class QualityDialog(QDialog):
def __init__(self, bagFiles, parent=None):
super(QualityDialog, self).__init__()
self.parent = parent
self.bagFiles = bagFiles
self.setWindowTitle("Data Quality")
## Widgets:
self.spinBox = QDoubleSpinBox()
self.spinBox.setDecimals(2)
self.spinBox.setMaximum(1.0)
self.spinBox.setSingleStep(0.1)
self.spinBox.setValue(0.5)
self.fppiLbl = QLabel("FPPI = ")
self.motaLbl = QLabel("MOTA = ")
self.motpLbl = QLabel("MOTP = ")
self.recalcBtn = QPushButton("Recalculate Quality")
self.recalcBtn.clicked.connect(self.calculate)
## Layout:
layout = QVBoxLayout()
layout.addWidget(self.spinBox)
layout.addWidget(self.fppiLbl)
layout.addWidget(self.motaLbl)
layout.addWidget(self.motpLbl)
layout.addWidget(self.recalcBtn)
self.setLayout(layout)
self.resize(300, 200)
# calculate the data quality:
self.calculate()
def calculate(self):
if self.bagFiles[0] == "" or self.bagFiles[1] == "":
message_module.showMessage(
"Bag file missing! Please import bag file in the main interface."
)
return
threshold = self.spinBox.value()
fppi = Rosbag_Analysis.getFPPI(self.bagFiles[0], self.bagFiles[1],
threshold)
self.fppiLbl.setText("FPPI = " + str(fppi))
mota = Rosbag_Analysis.getMOTA(self.bagFiles[0], self.bagFiles[1],
threshold)
self.motaLbl.setText("MOTA = " + str(mota))
motp = Rosbag_Analysis.getMOTP(self.bagFiles[0], self.bagFiles[1],
threshold)
self.motpLbl.setText("MOTP = " + str(motp))
def wdgt(label, value, trans):
import math
sb = QDoubleSpinBox()
m = 1e3 if trans else math.pi
sb.setRange(-m, m)
sb.setDecimals(4)
sb.setSingleStep(1e-3 if trans else .05)
sb.setSuffix(" m" if trans else " rad")
self.layout.addRow(label, sb)
sb.setValue(value)
sb.valueChanged.connect(self.valueChanged)
return sb
class ThresholdSetter(QGroupBox):
def __init__(self, parent=None):
super(ThresholdSetter, self).__init__()
self.parent = parent
self.setTitle('Select IoU Threshold ')
self.layout = QVBoxLayout()
self.spinBox = QDoubleSpinBox()
self.spinBox.setDecimals(2)
self.spinBox.setMaximum(1.0)
self.spinBox.setSingleStep(0.1)
self.spinBox.setValue(0.5)
self.layout.addWidget(self.spinBox)
self.setLayout(self.layout)
def getThreshold(self):
return self.spinBox.value()
def init_sliders(self):
sliderbox = self._widget.findChild(QLayout, 'Sliders')
firstCol = QVBoxLayout()
graph_button = QPushButton()
graph_button.setCheckable(True)
graph_button.setText("Graph Off")
graph_button.toggle()
graph_button.clicked.connect(self.set_graph_state)
reset_button = QPushButton()
reset_button.setCheckable(False)
reset_button.setText("Reset")
reset_button.clicked.connect(self.set_reset)
self.graph_button = graph_button
self.reset_button = reset_button
firstCol.addWidget(graph_button)
firstCol.addWidget(reset_button)
firstCol.setAlignment(graph_button, Qt.AlignVCenter)
firstCol.setAlignment(reset_button, Qt.AlignVCenter)
zero_button = QPushButton()
zero_button.setCheckable(False)
zero_button.setText("Set All Zero")
zero_button.clicked.connect(self.set_pressure_zero)
self.zero_button = zero_button
firstCol.addWidget(zero_button)
firstCol.setAlignment(zero_button, Qt.AlignVCenter)
transition_box = QVBoxLayout()
label = QLabel()
label.setAlignment(Qt.AlignCenter)
label.setText("Transition Time")
spinbox = QDoubleSpinBox()
spinbox.setMinimum(0)
spinbox.setMaximum(10)
spinbox.setValue(self.settings['transitions'])
spinbox.setDecimals(1)
spinbox.setSingleStep(0.1)
spinbox.setSuffix(" sec")
spinbox.valueChanged.connect(self.set_transition_value)
transition_box.addWidget(label)
transition_box.addWidget(spinbox)
transition_box.setAlignment(label, Qt.AlignBottom)
transition_box.setAlignment(spinbox, Qt.AlignTop)
firstCol.addLayout(transition_box)
self.sliders = []
sliderbox.addLayout(firstCol)
all_rows_layout = QVBoxLayout()
chan_idx = 0
for num_channels_row in self.settings['num_channels']:
row_layout = QHBoxLayout()
for i in range(num_channels_row):
idx = chan_idx * 1
slider_group = {'slider': None, 'number': None, 'on_off': None}
layout_cluster = QVBoxLayout()
layout = QVBoxLayout()
layout.setAlignment(Qt.AlignHCenter)
slider = QSlider(Qt.Vertical)
slider.setMinimum(self.settings['min_pressure'][idx] * 10.0)
slider.setMaximum(self.settings['max_pressure'][idx] * 10.0)
slider.setValue(0)
slider.setTickPosition(QSlider.TicksRight)
slider.setTickInterval(20)
spinbox = QDoubleSpinBox()
spinbox.setMinimum(self.settings['min_pressure'][idx])
spinbox.setMaximum(self.settings['max_pressure'][idx])
spinbox.setValue(0)
spinbox.setDecimals(1)
spinbox.setSingleStep(0.1)
cb_function_curr = lambda value, idx=idx, slider=False: self.send_slider_value(
idx, value, slider)
cb_function_curr2 = lambda value, idx=idx, slider=True: self.send_slider_value(
idx, value, slider)
slider.valueChanged.connect(cb_function_curr2)
spinbox.valueChanged.connect(cb_function_curr)
labelmax = QLabel()
labelmax.setAlignment(Qt.AlignCenter)
labelmax.setText("%0.1f" %
(self.settings['max_pressure'][idx]))
labelmin = QLabel()
labelmin.setAlignment(Qt.AlignCenter)
labelmin.setText("%0.1f" %
(self.settings['min_pressure'][idx]))
layout.addWidget(labelmax)
layout.addWidget(slider)
layout.addWidget(labelmin)
layout.addWidget(spinbox)
layout.setAlignment(slider, Qt.AlignHCenter)
layout.setAlignment(spinbox, Qt.AlignHCenter)
label = QLabel()
label.setText("Chan. %d" % (chan_idx + 1))
label.setAlignment(Qt.AlignCenter)
layout_cluster.addWidget(label)
layout_cluster.addLayout(layout)
slider_group['slider'] = slider
slider_group['number'] = spinbox
on_button = QPushButton()
on_button.setCheckable(True)
on_button.setText("Off")
if self.settings['channel_states'][idx]:
on_button.toggle()
on_button.setText("On")
on_button.clicked.connect(
lambda state, idx=idx: self.send_channel_state(idx, state))
slider_group['on_off'] = on_button
layout_cluster.addWidget(on_button)
row_layout.addLayout(layout_cluster)
row_layout.addSpacing(20)
self.sliders.append(slider_group)
chan_idx += 1
all_rows_layout.addLayout(row_layout)
sliderbox.addLayout(all_rows_layout)
def init_sliders(self):
sliderbox = self._widget.findChild(QLayout, 'Sliders')
graph_button = QPushButton()
graph_button.setCheckable(True)
graph_button.setText("Graph Off")
graph_button.toggle()
graph_button.clicked.connect(self.set_graph_state)
self.graph_button = graph_button
firstCol = QVBoxLayout()
firstCol.addWidget(graph_button)
sliderbox.addLayout(firstCol)
self.sliders = []
all_rows_layout = QVBoxLayout()
chan_idx = 0
for num_channels_row in self.settings['num_channels']:
row_layout = QHBoxLayout()
for i in range(num_channels_row):
idx = chan_idx * 1
slider_group = {
'slider_p': None,
'number_p': None,
'slider_i': None,
'number_i': None,
'slider_d': None,
'number_d': None,
'on_off': None
}
layout_cluster = QVBoxLayout()
slider_cluster = QHBoxLayout()
label = QLabel()
label.setText("Chan. %d" % (idx + 1))
label.setAlignment(Qt.AlignCenter)
layout_cluster.addWidget(label)
for j in range(3):
layout = QVBoxLayout()
layout.setAlignment(Qt.AlignHCenter)
if j == 0:
maxrange = 1.0
elif j == 1:
maxrange = 10
elif j == 2:
maxrange = 10
slider = QSlider(Qt.Vertical)
slider.setMinimum(0)
slider.setMaximum(maxrange * 100)
slider.setValue(self.settings['pid_gains'][chan_idx][j] *
100)
slider.setTickPosition(QSlider.TicksRight)
slider.setTickInterval(maxrange / 100.0)
spinbox = QDoubleSpinBox()
spinbox.setMinimum(0)
spinbox.setMaximum(maxrange)
spinbox.setValue(self.settings['pid_gains'][chan_idx][j])
spinbox.setDecimals(2)
spinbox.setSingleStep(maxrange / 100.0)
cb_function_number = lambda value, idx=idx, gain_idx=j, slider=False: self.send_slider_value(
idx, gain_idx, value, slider)
cb_function_slider = lambda value, idx=idx, gain_idx=j, slider=True: self.send_slider_value(
idx, gain_idx, value, slider)
slider.valueChanged.connect(cb_function_slider)
spinbox.valueChanged.connect(cb_function_number)
label = QLabel()
label.setAlignment(Qt.AlignCenter)
if j == 0:
slider_group['slider_p'] = slider
slider_group['number_p'] = spinbox
label.setText("P")
elif j == 1:
slider_group['slider_i'] = slider
slider_group['number_i'] = spinbox
label.setText("I")
elif j == 2:
slider_group['slider_d'] = slider
slider_group['number_d'] = spinbox
label.setText("D")
labelmax = QLabel()
labelmax.setAlignment(Qt.AlignCenter)
labelmax.setText("%0.1f" % (maxrange))
labelmin = QLabel()
labelmin.setAlignment(Qt.AlignCenter)
labelmin.setText("0")
layout.addWidget(label)
layout.addWidget(labelmax)
layout.addWidget(slider, Qt.AlignHCenter)
layout.addWidget(labelmin)
layout.addWidget(spinbox, Qt.AlignHCenter)
layout.setAlignment(slider, Qt.AlignHCenter)
layout.setAlignment(spinbox, Qt.AlignHCenter)
slider_cluster.addLayout(layout)
on_button = QPushButton()
on_button.setCheckable(True)
on_button.setText("Off")
if self.settings['channel_states'][chan_idx]:
on_button.toggle()
on_button.setText("On")
on_button.clicked.connect(
lambda state, idx=idx: self.send_channel_state(idx, state))
slider_group['on_off'] = on_button
layout_cluster.addLayout(slider_cluster)
layout_cluster.addWidget(on_button)
row_layout.addLayout(layout_cluster)
row_layout.addSpacing(20)
self.sliders.append(slider_group)
chan_idx += 1
all_rows_layout.addLayout(row_layout)
sliderbox.addLayout(all_rows_layout)
def init_sliders(self):
sliderbox = self._widget.findChild(QLayout,'Sliders')
firstCol = QVBoxLayout()
graph_button=QPushButton()
graph_button.setCheckable(True)
graph_button.setText("Graph Off")
graph_button.toggle()
graph_button.clicked.connect(self.set_graph_state)
self.graph_button = graph_button
reset_button=QPushButton()
reset_button.setCheckable(False)
reset_button.setText("Reset")
reset_button.clicked.connect(self.set_reset)
self.graph_button = graph_button
self.reset_button = reset_button
firstCol.addWidget(graph_button)
firstCol.addWidget(reset_button)
firstCol.addWidget(graph_button)
firstCol.setAlignment(graph_button,Qt.AlignVCenter)
zero_button=QPushButton()
zero_button.setCheckable(False)
zero_button.setText("Set All Zero")
zero_button.clicked.connect(self.set_pressure_zero)
self.zero_button = zero_button
firstCol.addWidget(zero_button)
firstCol.setAlignment(zero_button,Qt.AlignVCenter)
transition_box = QVBoxLayout()
label = QLabel()
label.setAlignment(Qt.AlignCenter)
label.setText("Transition Time")
spinbox = QDoubleSpinBox()
spinbox.setMinimum(0)
spinbox.setMaximum(10)
spinbox.setValue(self.settings['transitions'])
spinbox.setDecimals(1)
spinbox.setSingleStep(0.1)
spinbox.setSuffix(" sec")
spinbox.valueChanged.connect(self.set_transition_value)
transition_box.addWidget(label)
transition_box.addWidget(spinbox)
transition_box.setAlignment(label,Qt.AlignBottom)
transition_box.setAlignment(spinbox,Qt.AlignTop)
firstCol.addLayout(transition_box)
self.sliders = []
sliderbox.addLayout(firstCol)
all_rows_layout = QVBoxLayout()
g_idx = 0
for row in self.settings['gui_config']:
num_groups_row = len(row)
row_layout = QHBoxLayout()
for gr_idx, s_group in enumerate(row):
g_channels = s_group['channels']
g_layout = s_group['layout']
if 'horiz' in g_layout:
group_layout = QHBoxLayout()
else:
group_layout = QVBoxLayout()
control_group = {'sliders': [], 'on_off': None}
label = QLabel()
label.setText("Group. %d"%(g_idx+1))
label.setAlignment(Qt.AlignCenter)
group_layout.addWidget(label)
for c_idx, s_idx in enumerate(g_channels):
idx = s_idx*1
slider_group={'slider':None, 'number':None}
layout_cluster = QVBoxLayout()
labelfirst = QLabel()
labelfirst.setAlignment(Qt.AlignCenter)
labellast = QLabel()
labellast.setAlignment(Qt.AlignCenter)
layout = QVBoxLayout()
if 'diff' in g_layout and c_idx == 0:
sublayout=QHBoxLayout()
layout.setAlignment(Qt.AlignVCenter)
slider = QSlider(Qt.Horizontal)
slider.setMinimum(-100)
slider.setMaximum(100)
slider.setValue(0)
slider.setTickPosition(QSlider.TicksRight)
slider.setTickInterval(20)
spinbox = QDoubleSpinBox()
spinbox.setMinimum(-10)
spinbox.setMaximum(10)
spinbox.setValue(0)
spinbox.setDecimals(1)
spinbox.setSingleStep(0.1)
labellast.setText("%0.1f"%(10)) # These are flipped becasue of order
labelfirst.setText("%0.1f"%(-10))
max_label = labellast
min_label = labelfirst
else:
layout.setAlignment(Qt.AlignHCenter)
slider = QSlider(Qt.Vertical)
slider.setMinimum(self.settings['min_pressure'][idx]*10.0)
slider.setMaximum(self.settings['max_pressure'][idx]*10.0)
slider.setValue(0)
slider.setTickPosition(QSlider.TicksRight)
slider.setTickInterval(20)
spinbox = QDoubleSpinBox()
spinbox.setMinimum(self.settings['min_pressure'][idx])
spinbox.setMaximum(self.settings['max_pressure'][idx])
spinbox.setValue(0)
spinbox.setDecimals(1)
spinbox.setSingleStep(0.1)
labelfirst.setText("%0.1f"%(self.settings['max_pressure'][idx]))
labellast.setText("%0.1f"%(self.settings['min_pressure'][idx]))
max_label = labelfirst
min_label = labellast
cb_function_number = lambda value, g_idx=g_idx, s_idx=c_idx, slider=False: self.send_slider_value(g_idx,s_idx,value,slider)
cb_function_slider = lambda value, g_idx=g_idx, s_idx=c_idx, slider=True: self.send_slider_value(g_idx,s_idx,value,slider)
slider.valueChanged.connect(cb_function_slider)
spinbox.valueChanged.connect(cb_function_number)
if 'diff' in g_layout and c_idx == 0:
sublayout.addWidget(labelfirst)
sublayout.addWidget(slider)
sublayout.addWidget(labellast)
layout.addWidget(spinbox)
layout.addLayout(sublayout)
else:
layout.addWidget(labelfirst)
layout.addWidget(slider)
layout.addWidget(labellast)
layout.addWidget(spinbox)
layout.setAlignment(slider, Qt.AlignHCenter)
layout.setAlignment(spinbox, Qt.AlignHCenter)
layout_cluster.addLayout(layout)
slider_group['slider'] = slider
slider_group['number'] = spinbox
slider_group['max_label'] = max_label
slider_group['min_label'] = min_label
control_group['sliders'].append(slider_group)
group_layout.addLayout(layout_cluster)
on_button=QPushButton()
on_button.setCheckable(True)
on_button.setText("Off")
if self.settings['channel_states'][idx]:
on_button.toggle()
on_button.setText("On")
on_button.clicked.connect(lambda state, g_idx=g_idx: self.send_channel_state(g_idx,state))
group_layout.addWidget(on_button)
row_layout.addLayout(group_layout)
row_layout.addSpacing(20)
control_group['on_off'] = on_button
self.sliders.append(control_group)
g_idx+=1
all_rows_layout.addLayout(row_layout)
sliderbox.addLayout(all_rows_layout)