def adminTab(self, action):
"""Manage the widgets inside the tab"""
if(action == "init"):
self.tabWidget = QtGui.QTabWidget(self.centralwidget)
size = self.size()
self.tabWidget.setGeometry(QtCore.QRect(0, 0, size.width(), size.height()))
self.tabWidget.setObjectName("tabWidget")
self.tabCamera = self.cameraWidget
self.tabCamera.setObjectName("Camera")
self.tabWidget.addTab(self.tabCamera, "Camera")
if(action == "addImgViewer"):
# When adding or updating this viewer we need to update the
# size of the image
self.imw = self.leftImg.size[0]
self.imh = self.leftImg.size[1]
if( self.glDigitizerWidet == None):#First time
self.glDigitizerWidet = DigitizerWidget(self,self.leftImg,self.rightImg)
self.tabImgViewer = self.glDigitizerWidet
self.tabImgViewer.setObjectName("Image")
self.tabWidget.addTab(self.tabImgViewer, "Image")
else:#Only updating the image
self.glDigitizerWidet.loadTextures(self.leftImg,self.rightImg)
self.tabWidget.setCurrentWidget(self.tabImgViewer)
self.glDigitizerWidet.render()
self.glDigitizerWidet.updateGL()
if(action == "updateMarksViewer"):
if(self.marksViewerWidget == None):
#Initializing the marks viewer widget
self.marksViewerWidget = LandmarkViewer(self.imw,self.imh)
self.tabMarkViewer = self.marksViewerWidget
self.tabMarkViewer.setObjectName("3D Marks")
self.tabWidget.addTab(self.tabMarkViewer, "3D Marks")
self.tabWidget.setCurrentWidget(self.tabMarkViewer)
self.marksViewerWidget.paintGL()
self.marksViewerWidget.calcMaxValues()
class QtGLMainWindow(QMainWindow, Ui_QtMainWin):
# Properties of the Camera
# Param1 Distance between cameras
# Param2 Focall length
# Lens focal length f=6.3 - 18.9mm, equivalent to 35.0 - 105.0mm on a 35mm camera
# Number of pixels 32048 x 1536 (img size)
# CCD Sensor 1/2.3 Diagonal 7.7 mm Width 6.16 mm Height 4.62 mm
# Everything is in centimeters
def __init__(self, dist ,focalLength,ccdWidth, ccdHeigth):
"""Initialize all the settings of the main window"""
self.rightImg = ''
self.leftImg = ''
self.selectedWidget = 1
self.imw = -1
self.imh = -1
QMainWindow.__init__(self, parent)
self.setupUi(self)
self.camera = StereoCam(dist ,focalLength,ccdWidth, ccdHeigth)
self.initWidgets()
self.ptsManager = PtsManager()
#--------------------- Setting SIGNAL --> SLOT-----------
self.connect(self.actionOpen, SIGNAL("activated()"),self.openFile)
self.connect(self.actionSaveLandmarks, SIGNAL("activated()"),self.saveLandmarks)
self.connect(self.actionLoad_Land, SIGNAL("activated()"),self.loadLandmarks)
self.connect(self.actionClearMarks, SIGNAL("activated()"), self.clearLandmarks)
self.connect(self.actionResetMarks, SIGNAL("activated()"), self.resetViewers)
self.connect(self.tabWidget, SIGNAL("currentChanged(int)"), self.tabChanged)
def tabChanged(self,index):
self.updateWidgets()
def adminTab(self, action):
"""Manage the widgets inside the tab"""
if(action == "init"):
self.tabWidget = QtGui.QTabWidget(self.centralwidget)
size = self.size()
self.tabWidget.setGeometry(QtCore.QRect(0, 0, size.width(), size.height()))
self.tabWidget.setObjectName("tabWidget")
self.tabCamera = self.cameraWidget
self.tabCamera.setObjectName("Camera")
self.tabWidget.addTab(self.tabCamera, "Camera")
if(action == "addImgViewer"):
# When adding or updating this viewer we need to update the
# size of the image
self.imw = self.leftImg.size[0]
self.imh = self.leftImg.size[1]
if( self.glDigitizerWidet == None):#First time
self.glDigitizerWidet = DigitizerWidget(self,self.leftImg,self.rightImg)
self.tabImgViewer = self.glDigitizerWidet
self.tabImgViewer.setObjectName("Image")
self.tabWidget.addTab(self.tabImgViewer, "Image")
else:#Only updating the image
self.glDigitizerWidet.loadTextures(self.leftImg,self.rightImg)
self.tabWidget.setCurrentWidget(self.tabImgViewer)
self.glDigitizerWidet.render()
self.glDigitizerWidet.updateGL()
if(action == "updateMarksViewer"):
if(self.marksViewerWidget == None):
#Initializing the marks viewer widget
self.marksViewerWidget = LandmarkViewer(self.imw,self.imh)
self.tabMarkViewer = self.marksViewerWidget
self.tabMarkViewer.setObjectName("3D Marks")
self.tabWidget.addTab(self.tabMarkViewer, "3D Marks")
self.tabWidget.setCurrentWidget(self.tabMarkViewer)
self.marksViewerWidget.paintGL()
self.marksViewerWidget.calcMaxValues()
def resizeEvent(self, event):
"""When the main window is resized, all the tabs change size"""
size = event.size()
self.tabWidget.setGeometry(QtCore.QRect(0, 0, size.width(), size.height()))
def resetViewers(self):
"""Reset the landmark viewer to its initial state (no rotation nor zoom)"""
if( self.marksViewerWidget != None):
self.marksViewerWidget.resetView()
self.marksViewerWidget.render()
self.marksViewerWidget.updateGL()
if( self.glDigitizerWidet != None):
self.glDigitizerWidet.resetVariables()
self.glDigitizerWidet.render()
self.glDigitizerWidet.updateGL()
def updateWidgets(self):
"""Updates the landmarks in each widget"""
if( self.glDigitizerWidet != None):
self.glDigitizerWidet.updateGL()
if( self.marksViewerWidget != None):
self.marksViewerWidget.calcMaxValues()
self.marksViewerWidget.updateGL()
def clearLandmarks(self):
"""Delets all the landmarks"""
self.ptsManager.initVars()
self.updateWidgets()
def loadLandmarks(self):
"""Loads the 3D landmarks from a file. If the Digitizer widget is initializer
those landmarks are copied to the widget"""
fileName = QFileDialog.getOpenFileName(self,"Choose txt file with landmarks", "~/", \
"Text files(*.txt *.TXT)")
if( fileName != ''):
# Load the points
self.imw, self.imh = self.ptsManager.loadPoints(fileName)
if(self.glDigitizerWidet != None):
self.glDigitizerWidet.updateGL()
self.adminTab("updateMarksViewer")
self.enableMenus(True)
self.ptsManager.printPointsWithDepth()
def saveLandmarks(self):
fileName = QFileDialog.getSaveFileName(self,"Save File", \
"~/land.txt","Text file (*.txt)")
if( fileName != ''):
self.ptsManager.savePoints(fileName,self.imw,self.imh)
def keyPressEvent(self,key):
""" Manages the keyboard inputs and passes them to the central widget"""
if( (key.text() == 'q')or (key.text() == 'Q')):
sys.exit(0)
# Prints the landmarks
if( (key.text() == 'p')or (key.text() == 'P')):
self.ptsManager.printPointsWithDepth()
# Computes the depth of the landmarks and update local variable ptsManager
if( (key.text() == 'd')or (key.text() == 'D')):
self.ptsManager.calcDepth(self.camera,self.imw, self.imh)
self.updateWidgets()
if(self.ptsManager.total > 0):
self.enableMenus(True)
QtGui.QMessageBox.about(self, "Message",
"Depth computed successfully!")
self.adminTab("updateMarksViewer")
else:
QtGui.QMessageBox.about(self, "Warning",
"There are no landmarks")
if( (key.text() == 'r') or (key.text() == 'R')):
self.resetViewers()
if(self.glDigitizerWidet != None):
self.glDigitizerWidet.keyPressEvent(key)
if(self.marksViewerWidget != None):
self.marksViewerWidget.keyPressEvent(key)
def enableMenus(self,enable):
"""Enables or disables the landmarks menus"""
self.actionSaveLandmarks.setEnabled(enable)
self.actionClearMarks.setEnabled(enable)
self.actionResetMarks.setEnabled(enable)
def initWidgets(self):
"""Initialize all the widgets that can be used for this window as none"""
self.glDigitizerWidet = None
self.marksViewerWidget = None
self.cameraWidget = AdminCameraWidget(self.camera)
self.adminTab("init") #Initialize the tab object
def openFile(self):
fileName = QFileDialog.getOpenFileName(self,"Choose left image or MPO file", "~/", \
"File types (*.png *.jpg *.bmp *.mpo *.PNG *.JPG *.BMP *.MPO)")
if( fileName != ''):
#We should check if we are opening an mpo file, or any other file type
# which contains the two images togethe
if( (fileName.contains(".MPO")) or (fileName.contains(".mpo"))):
f = open(fileName)
self.leftImg, self.rightImg, size = split_mpo(f)
self.adminTab("addImgViewer")
f.close()
else:
self.leftImg = Image.open(str(fileName))
fileName = QFileDialog.getOpenFileName(self,"Choose right image", "~/testImages", format("File types (*"+getExtFromFile(fileName)+")"))
if( fileName != ''):
self.rightImg= Image.open(str(fileName))
self.adminTab("addImgViewer")
def closeFile(self):
self.centralwidget = self
print "Closing file:"+fileName