########################################################################### # boxview.py # # Monterey Bay Aquarium Research Institute 2019 # All rights reserved. # # GUI for managing ml-tracking bounding boxes and publishing # combined ext_target messages over LCM # # # Created: Nov 2019 Paul Roberts # ########################################################################### import pyqtgraph as pg import numpy as np import os import logging import argparse from pyqtgraph.Qt import QtCore, QtGui from MLHandler import Handler import lcm import cv2 from DataDisplay import DataDisplay import time logging.basicConfig( format='%(asctime)s %(levelname)-8s %(message)s', level=logging.DEBUG, datefmt='%Y-%m-%d %H:%M:%S', ) logger = logging.getLogger(__name__) 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, 'boxview.ui') WindowTemplate, TemplateBaseClass = pg.Qt.loadUiType(uiFile) img_channels = 3 def parse_args(): parser = argparse.ArgumentParser(description="Uses LCM messages to make a video.") # parser.add_argument( # 'video_path', # type=str, # help="Path to output video.", # ) parser.add_argument( 'target_class', type=str, default='none', help="class name to target for ext_target_messages, must match exactly" ) parser.add_argument( 'display_width', type=int, default=960, help="width of the image to display" ) parser.add_argument( 'display_height', type=int, default=650, help="height of each stereo image to display" ) parser.add_argument( 'default_score', type=int, default=25, help="The default score threshold to use when starting the UI" ) parser.add_argument( 'default_box_dev', type=int, default=10, help="The default box deviation in %" ) parser.add_argument( '--lcmlogfile', type=str, default="", help="Optional log file input for playback" ) return parser.parse_args() class LCMManager(QtCore.QThread): # signals def __init__(self, args): QtCore.QThread.__init__(self) #self.args = args logger.info("Initializing handler...") Handler.init_class(args) logger.info("Creating handlers") self.left_handler = Handler(0) self.right_handler = Handler(1) self.bb_handler = Handler(None) self.ext_handler = Handler(None) def __del__(self): self.wait() def run(self): lc = lcm.LCM() logger.info("Creating subscriptions...") lc.subscribe('DSPL_LEFT', self.left_handler) lc.subscribe('DSPL_RIGHT', self.right_handler) lc.subscribe('BOUNDING_BOX', self.bb_handler) lc.subscribe('EXT_TARGET_2', self.ext_handler) while self.isRunning: lc.handle() class LCMReader(QtCore.QThread): # signals def __init__(self, filepath): QtCore.QThread.__init__(self) #self.args = args logger.info("Initializing reader...") self.paused = False self.filepath = filepath def __del__(self): self.wait() def set_paused(self, state): self.paused = state def run(self): log = lcm.EventLog(self.filepath, "r") lc = lcm.LCM() for event in log: lc.publish(event.channel, event.data) # print(event.channel) time.sleep(0.01) while self.paused: time.sleep(0.5) class MainWindow(TemplateBaseClass): def __init__(self, argv): TemplateBaseClass.__init__(self) self.setWindowTitle('boxview- Python - Qt') args = parse_args() if args.lcmlogfile is not "": self.lcm_reader = LCMReader(args.lcmlogfile) self.lcm_reader.start() lcm_log_folder, lcm_log_file = os.path.split(args.lcmlogfile) else: lcm_log_folder = 'ActiveLCM' lcm_log_file = '/home/paul/data/lcm-log-player-' + str(int(time.time())) + '.log' Handler.set_lcm_dirs(lcm_log_folder, lcm_log_file) Handler.set_data_dirs('/home/paul/data/ml-tracking/boxview-left-', '/home/paul/data/ml-tracking/boxview-right-') # Create the main window self.ui = WindowTemplate() self.ui.setupUi(self) # setup and connect the lcm manager self.lcm_manager = LCMManager(args) self.lcm_manager.left_handler.stereoFrame.connect(self.drawStereoFrames) self.lcm_manager.right_handler.stereoFrame.connect(self.drawStereoFrames) self.lcm_manager.bb_handler.stereoFrame.connect(self.drawStereoFrames) self.lcm_manager.ext_handler.stereoFrame.connect(self.drawStereoFrames) self.lcm_manager.start() # setup the stereo display self.stereoDisplay = DataDisplay(pg.ViewBox(), self.ui.imageView, pg.ImageItem(), event_handler=self.initKCFTracker) # set defaults from args self.ui.scoreSlider.setValue(args.default_score) self.ui.boxMatchSlider.setValue(args.default_box_dev) Handler.set_score_threshold(args.default_score) Handler.set_match_classes(self.ui.matchClassesCheckBox.isChecked()) Handler.match_methods = [ self.ui.matchMethodComboBox.itemText(i) for i in range(self.ui.matchMethodComboBox.count()) ] Handler.match_method = self.ui.matchMethodComboBox.currentText() Handler.save_kcf_rois = self.ui.saveKCFROIs.isChecked() Handler.save_ml_rois = self.ui.saveMLROIs.isChecked() Handler.show_bg_mask = self.ui.showBGMask.isChecked() Handler.save_ml_rois = self.ui.showML.isChecked() Handler.box_height = self.ui.boxHeightSlider.value() Handler.box_width = self.ui.boxWidthSlider.value() # connect slots self.ui.scoreSpinBox.valueChanged.connect(Handler.set_score_threshold) self.ui.matchClassesCheckBox.toggled.connect(Handler.set_match_classes) self.ui.matchMethodComboBox.currentTextChanged.connect(Handler.set_match_method) self.ui.boxMatchSpinBox.valueChanged.connect(Handler.set_box_deviation) self.ui.targetClassComboBox.currentTextChanged.connect(Handler.set_target_class) self.ui.saveKCFROIs.toggled.connect(Handler.set_save_kcf) self.ui.saveMLROIs.toggled.connect(Handler.set_save_ml) self.ui.showBGMask.toggled.connect(Handler.set_show_bg_mask) self.ui.showML.toggled.connect(Handler.set_show_ml) self.ui.boxWidthSlider.valueChanged.connect(Handler.set_box_width) self.ui.boxHeightSlider.valueChanged.connect(Handler.set_box_height) # Show the main window self.show() def initKCFTracker(self, coords): self.lcm_manager.left_handler.initKCF(coords) def drawStereoFrames(self, image): # split image horz assuming a vstack height = int(image.shape[0] / 2) image = np.hstack((np.flipud(image[:height, :, :]), np.flipud(image[height:, :, :]))) #swap_index_1 = 1 #swap_index_2 = 0 #tmp = image[:, :, swap_index_1] #image[:, :, swap_index_1] = image[:, :, swap_index_2] #image[:, :, swap_index_2] = tmp image = cv2.cvtColor(image,cv2.COLOR_BGR2RGB) self.stereoDisplay.draw(image) ########################################################################### # Main entry point ########################################################################### ## 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_()