########################################################################### # ThreeDR.py # # Monterey Bay Aquarium Research Institute 2019 # All rights reserved. # # GUI for managing 3DR tasks and visualizing data. # # # Created: Sept 2019 Paul Roberts # ########################################################################### import time import pyqtgraph as pg from pyqtgraph.Qt import QtCore, QtGui import pyqtgraph.opengl as gl import numpy as np import os #import lcm import glob import cv2 import imageio from ThreadedProcessor import VideoManager pg.mkQApp() ## Stylesheets styleNormalProg = 'QProgressBar {border: 2px solid grey;border-radius: 5px;text-align: center;font: 75 12pt "MS Shell Dlg 2"; } QProgressBar::chunk { background-color: #adcdff;}"' styleWarnProg = 'QProgressBar {border: 2px solid grey;border-radius: 5px;text-align: center;font: 75 12pt "MS Shell Dlg 2"; } QProgressBar::chunk { background-color: #f5c842;}"' styleErrProg = 'QProgressBar {border: 2px solid grey;border-radius: 5px;text-align: center;font: 75 12pt "MS Shell Dlg 2"; } QProgressBar::chunk { background-color: #f54242;}"' ## Define main window class from template path = os.path.dirname(os.path.abspath(__file__)) uiFile = os.path.join(path, 'ThreeDR.ui') WindowTemplate, TemplateBaseClass = pg.Qt.loadUiType(uiFile) class BackgroundManager(QtCore.QThread): # signals #rawFrame = QtCore.Signal(object) imagesLoaded = QtCore.Signal(float) loadingDone = QtCore.Signal(bool) processingDone = QtCore.Signal(bool) setRawFrames = QtCore.Signal(object) setProcFrames = QtCore.Signal(object) set3DRData = QtCore.Signal(object) def __init__(self, video_path): QtCore.QThread.__init__(self) self.video_loaded = False self.playing = False self.process_frames = False self.frame_rate = 30 self.frame_index = 0 self.last_displayed_index = 0 self.mgr = VideoManager(video_path, ncpus=32) def __del__(self): self.wait() def set_process_frames(self): self.process_frames = True def run(self): while self.isRunning: if not self.video_loaded: self.mgr.load_FVS() self.mgr.chunk_video() self.video_loaded = True self.loadingDone.emit(True) self.setRawFrames.emit(self.mgr.frames) if self.process_frames: self.mgr.do_process() self.processingDone.emit(True) self.setProcFrames.emit(self.mgr.get_proc_frames()) self.set3DRData.emit(self.mgr.get_3dr_data()) self.process_frames = False time.sleep(0.1) class MainWindow(TemplateBaseClass): previousFrameSignal = QtCore.Signal(int) nextFrameSignal = QtCore.Signal(int) setFrameSignal = QtCore.Signal(int) def __init__(self, argv): # simple error check, add getopt later if len(sys.argv) < 2: print('Please supply video file path as first argument.') exit() self.data_path = argv[1] self.playing = False self.video_scale = 2 self.frame_index = 0 TemplateBaseClass.__init__(self) self.setWindowTitle('ThreeDR - Python - Qt') self.rawImageDisplayScale = 255 self.lastImage = [] self.rawFrames = [] self.procFrames = [] self.three_dr_data = [] # Create the main window self.ui = WindowTemplate() self.ui.setupUi(self) # Video input and processing thread self.background_manager = BackgroundManager(self.data_path) self.background_manager.setRawFrames.connect(self.setRawFrames) self.background_manager.setProcFrames.connect(self.setProcFrames) self.background_manager.set3DRData.connect(self.set3DRData) self.background_manager.mgr.frames_loaded.connect(self.updateFramesInFile) self.background_manager.mgr.frames_processed.connect(self.updateFramesProcessed) self.background_manager.loadingDone.connect(self.loadingDone) self.ui.processFramesButton.clicked.connect(self.background_manager.set_process_frames) self.background_manager.start() # UI handlers self.ui.frameSelector.valueChanged.connect(self.ui.frameNumberSpinBox.setValue) self.ui.playButton.clicked.connect(self.togglePlay) self.ui.prevButton.clicked.connect(self.prevFrame) self.ui.nextButton.clicked.connect(self.nextFrame) self.ui.rawDisplayScale.valueChanged.connect(self.setScale) self.ui.frameSelector.valueChanged.connect(self.setFrame) self.ui.playbackRate.editingFinished.connect(self.updatePlaybackRate) self.ui.playbackRate.setText('30.0') # timer used to play video, call playback in a separate thread self.playback_timer = QtCore.QTimer() self.playback_timer.timeout.connect(self.playback) # setup opengl window ## Simple surface plot example ## x, y values are not specified, so assumed to be 0:50 self.scatterPlot1 =None self.three_d_points = None vb = pg.ViewBox() self.ui.rawVideoView.setCentralItem(vb) vb.setAspectLocked() self.rawImage = pg.ImageItem() vb.addItem( self.rawImage) vb.setRange(QtCore.QRectF(0, 0, 960, 540)) #self.tfMouseMoved = pg.SignalProxy(vb.scene().sigMouseMoved, rateLimit=60, slot=self.tfMouseMoved) #self.tfMouseMoved = pg.SignalProxy(vb.scene().sigMouseClicked, rateLimit=60, slot=self.tfMouseClicked) #self.tfvb = vb vb = pg.ViewBox() self.ui.procVideoView.setCentralItem(vb) vb.setAspectLocked() self.procImage = pg.ImageItem() vb.addItem(self.procImage) vb.setRange(QtCore.QRectF(0, 0, 960, 540)) # Show the main window self.show() def playback(self): self.setFrameIndex(self.frame_index+1) def setFrameIndex(self, index): self.frame_index = index % self.background_manager.mgr.frames_in_file if self.frame_index < 0: self.frame_index = 0 # keep spingbox up to date with window self.ui.frameNumberSpinBox.setValue(self.frame_index) self.drawRawFrame() self.drawProcFrame() def setRawFrames(self, frames): self.rawFrames = frames self.drawRawFrame() def setProcFrames(self,frames): self.procFrames = frames self.drawProcFrame() def set3DRData(self,three_dr_data): self.three_dr_data = three_dr_data self.draw3DRData() def loadingDone(self, done): self.ui.frameSelector.setMaximum(self.background_manager.mgr.frames_in_file) self.ui.frameNumberSpinBox.setMaximum(self.background_manager.mgr.frames_in_file) self.ui.frameSelector.setValue(0) self.ui.frameNumberSpinBox.setValue(0) def updateFramesProcessed(self,processed_frames): self.ui.framesProcessedLabel.setText(str(processed_frames)) def updateFramesInFile(self, loaded_frames): self.ui.framesLoadedLabel.setText(str(loaded_frames)) def tfMouseClicked(self,evt): pos = evt[0].pos() if self.tfvb.sceneBoundingRect().contains(pos): mousePoint = self.tfvb.mapSceneToView(pos) print([mousePoint.x(),mousePoint.y()]) def tfMouseMoved(self,evt): pos = evt[0] if self.tfvb.sceneBoundingRect().contains(pos): mousePoint = self.tfvb.mapSceneToView(pos) print([mousePoint.x(),mousePoint.y()]) def updatePlaybackRate(self): try: self.background_manager.frame_rate = float(self.ui.playbackRate.text()) except TypeError: pass def togglePlay(self): if self.playing: self.playing = False self.background_manager.playing = False self.ui.playButton.setStyleSheet("") self.playback_timer.stop() else: self.playing = True self.background_manager.playing = True self.ui.playButton.setStyleSheet("background-color: #999;") self.playback_timer.start(1000/float(self.ui.playbackRate.text())) def setScale(self): self.rawImageDisplayScale = self.ui.rawDisplayScale.value() scale = [0, self.rawImageDisplayScale] if len(self.lastImage): self.totalFocusImage.setImage(self.lastImage, autoLevels=False, levels=scale, autoDownsample=False) # print(self.rawImageDisplayScale) def setFrame(self): self.setFrameIndex(self.ui.frameSelector.value()) def prevFrame(self): self.setFrameIndex(self.frame_index - 1) def nextFrame(self): self.setFrameIndex(self.frame_index + 1) def drawRawFrame(self): scale = [0, self.rawImageDisplayScale] output = self.rawFrames[self.frame_index] output = cv2.resize(output, (int(output.shape[1]/self.video_scale), int(output.shape[0]/self.video_scale))) output = cv2.transpose(output) self.rawImage.setImage(output, autoLevels=False, levels=scale, autoDownsample=False) def drawProcFrame(self): scale = [0, self.rawImageDisplayScale] output = self.procFrames[self.frame_index] output = cv2.resize(output, (int(output.shape[1]/self.video_scale), int(output.shape[0]/self.video_scale))) output = cv2.transpose(output) self.procImage.setImage(output, autoLevels=False, levels=scale, autoDownsample=False) def draw3DRData(self): self.three_d_points = np.hstack( (self.three_dr_data[0].points/1000, np.ones((self.three_dr_data[0].points.shape[0], 1)))) for i in range(1, len(self.three_dr_data)): tmp = np.hstack((self.three_dr_data[i].points/1000, i/600*np.ones((self.three_dr_data[i].points.shape[0], 1)))) self.three_d_points = np.concatenate((self.three_d_points,tmp)) if self.scatterPlot1 is None: self.scatterPlot1 = gl.GLScatterPlotItem(pos=self.three_d_points, color=(1, 1, 1, 1),size=0.01,pxMode=True) self.ui.pointCloudView.addItem(self.scatterPlot1) else: self.scatterPlot1.setData(pos=self.three_d_points, color=(1, 1, 1, 1)) ########################################################################### # Main program ########################################################################### ## Start Qt event loop unless running in interactive mode or using pyside. if __name__ == '__main__': import sys win = MainWindow(sys.argv) if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'): QtGui.QApplication.instance().exec_()