:
self.depth = self.proxy.getDepth()
if (len(self.depth.depth) == 0):
print('Error retrieving images!')
except Ice.Exception:
traceback.print_exc()
def paintEvent(self, event=None):
color_image_height = 0
color_image_width = 0
depth_image_height = 0
depth_image_width = 0
# print "Paint event "+str(len(self.depth))+" "+str(type(self.depth))
if "getData" in self.method_combo:
depth_image_width = self.depth.width
depth_image_height = self.depth.height
color_image_width = self.color.width
color_image_height = self.color.height
if "getDepth" in self.method_combo:
depth_image_width = self.depth.width
depth_image_height = self.depth.height
if "getImage" in self.method_combo:
color_image_width = self.color.width
color_image_height = self.color.height
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing, True)
if depth_image_width != 0 and depth_image_height != 0:
depth = np.asanyarray(self.depth.depth, dtype=np.float32)
depth_min = np.min(depth)
depth_max = np.max(depth)
if depth_max != depth_min and depth_max > 0:
depth = np.interp(depth, [depth_min, depth_max], [255.0, 0.0],
right=0.0,
left=0.0)
depth = depth.astype(np.uint8)
# Reshape to grayscale matrix
depth = depth.reshape(depth_image_height, depth_image_width)
# Convert to
if depth.dtype == np.uint8:
if len(depth.shape) == 2:
gray_color_table = [qRgb(i, i, i) for i in range(256)]
imageGrey = QImage(depth.data, depth.shape[1],
depth.shape[0], depth.strides[0],
QImage.Format_Indexed8)
imageGrey.setColorTable(gray_color_table)
else:
print("Wrong depth matrix format: Shape %s" %
(depth.shape))
painter.drawImage(QPointF(self.ui.frame.x(), self.ui.frame.y()),
imageGrey)
#print 'mean', float(m)/t
if color_image_width != 0 and color_image_height != 0:
image = QImage(self.color.image, color_image_width,
color_image_height, QImage.Format_RGB888)
#image.save("images/image"+str(self.lalala)+'.png')
painter.drawImage(
QPointF(self.ui.frameRGB.x(), self.ui.frameRGB.y()), image)
painter.end()
class C(QWidget):
def __init__(self, endpoint, modules):
print modules.keys()
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print "endpoint", endpoint
print "prx", self.prx
print self.mods.keys()
print "ya"
self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
print "yaya"
self.show()
self.lalala = 0
self.maxDepth = 9.0
self.job()
def job(self):
print "hola"
try:
self.color, self.depth, self.headState, self.baseState = self.proxy.getData()
#print len(self.color)
if (len(self.color) == 0) or (len(self.depth) == 0):
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
def paintEvent(self, event=None):
if (len(self.color) == 3*640*480) and (len(self.depth) == 640*480):
width = 640
height = 480
elif (len(self.color) == 3*320*240) and (len(self.depth) == 320*240):
width = 320
height = 240
#print "color", len(self.color), "depth", len(self.depth)
else:
print 'we shall not paint!'
return
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing, True)
v = ''
for i in range(len(self.depth)):
ascii = 0
try:
ascii = int(255.-255.*(self.depth[i] / self.maxDepth / 1000. ) )
if ascii > 255: ascii = 255
if ascii < 0: ascii = 0
except:
pass
if ascii > 255: ascii = 255
v += chr(ascii)
image = QImage(self.color, width, height, QImage.Format_RGB888)
self.lalala+=1
image.save("images/image"+str(self.lalala)+'.png')
print "lalala: ", str(self.lalala)
imageGrey = QImage(v, width, height, QImage.Format_Indexed8)
for i in range(256):
imageGrey.setColor(i, QColor(i,i,i).rgb())
painter.drawImage(QPointF(self.ui.frameRGB.x(), self.ui.frameRGB.y()), image)
painter.drawImage(QPointF(self.ui.frame.x(), self.ui.frame.y()), imageGrey)
painter.end()
class C(QWidget):
def __init__(self, endpoint, modules):
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=10240")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print endpoint
self.proxy = self.mods['RoboCompKinect'].KinectPrx.checkedCast(self.prx)
self.show()
self.ui.cbLedOpt.addItem("OFF")
self.ui.cbLedOpt.addItem("GREEN")
self.ui.cbLedOpt.addItem("RED")
self.ui.cbLedOpt.addItem("YELLOW")
self.ui.cbLedOpt.addItem("blinkGREEN")
self.ui.cbLedOpt.addItem("blinkREDYELLOW")
self.connect( self.ui.pbSetLed, SIGNAL('clicked()'), self.doSetLed )
self.connect( self.ui.sbTilt, SIGNAL('valueChanged(double)'),self.doSetTilt )
self.vector = []
self.job()
def job(self):
try:
self.vector = self.proxy.getDataRGBZinIR() # imageVector, depthVector, headState, baseState
if len(self.vector) == 0:
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
def paintEvent(self, event=None):
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing, True)
image = QImage(self.vector[0], 640, 480, QImage.Format_RGB888)
painter.drawImage(QPointF(self.ui.frame.x(), self.ui.frame.y()), image)
painter.end()
#painter = None
def doSetLed(self):
ledLight = self.textToEnum(self.ui.cbLedOpt.currentText())
print ledLight
try:
self.proxy.setLed( ledLight )
except Ice.Exception:
traceback.print_exc()
def doSetTilt(self):
try:
self.proxy.setTilt(self.ui.sbTilt.value())
self.ui.lcdTilt.display(self.ui.sbTilt.value())
except Ice.Exception:
traceback.print_exc()
def textToEnum(self,pos):
if(pos == "OFF"):
return self.mods['RoboCompKinect'].LedOptions.OFF
elif(pos == "GREEN"):
return self.mods['RoboCompKinect'].LedOptions.GREEN
elif(pos == "RED"):
return self.mods['RoboCompKinect'].LedOptions.RED
elif(pos == "YELLOW"):
return self.mods['RoboCompKinect'].LedOptions.YELLOW
elif(pos == "blinkYELLOW"):
return self.mods['RoboCompKinect'].LedOptions.blinkYELLOW
elif(pos == "blinkGREEN"):
return self.mods['RoboCompKinect'].LedOptions.blinkGREEN
elif(pos == "blinkREDYELLOW"):
return self.mods['RoboCompKinect'].LedOptions.blinkREDYELLOW
class C(QWidget):
def __init__(self, endpoint, modules):
print modules.keys()
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print endpoint
print self.mods.keys()
#self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
self.proxy = self.mods['RoboCompRGBDBus'].RGBDBusPrx.checkedCast(self.prx)
self.paramsMap= self.proxy.getAllCameraParams()
self.listCamera=[]
for n in self.paramsMap:
print 'name Camera: '+ n
self.listCamera.append(n)
self.nameActive=self.listCamera.pop()
self.show()
#To draw depth image. Maximum device depth. Now in milimeters
self.maxDepth = 10000.0
self.mySlot()
self.myTimer = QTimer()
self.myTimer.start(10000)
self.connect(self.myTimer, SIGNAL('timeout()'), self.mySlot)
self.job()
def mySlot (self):
if (len(self.listCamera) ==0):
print "refill"
for n in self.paramsMap:
self.listCamera.append(n)
self.nameActive=self.listCamera.pop()
def job(self):
try:
print 'name Camera Active: '+ self.nameActive
self.cameralist = [self.nameActive]
self.imagemap = self.proxy.getImages(self.cameralist)
self.ui.nameRGBD.setText('RGBD name: ' + self.nameActive)
self.depth =self.imagemap[self.nameActive].depthImage
self.color =self.imagemap[self.nameActive].colorImage
if (len(self.color) == 0) or (len(self.depth) == 0):
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
def paintEvent(self, event=None):
print "paint Event"
print len(self.color)
print len(self.depth)
print 3*( (640*480)/2)
if (len(self.color) == 3*640*480 or len(self.depth) == 640*480):
w=640
h=480
elif (len(self.color) == 3*320*240 or len(self.depth) == (640*480)/2):
w=320
h=240
else:
print 'we shall not paint!'
return
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing, True)
v = ''
for i in range(len(self.depth)):
ascii = 0
try:
ascii = int((self.depth[i] / self.maxDepth ) * 256)
except:
pass
if ascii > 255: ascii = 255
v += chr(ascii)
image = QImage(self.color, w, h, QImage.Format_RGB888)
imageGrey = QImage(v, w, h, QImage.Format_Indexed8)
for i in range(256):
imageGrey.setColor(i, QColor(i,i,i).rgb())
painter.drawImage(QPointF(self.ui.frameRGB.x(), self.ui.frameRGB.y()), image)
painter.drawImage(QPointF(self.ui.frame.x(), self.ui.frame.y()), imageGrey)
painter.end()
painter = None
class C(QWidget):
def __init__(self, endpoint, modules):
QWidget.__init__(self)
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
#hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
self.proxy = self.mods['RoboCompRGBD'].RGBDPrx.checkedCast(self.prx)
self.show()
self.maxDepth = 90000
self.job()
def job(self):
try:
self.color, self.depth, self.headState, self.baseState = self.proxy.getData(
)
#print 'c', len(self.color)
#print 'd', len(self.depth)
if (len(self.color) == 0) or (len(self.depth) == 0):
print 'Error retrieving images!'
except Ice.Exception:
traceback.print_exc()
def paintEvent(self, event=None):
if (len(self.color) == 3 * 640 * 480) and (len(self.depth)
== 640 * 480):
width = 640
height = 480
elif (len(self.color) == 3 * 320 * 240) and (len(self.depth)
== 320 * 240):
width = 320
height = 240
#print "color", len(self.color), "depth", len(self.depth)
else:
print 'we shall not paint!'
return
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing, True)
v = ''
m = 0
t = 0
for i in range(len(self.depth)):
ascii = 0
try:
ascii = int(128. - (255. / self.maxDepth) * self.depth[i])
if ascii > 255: ascii = 255
if ascii < 0: ascii = 0
#print type(self.depth[i])
if fabs(self.depth[i]) > 0.00001: print self.depth[i]
except:
pass
if ascii > 255: ascii = 255
if ascii < 0: ascii = 0
v += chr(ascii)
t = t + 1
m = m + float(self.depth[i])
#print 'mean', float(m)/t
image = QImage(self.color, width, height, QImage.Format_RGB888)
#image.save("images/image"+str(self.lalala)+'.png')
imageGrey = QImage(v, width, height, QImage.Format_Indexed8)
for i in range(256):
imageGrey.setColor(i, QColor(i, i, i).rgb())
painter.drawImage(QPointF(self.ui.frameRGB.x(), self.ui.frameRGB.y()),
image)
painter.drawImage(QPointF(self.ui.frame.x(), self.ui.frame.y()),
imageGrey)
painter.end()
class C(QWidget):
def __init__(self, endpoint, modules):
print modules.keys()
QWidget.__init__(self)
print "init"
self.ui = Ui_KinectDlg()
self.ui.setupUi(self)
# hide kinect interface options
self.ui.sbTilt.hide()
self.ui.pbSetLed.hide()
self.ui.label_4.hide()
self.ui.cbLedOpt.hide()
self.t = 0.0
arg = sys.argv
arg.append("--Ice.MessageSizeMax=2000000")
self.ic = Ice.initialize(arg)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
print endpoint
print self.mods.keys()
self.proxy = self.mods["RoboCompRGBD"].RGBDPrx.checkedCast(self.prx)
self.show()
self.maxDepth = 9.0
self.job()
def job(self):
try:
self.color, self.depth, self.headState, self.baseState = self.proxy.getData()
print len(self.color)
if (len(self.color) == 0) or (len(self.depth) == 0):
print "Error retrieving images!"
except Ice.Exception:
traceback.print_exc()
def paintEvent(self, event=None):
if (len(self.color) != 3 * 640 * 480) or (len(self.depth) != 640 * 480):
# print 'we shall not paint!'
return
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing, True)
v = ""
for i in range(len(self.depth)):
ascii = 0
try:
ascii = int(255.0 - 255.0 * (self.depth[i] / self.maxDepth / 1000.0))
if ascii > 255:
ascii = 255
if ascii < 0:
ascii = 0
except:
pass
if ascii > 255:
ascii = 255
v += chr(ascii)
image = QImage(self.color, 640, 480, QImage.Format_RGB888)
imageGrey = QImage(v, 640, 480, QImage.Format_Indexed8)
for i in range(256):
imageGrey.setColor(i, QColor(i, i, i).rgb())
painter.drawImage(QPointF(self.ui.frameRGB.x(), self.ui.frameRGB.y()), image)
painter.drawImage(QPointF(self.ui.frame.x(), self.ui.frame.y()), imageGrey)
painter.end()
