added qt gui with changeable parameters
This commit is contained in:
parent
9c1115d505
commit
f9f4a2c1c6
|
|
@ -5,6 +5,7 @@ import os
|
|||
import time
|
||||
import math
|
||||
from pyqtgraph.Qt import QtCore, QtGui
|
||||
from pyqtgraph.parametertree import Parameter, ParameterTree
|
||||
import pyqtgraph as pg
|
||||
|
||||
|
||||
|
|
@ -13,54 +14,105 @@ from queue import Queue
|
|||
|
||||
import aruco
|
||||
|
||||
class FPSCounter:
|
||||
def __init__(self):
|
||||
self.fps_start_time = time.time()
|
||||
self.fps_counter = 0
|
||||
self.fps_display_rate = 1.0
|
||||
|
||||
def get_fps(self):
|
||||
self.fps_counter += 1
|
||||
delta_t = time.time() - self.fps_start_time
|
||||
if delta_t > self.fps_display_rate:
|
||||
self.fps_counter = 0
|
||||
self.fps_start_time = time.time()
|
||||
return self.fps_counter / delta_t
|
||||
|
||||
class ArucoEstimator:
|
||||
corner_marker_ids = {
|
||||
'a': 0,
|
||||
'b': 1,
|
||||
'c': 2,
|
||||
'd': 3
|
||||
}
|
||||
|
||||
corner_estimates = {
|
||||
'a': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
|
||||
'b': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
|
||||
'c': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
|
||||
'd': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
|
||||
}
|
||||
|
||||
def __init__(self, robot_marker_ids=None, use_realsense=True, grid_columns=12, grid_rows=12):
|
||||
self.app = QtGui.QApplication([])
|
||||
|
||||
## Create window with GraphicsView widget
|
||||
self.win = pg.GraphicsLayoutWidget()
|
||||
self.win = QtGui.QWidget()
|
||||
self.layout = QtGui.QGridLayout()
|
||||
self.win.setLayout(self.layout)
|
||||
|
||||
self.win.keyPressEvent = self.handleKeyPressEvent
|
||||
self.win.show() ## show widget alone in its own window
|
||||
self.win.setWindowTitle('ArucoEstimator')
|
||||
self.view = self.win.addViewBox()
|
||||
|
||||
self.plotwidget = pg.PlotWidget()
|
||||
self.layout.addWidget(self.plotwidget)
|
||||
|
||||
## lock the aspect ratio so pixels are always square
|
||||
self.view.setAspectLocked(True)
|
||||
self.plotwidget.setAspectLocked(True)
|
||||
self.plotwidget.getPlotItem().getAxis('left').hide()
|
||||
self.plotwidget.getPlotItem().getAxis('bottom').hide()
|
||||
|
||||
## Create image item
|
||||
self.img = pg.ImageItem(border='w')
|
||||
self.img.setLevels([[0, 255], [0, 255], [0, 255]])
|
||||
self.img.mouseClickEvent = self.handleMouseEvent
|
||||
self.view.addItem(self.img)
|
||||
self.plotwidget.addItem(self.img)
|
||||
|
||||
self.grid_columns = grid_columns
|
||||
self.grid_rows = grid_rows
|
||||
# fps display
|
||||
self.fps_counter = FPSCounter()
|
||||
self.fps_overlay = pg.TextItem('fps = 0', color=(255, 255, 0), anchor=(0,1))
|
||||
self.plotwidget.addItem(self.fps_overlay)
|
||||
|
||||
self.invert_grayscale = False
|
||||
self.draw_grid = False
|
||||
self.draw_markers = True
|
||||
self.draw_marker_coordinate_system = False
|
||||
self.corner_marker_size = 0.075
|
||||
self.corner_marker_ids = {
|
||||
'a': 0,
|
||||
'b': 1,
|
||||
'c': 2,
|
||||
'd': 3
|
||||
}
|
||||
self.corner_estimates = {
|
||||
'a': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
|
||||
'b': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
|
||||
'c': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
|
||||
'd': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
|
||||
}
|
||||
|
||||
self.robot_marker_size = 0.07
|
||||
if robot_marker_ids is None:
|
||||
robot_marker_ids = []
|
||||
self.robot_marker_ids = robot_marker_ids
|
||||
self.robot_marker_estimates = dict([(marker_id, {'t': None, 'x': None, 'y': None, 'angle': None})
|
||||
for marker_id in self.robot_marker_ids])
|
||||
|
||||
self.draw_grid = False
|
||||
|
||||
self.fps_start_time = time.time()
|
||||
self.fps_counter = 0
|
||||
# parameter
|
||||
params_spec = [
|
||||
{'name': 'Corner marker size', 'type': 'float', 'value': self.corner_marker_size, 'siPrefix': True,
|
||||
'suffix': 'm', 'limits': (0.01, 1), 'step': 0.001},
|
||||
{'name': 'Robot marker size', 'type': 'float', 'value': self.robot_marker_size, 'siPrefix': True,
|
||||
'suffix': 'm', 'limits': (0.01, 1), 'step': 0.001},
|
||||
{'name': 'Draw markers', 'type': 'bool', 'value': self.draw_markers},
|
||||
{'name': 'Draw marker coordinate system', 'type': 'bool', 'value': self.draw_marker_coordinate_system},
|
||||
{'name': 'Invert grayscale', 'type': 'bool', 'value': self.invert_grayscale, 'tip': "Invert grayscale image before marker detection"},
|
||||
{'name': 'Show FPS', 'type': 'bool', 'value': True, 'tip': "Display frames per second counter"},
|
||||
{'name': 'Draw grid', 'type': 'bool', 'value': self.draw_grid, 'tip': "Draw grid spanned by the markers 0 - 3"},
|
||||
{'name': 'Display mode', 'type': 'list', 'values': ['color', 'grayscale'], 'value': 'color', 'tip': "Display mode for the video"}
|
||||
]
|
||||
self.params = Parameter.create(name='params', type='group', children=params_spec)
|
||||
self.params.param('Invert grayscale').sigValueChanged.connect(lambda _, v: self.__setattr__('invert_grayscale', v))
|
||||
self.params.param('Draw markers').sigValueChanged.connect(lambda _, v: self.__setattr__('draw_markers', v))
|
||||
self.params.param('Draw marker coordinate system').sigValueChanged.connect(lambda _, v: self.__setattr__('draw_marker_coordinate_system', v))
|
||||
self.params.param('Draw grid').sigValueChanged.connect(lambda _, v: self.__setattr__('draw_grid', v))
|
||||
self.params.param('Corner marker size').sigValueChanged.connect(lambda _, v: self.__setattr__('corner_marker_size', v))
|
||||
self.params.param('Robot marker size').sigValueChanged.connect(lambda _, v: self.__setattr__('robot_marker_size', v))
|
||||
self.params.param('Show FPS').sigValueChanged.connect(lambda _, v: self.fps_overlay.show() if v else self.fps_overlay.hide())
|
||||
self.paramtree = ParameterTree()
|
||||
self.paramtree.setParameters(self.params, showTop=False)
|
||||
self.layout.addWidget(self.paramtree)
|
||||
self.win.show() ## show widget alone in its own window
|
||||
|
||||
self.grid_columns = grid_columns
|
||||
self.grid_rows = grid_rows
|
||||
|
||||
self.event_queue = Queue()
|
||||
|
||||
|
|
@ -113,7 +165,6 @@ class ArucoEstimator:
|
|||
self.drag_line_end = None
|
||||
self.drag_line_start = None
|
||||
self.previous_click = None
|
||||
self.invert_grayscale = False
|
||||
|
||||
def compute_clicked_position(self, px, py):
|
||||
if self.all_corners_detected():
|
||||
|
|
@ -176,15 +227,10 @@ class ArucoEstimator:
|
|||
self.drag_line_end = (px, py)
|
||||
|
||||
def process_frame(self):
|
||||
draw_markers=True
|
||||
draw_marker_coordinate_system=False
|
||||
#cv2.setMouseCallback('RoboRally', self.mouse_callback)
|
||||
fps_display_rate = 1 # displays the frame rate every 1 second
|
||||
if self.pipeline:
|
||||
frames = self.pipeline.wait_for_frames()
|
||||
color_frame = frames.get_color_frame()
|
||||
# if not color_frame:
|
||||
# continue
|
||||
|
||||
# Convert images to numpy arrays
|
||||
color_image = np.asanyarray(color_frame.get_data())
|
||||
else:
|
||||
|
|
@ -206,16 +252,16 @@ class ArucoEstimator:
|
|||
detected_marker_data[marker.id] = {'marker_center': marker.getCenter()}
|
||||
|
||||
if marker.id in self.corner_marker_ids.values():
|
||||
marker.calculateExtrinsics(0.075, self.camparam)
|
||||
marker.calculateExtrinsics(self.corner_marker_size, self.camparam)
|
||||
else:
|
||||
marker.calculateExtrinsics(0.07, self.camparam)
|
||||
marker.calculateExtrinsics(self.robot_marker_size, self.camparam)
|
||||
detected_marker_data[marker.id]['Rvec'] = marker.Rvec
|
||||
detected_marker_data[marker.id]['Tvec'] = marker.Tvec
|
||||
|
||||
if draw_markers:
|
||||
if self.draw_markers:
|
||||
marker.draw(color_image, np.array([255, 255, 255]), 2, True)
|
||||
|
||||
if draw_marker_coordinate_system:
|
||||
if self.draw_marker_coordinate_system:
|
||||
aruco.CvDrawingUtils.draw3dAxis(color_image, self.camparam, marker.Rvec, marker.Tvec, .1)
|
||||
|
||||
# store data
|
||||
|
|
@ -232,27 +278,22 @@ class ArucoEstimator:
|
|||
color_image = cv2.line(color_image, self.drag_line_start, self.drag_line_end, color=(0, 0, 255), thickness=2)
|
||||
|
||||
# compute frame rate
|
||||
self.fps_counter += 1
|
||||
delta_t = time.time() - self.fps_start_time
|
||||
if delta_t > fps_display_rate:
|
||||
self.fps_counter = 0
|
||||
self.fps_start_time = time.time()
|
||||
color_image = cv2.putText(color_image, f"fps = {(self.fps_counter / delta_t):.2f}", (10, 25), cv2.FONT_HERSHEY_PLAIN, 2,
|
||||
(0, 255, 255),
|
||||
thickness=2)
|
||||
self.fps_overlay.setText(f"fps = {self.fps_counter.get_fps():.1f}")
|
||||
|
||||
# Show images
|
||||
color_image_rgb = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB) # convert to RGB
|
||||
self.img.setImage(np.transpose(np.flipud(color_image_rgb), axes=(1, 0, 2)))
|
||||
display_mode = self.params.param('Display mode').value()
|
||||
if display_mode == 'color':
|
||||
self.img.setImage(np.transpose(np.flipud(color_image_rgb), axes=(1, 0, 2)))
|
||||
elif display_mode == 'grayscale':
|
||||
self.img.setImage(np.transpose(np.flipud(gray)))
|
||||
|
||||
QtCore.QTimer.singleShot(1, self.process_frame)
|
||||
|
||||
def handleKeyPressEvent(self, ev):
|
||||
key = ev.key()
|
||||
self.event_queue.put(('key', key))
|
||||
if key == QtCore.Qt.Key_G:
|
||||
self.draw_grid = not self.draw_grid
|
||||
elif key == QtCore.Qt.Key_Q:
|
||||
if key == QtCore.Qt.Key_Q:
|
||||
if self.pipeline is not None:
|
||||
# Stop streaming
|
||||
self.pipeline.stop()
|
||||
|
|
@ -268,6 +309,7 @@ class ArucoEstimator:
|
|||
print("auto exposure ON")
|
||||
elif key == QtCore.Qt.Key_I:
|
||||
self.invert_grayscale = not self.invert_grayscale
|
||||
|
||||
def update_estimate(self, marker_id, pixel_coord_center, rvec, tvec, t_image):
|
||||
# update the marker estimate with new data
|
||||
if marker_id in self.corner_marker_ids.values():
|
||||
|
|
@ -464,6 +506,4 @@ if __name__ == "__main__":
|
|||
import sys
|
||||
|
||||
if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
|
||||
QtGui.QApplication.instance().exec_()
|
||||
|
||||
#estimator.run_tracking(draw_markers=True, invert_grayscale=True)
|
||||
QtGui.QApplication.instance().exec_()
|
||||
Loading…
Reference in New Issue
Block a user