def __init__(self, environment, parent):
super(CWPage4, self).__init__(parent)
# The final object is stored here:
self.newRobotMrkr = None
# Create global GUI objects
self.hintLbl = QtWidgets.QLabel(
"") # This will tell the user how many points are on the object
self.movieLbl = QtWidgets.QLabel(
""
) # Changes the gif depending on what the user is having trouble with
self.selMovie = QtGui.QMovie(
Paths.help_sel_marker) # Help with selecting the marker
self.detMovie = QtGui.QMovie(
Paths.help_add_detail) # Help with adding detail to marker
# Get the Environment objects that will be used
self.vision = environment.getVision()
self.robot = environment.getRobot()
self.objManager = environment.getObjectManager()
# Create the camera widget and set it up
self.cameraWidget = CameraSelector(environment.getVStream(),
parent=self)
self.cameraWidget.play()
self.cameraWidget.objSelected.connect(self.objectSelected)
self.initUI()
def __init__(self, environment, parent):
super(CWPage4, self).__init__(parent)
# The final object is stored here:
self.newRobotMrkr = None
# Create global GUI objects
self.hintLbl = QtWidgets.QLabel("") # This will tell the user how many points are on the object
self.movieLbl = QtWidgets.QLabel("") # Changes the gif depending on what the user is having trouble with
self.selMovie = QtGui.QMovie(Paths.help_sel_marker) # Help with selecting the marker
self.detMovie = QtGui.QMovie(Paths.help_add_detail) # Help with adding detail to marker
# Get the Environment objects that will be used
self.vision = environment.getVision()
self.robot = environment.getRobot()
self.objManager = environment.getObjectManager()
# Create the camera widget and set it up
self.cameraWidget = CameraSelector(environment.getVStream(), parent=self)
self.cameraWidget.play()
self.cameraWidget.objSelected.connect(self.objectSelected)
self.initUI()
class CWPage4(QtWidgets.QWizardPage):
def __init__(self, environment, parent):
super(CWPage4, self).__init__(parent)
# The final object is stored here:
self.newRobotMrkr = None
# Create global GUI objects
self.hintLbl = QtWidgets.QLabel("") # This will tell the user how many points are on the object
self.movieLbl = QtWidgets.QLabel("") # Changes the gif depending on what the user is having trouble with
self.selMovie = QtGui.QMovie(Paths.help_sel_marker) # Help with selecting the marker
self.detMovie = QtGui.QMovie(Paths.help_add_detail) # Help with adding detail to marker
# Get the Environment objects that will be used
self.vision = environment.getVision()
self.robot = environment.getRobot()
self.objManager = environment.getObjectManager()
# Create the camera widget and set it up
self.cameraWidget = CameraSelector(environment.getVStream(), parent=self)
self.cameraWidget.play()
self.cameraWidget.objSelected.connect(self.objectSelected)
self.initUI()
def initUI(self):
prompt = self.tr("""Make sure the robot's head is in the center of the camera view. Then, click the mouse on
the top \nright corner of the marker, and drag it to the bottom right corner of the marker.\n\n
The camera will begin tracking the marker. Try to have more than 500 points on the marker. Move\n
the robot around and make sure that the object can be recognized for the majority of the cameras\n
view.\n""")
stepLbl = QtWidgets.QLabel(self.tr("Step 4: Selecting the Marker"))
promptLbl = QtWidgets.QLabel(prompt)
# Set the animated gif on the movieLbl
self.movieLbl.setMovie(self.selMovie)
self.selMovie.start()
self.detMovie.start()
# Set titles bold
bold = QtGui.QFont()
bold.setBold(True)
stepLbl.setFont(bold)
self.hintLbl.setFont(bold)
# Create a special row for the camera that will force it to remain in the center, regardless of size changes
camRow = QtWidgets.QHBoxLayout()
camRow.addWidget(self.cameraWidget)
camRow.addStretch(1)
camRow.addWidget(self.movieLbl)
# Place the GUI objects vertically
col1 = QtWidgets.QVBoxLayout()
col1.addWidget(stepLbl)
col1.addWidget(promptLbl)
col1.addWidget(self.hintLbl)
col1.addLayout(camRow)
mainHLayout = QtWidgets.QHBoxLayout()
mainHLayout.addLayout(col1)
self.setLayout(mainHLayout)
def objectSelected(self):
"""
Runs when the user has selected an object on the CameraSelector widget.
It will verify if the object is trackable (has enough points), if so, it will set the vision to tracking
mode, generate a "trackable" object, and set the camera to play.
Then, it will display information about the object next to the camera, so that the user can decide if
they want to keep this selected object or try again.
If there are not enough keypoints, the program will warn the user that this is a bad idea. If there are
zero keypoints, it won't allow the user to track it, and will automatically revert the camera to
selection mode.
"""
# Reset any previous markers
self.newRobotMrkr = None
self.completeChanged.emit()
self.hintLbl.setText("")
self.vision.endAllTrackers()
self.movieLbl.setMovie(self.selMovie)
self.movieLbl.show()
rect = self.cameraWidget.getSelectedRect()
frame = self.cameraWidget.getSelectedFrame()
h, w, _ = frame.shape
# Get the "target" object from the image and rectangle
trackable = TrackableObject("Robot Marker")
trackable.addNewView(image = frame,
rect = rect,
pickupRect = [0, 0, h, w],
height = 0)
target = self.vision.planeTracker.createTarget(trackable.getViews()[0])
# Analyze it, and make sure it's a valid target. If not, return the camera to selection mode.
if len(target.descrs) == 0 or len(target.keypoints) == 0:
self.cameraWidget.takeAnother()
self.hintLbl.setText(self.tr("You must select an object with more detail."))
return
if len(target.descrs) < 450:
self.movieLbl.setMovie(self.detMovie)
self.hintLbl.setText(self.tr("Your selected marker does not have enough detail. Only ") +
str(len(target.descrs)) + self.tr(" points were found.\nAdd detail to your marker and "
"try again."))
self.cameraWidget.takeAnother()
return
self.objManager.deleteObject("Robot Marker") # Delete any previous end effector file
self.newRobotMrkr = trackable
self.objManager.saveObject(self.newRobotMrkr)
self.completeChanged.emit()
# If the object was not very good, warn the user. Otherwise, state the # of points on the object
if len(target.descrs) < 600:
self.movieLbl.setMovie(self.detMovie)
self.hintLbl.setText(self.tr("Your selected marker is not very detailed, or is too small, only ") +
str(len(target.descrs)) + self.tr(" points were found.\n") +
self.tr("Tracking may not be very accurate."))
else:
self.hintLbl.setText(self.tr("Found ") + str(len(target.descrs)) + self.tr(" Points"))
# Turn on the camera, and start tracking
self.cameraWidget.play()
self.vision.addTarget(self.newRobotMrkr)
def isComplete(self):
return self.newRobotMrkr is not None
def close(self):
self.cameraWidget.close()
self.vision.endAllTrackers()
class CWPage4(QtWidgets.QWizardPage):
def __init__(self, environment, parent):
super(CWPage4, self).__init__(parent)
# The final object is stored here:
self.newRobotMrkr = None
# Create global GUI objects
self.hintLbl = QtWidgets.QLabel("") # This will tell the user how many points are on the object
self.movieLbl = QtWidgets.QLabel("") # Changes the gif depending on what the user is having trouble with
self.selMovie = QtGui.QMovie(Paths.help_sel_marker) # Help with selecting the marker
self.detMovie = QtGui.QMovie(Paths.help_add_detail) # Help with adding detail to marker
# Get the Environment objects that will be used
self.vision = environment.getVision()
self.robot = environment.getRobot()
self.objManager = environment.getObjectManager()
# Create the camera widget and set it up
self.cameraWidget = CameraSelector(environment.getVStream(), parent=self)
self.cameraWidget.play()
self.cameraWidget.objSelected.connect(self.objectSelected)
self.initUI()
def initUI(self):
prompt = "Make sure the robot's head is in the center of the camera view. Then, click the mouse on the top " +\
"\nright corner of the marker, and drag it to the bottom right corner of the marker.\n\n" +\
"The camera will begin tracking the marker. Try to have more than 500 points on the marker. Move\n" +\
"the robot around and make sure that the object can be recognized for the majority of the cameras\n" +\
"view.\n"
stepLbl = QtWidgets.QLabel("Step 4: Selecting the Marker")
promptLbl = QtWidgets.QLabel(prompt)
# Set the animated gif on the movieLbl
self.movieLbl.setMovie(self.selMovie)
self.selMovie.start()
self.detMovie.start()
# Set titles bold
bold = QtGui.QFont()
bold.setBold(True)
stepLbl.setFont(bold)
self.hintLbl.setFont(bold)
# Create a special row for the camera that will force it to remain in the center, regardless of size changes
camRow = QtWidgets.QHBoxLayout()
camRow.addWidget(self.cameraWidget)
camRow.addStretch(1)
camRow.addWidget(self.movieLbl)
# Place the GUI objects vertically
col1 = QtWidgets.QVBoxLayout()
col1.addWidget(stepLbl)
col1.addWidget(promptLbl)
col1.addWidget(self.hintLbl)
col1.addLayout(camRow)
mainHLayout = QtWidgets.QHBoxLayout()
mainHLayout.addLayout(col1)
self.setLayout(mainHLayout)
def objectSelected(self):
"""
Runs when the user has selected an object on the CameraSelector widget.
It will verify if the object is trackable (has enough points), if so, it will set the vision to tracking
mode, generate a "trackable" object, and set the camera to play.
Then, it will display information about the object next to the camera, so that the user can decide if
they want to keep this selected object or try again.
If there are not enough keypoints, the program will warn the user that this is a bad idea. If there are
zero keypoints, it won't allow the user to track it, and will automatically revert the camera to
selection mode.
"""
# Reset any previous markers
self.newRobotMrkr = None
self.completeChanged.emit()
self.hintLbl.setText("")
self.vision.endAllTrackers()
self.movieLbl.setMovie(self.selMovie)
self.movieLbl.show()
rect = self.cameraWidget.getSelectedRect()
frame = self.cameraWidget.getSelectedFrame()
h, w, _ = frame.shape
# Get the "target" object from the image and rectangle
trackable = TrackableObject("Robot Marker")
trackable.addNewView(image = frame,
rect = rect,
pickupRect = [0, 0, h, w],
height = 0)
target = self.vision.planeTracker.createTarget(trackable.getViews()[0])
# Analyze it, and make sure it's a valid target. If not, return the camera to selection mode.
if len(target.descrs) == 0 or len(target.keypoints) == 0:
self.cameraWidget.takeAnother()
self.hintLbl.setText("You must select an object with more detail.")
return
if len(target.descrs) < 450:
self.movieLbl.setMovie(self.detMovie)
self.hintLbl.setText("Your selected marker does not have enough detail. Only " + str(len(target.descrs)) +
" points were found.\nAdd detail to your marker and try again.")
self.cameraWidget.takeAnother()
return
self.objManager.deleteObject("Robot Marker") # Delete any previous end effector file
self.newRobotMrkr = trackable
self.objManager.saveObject(self.newRobotMrkr)
self.completeChanged.emit()
# If the object was not very good, warn the user. Otherwise, state the # of points on the object
if len(target.descrs) < 600:
self.movieLbl.setMovie(self.detMovie)
self.hintLbl.setText("Your selected marker is not very detailed, or is too small, only " +
str(len(target.descrs)) + " points were found.\n"
"Tracking may not be very accurate.")
else:
self.hintLbl.setText("Found " + str(len(target.descrs)) + " Points")
# Turn on the camera, and start tracking
self.cameraWidget.play()
self.vision.addTarget(self.newRobotMrkr)
def isComplete(self):
return self.newRobotMrkr is not None
def close(self):
self.cameraWidget.close()
self.vision.endAllTrackers()
