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opencv_demo.py
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executable file
·1199 lines (924 loc) · 47.5 KB
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#! /usr/bin/env python
# Copyright (c) 2015 Dave McCoy ([email protected])
#
# NAME is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3 of the License, or
# any later version.
#
# NAME is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with NAME; If not, see <http://www.gnu.org/licenses/>.
import sys
import os
import logging
import argparse
from PyQt4.Qt import QApplication
from PyQt4.QtCore import *
from PyQt4.QtGui import *
from PyQt4.Qt import *
import numpy as np
import cv2
import random
from matplotlib import pyplot as plt
from matplotlib.figure import SubplotParams
from math import *
import klt as klt_module
from klt import KLT
from utils import Arrow
from utils import get_image_transform
from utils import scale_patch
from utils import get_simple_patch
#sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), os.pardir)))
NAME = os.path.basename(os.path.realpath(__file__))
DESCRIPTION = "\n" \
"\n" \
"usage: %s [options]\n" % NAME
EPILOG = "\n" \
"\n" \
"KLTGUIs:\n" \
"\tSomething\n" \
"\n"
TITLE = "KLT Debug"
VIDEO_FILE = "data/videoplayback.mp4"
#PYRAMID_DEPTH = 2
PYRAMID_DEPTH = 3
PAD_SIZE = 40
STATE_STOP = 0
STATE_GO = 1
RED = (0xFF, 0x00, 0x00)
GREEN = (0x00, 0xFF, 0x00)
BLUE = (0x00, 0x00, 0xFF)
SQUARE_SIZE = 10
SCENE_WIDTH = 1400
SCENE_HEIGHT = 800
GUI_WIDTH = SCENE_WIDTH + 200
GUI_HEIGHT = SCENE_HEIGHT + 200
IMAGE_SCALE_WIDTH = 300.0
DRAW_PATCH_SIZE = 20
REF_PATH_SCALE = 100
CURRENT_IMAGE_PIPE_OFFSET = 200
class KLTWorker(QObject):
update_object = pyqtSignal([object])
def __init__(self):
super (KLTWorker, self).__init__()
@pyqtSlot(object, object)
def thread_init(self, klt, new_frame_signal):
#print "In thread init!"
new_frame_signal.connect(self.new_frame)
self.klt = klt
self.klt.set_update_callback(self.update_cb)
self.paused = False
self.sem = QSemaphore(1)
@pyqtSlot(object)
def new_frame(self, frame):
#print "Track a frame..."
if self.sem.available() > 0:
self.sem.acquire()
#print "Acquired!"
self.klt.track(frame)
self.sem.release()
def is_ready(self):
return (self.sem.available() == 1)
def continue_step(self):
print "Continue!"
if self.sem.available() == 0:
self.sem.release()
def update_cb(self, klt_state):
print "In Callback..."
self.update_object.emit(klt_state)
self.sem.acquire()
class Scene(QGraphicsScene):
def __init__(self, parent = None):
super(Scene, self).__init__(parent = parent)
self.setSceneRect(0, 0, SCENE_WIDTH, SCENE_HEIGHT)
self.template_image = QPixmap()
self.current_image = QPixmap()
self.template_patch = QPixmap()
self.current_patch = QPixmap()
self.transform_patch = QPixmap()
self.image_diff = QPixmap()
self.affine_fb_text = QGraphicsTextItem()
self.translate_fb_text = QGraphicsTextItem()
#Items that are part of the scene, these can be manipulated in the scene
self.template_image_item = None
self.current_image_item = None
self.template_patch_item = None
self.template_patch_tf_item = None
self.current_patch_item = None
self.transform_patch_item = None
self.image_diff_item = None
self.reference_path_item = None
self.warp_path_item = None
self.ti_tp_arrow_item = None
self.ci_cp_arrow_item = None
self.tp_w_arrow_item = None
self.w_t_arrow_item = None
self.tp_rw_arrow_item = None
self.rw_tp2_arrow_item = None
self.feedback_arrow = None
self.feedback_rect_item = None
self.current_image_width = 0
self.current_image_height = 0
self.current_patch_width = 0
self.current_patch_height = 0
self.draw_lines = False
self.draw_fb_config = False
self.affine_feedback_txt = None
self.translate_feedback_txt = None
def draw_template_patch(self, klt_state):
scene_rect = self.sceneRect()
posx = scene_rect.x() + scene_rect.width() - self.current_image_width - PAD_SIZE - self.current_patch_width
posy = scene_rect.y() + self.current_image_height
#Get the patch
#y_start = int(klt_state.feature_pos[1] - klt_state.patch_height / 2)
#x_start = int(klt_state.feature_pos[0] - klt_state.patch_width / 2)
#y_end = int(klt_state.feature_pos[1] + (klt_state.patch_height / 2) + 1)
#x_end = int(klt_state.feature_pos[0] + (klt_state.patch_width / 2) + 1)
#print "Y Range: %d:%d" % (y_start, y_end)
#print "X Range: %d:%d" % (x_start, x_end)
patch = get_simple_patch(klt_state.template_image, klt_state.feature_pos[0], klt_state.feature_pos[1], klt_state.patch_width)
#patch = klt_state.template_image[y_start:(y_end), x_start:(x_end):1].astype(np.uint8)
print "Patch: %s" % str(patch)
#patch = klt_state.template_image[y_start:y_end:1, x_start:x_end:1]
#patch = np.kron(patch, np.ones((self.current_patch_width, self.current_patch_height), dtype=np.float32)).astype(np.uint8)
#patch = np.kron(patch, np.ones(shape=(self.current_patch_width, self.current_patch_height), dtype=np.float32)).astype(np.uint8)
patch = np.kron(patch, np.ones(shape=(DRAW_PATCH_SIZE, DRAW_PATCH_SIZE), dtype=np.float32)).astype(np.uint8)
patch = cv2.cvtColor(patch, cv2.COLOR_GRAY2RGB)
self.template_patch.convertFromImage(QImage(patch, patch.shape[0], patch.shape[1], QImage.Format_RGB888))
#self.template_patch = self.template_patch.scaledToWidth(100)
if self.template_patch_item is None:
posx = scene_rect.x() + (self.current_image_width / 2) - (patch.shape[1] / 2)
posy = scene_rect.y() + self.current_image_height + PAD_SIZE
self.template_patch_item = self.addPixmap(self.template_patch)
self.template_patch_item.setPos(posx, posy)
if self.template_patch_tf_item is None:
posx = scene_rect.x() + (scene_rect.width() / 2) - (self.current_patch_width / 2)
posy = scene_rect.y() + self.current_image_height + PAD_SIZE
self.template_patch_tf_item = self.addPixmap(self.template_patch)
self.template_patch_tf_item.setPos(posx, posy)
def draw_current_patch(self, klt_state):
scene_rect = self.sceneRect()
#posx = scene_rect.x() + scene_rect.width() - (self.current_image_width / 2) - (self.current_patch_width)
posx = scene_rect.x() + scene_rect.width() - ((self.current_image_width / 2) + (self.current_patch_width / 2))
posy = scene_rect.y() + self.current_image_height + PAD_SIZE + CURRENT_IMAGE_PIPE_OFFSET
#Get the patch
#y_start = int((klt_state.feature_pos[1] + klt_state.dy) - klt_state.patch_height / 2)
#x_start = int((klt_state.feature_pos[0] + klt_state.dx) - klt_state.patch_width / 2)
#y_end = int((klt_state.feature_pos[1] + klt_state.dy) + klt_state.patch_height / 2)
#x_end = int((klt_state.feature_pos[0] + klt_state.dx) + klt_state.patch_width / 2)
#patch = klt_state.current_image[y_start:(y_end + 1):1, x_start:(x_end + 1):1]
patch = get_simple_patch(klt_state.current_image, klt_state.feature_pos[0], klt_state.feature_pos[1], klt_state.patch_width)
patch = np.kron(patch, np.ones(shape=(DRAW_PATCH_SIZE, DRAW_PATCH_SIZE), dtype=np.float32)).astype(np.uint8)
patch = cv2.cvtColor(patch, cv2.COLOR_GRAY2RGB)
self.current_patch.convertFromImage(QImage(patch, patch.shape[0], patch.shape[1], QImage.Format_RGB888))
if self.current_patch_item is None:
self.current_patch_item = self.addPixmap(self.current_patch)
self.current_patch_item.setPos(posx, posy)
def draw_transform_patch(self, klt_state):
scene_rect = self.sceneRect()
posx = scene_rect.x() + (scene_rect.width() / 2) - (self.current_patch.width() / 2)
posy = scene_rect.y() + self.current_image_height + PAD_SIZE + CURRENT_IMAGE_PIPE_OFFSET
patch = get_image_transform(klt_state.current_image,
klt_state.feature_pos[0] + klt_state.dx,
klt_state.feature_pos[1] + klt_state.dy,
klt_state.axx, klt_state.ayx,
klt_state.axy, klt_state.ayy,
klt_state.patch_width)
#Get the patch
patch = np.kron(patch, np.ones((DRAW_PATCH_SIZE, DRAW_PATCH_SIZE))).astype(np.uint8)
patch = cv2.cvtColor(patch, cv2.COLOR_GRAY2RGB)
self.transform_patch.convertFromImage(QImage(patch, patch.shape[0], patch.shape[1], QImage.Format_RGB888))
if self.transform_patch_item is None:
self.transform_patch_item = self.addPixmap(self.transform_patch)
self.transform_patch_item.setPos(posx, posy)
def draw_image_diff(self, klt_state):
scene_rect = self.sceneRect()
patch = np.kron(klt_state.image_diff, np.ones((DRAW_PATCH_SIZE, DRAW_PATCH_SIZE))).astype(np.uint8)
patch = cv2.cvtColor(patch, cv2.COLOR_GRAY2RGB)
self.image_diff.convertFromImage(QImage( patch, patch.shape[0], patch.shape[1], QImage.Format_RGB888))
if self.image_diff_item is None:
self.image_diff_item = self.addPixmap(self.image_diff)
posx = scene_rect.x() + scene_rect.width() / 2 - self.image_diff.width() / 2
posy = scene_rect.y() + self.current_image_height + PAD_SIZE + CURRENT_IMAGE_PIPE_OFFSET + self.current_patch_height + 50
self.image_diff_item.setPos(posx, posy)
def draw_template_image(self, klt_state):
template_image = cv2.cvtColor(klt_state.template_image, cv2.COLOR_GRAY2RGB)
cv2.rectangle( template_image,
(int(klt_state.feature_pos[0] - (klt_state.patch_width / 2)),
int(klt_state.feature_pos[1] - (klt_state.patch_height / 2))),
(int(klt_state.feature_pos[0] + (klt_state.patch_width / 2)),
int(klt_state.feature_pos[1] + (klt_state.patch_height / 2))),
GREEN, -1)
image_height, image_width, image_channel = template_image.shape
bytesPerLine = image_channel * image_width
divide_factor = IMAGE_SCALE_WIDTH / float(image_width)
template_image = cv2.resize(template_image, (0, 0), fx=divide_factor, fy=divide_factor)
image_height, image_width, image_channel = template_image.shape
bytesPerLine = image_channel * image_width
self.template_image.convertFromImage(QImage(template_image.data, image_width, image_height, bytesPerLine, QImage.Format_RGB888))
if self.template_image_item is None:
self.template_image_item = self.addPixmap(self.template_image)
self.template_image_item.setPos(0, 0)
return template_image
def draw_current_image(self, klt_state):
scene_rect = self.sceneRect()
current_image = cv2.cvtColor(klt_state.current_image, cv2.COLOR_GRAY2RGB)
cv2.rectangle( current_image,
(int(klt_state.feature_pos[0] + klt_state.dx - (klt_state.patch_width / 2)),
int(klt_state.feature_pos[1] + klt_state.dy - (klt_state.patch_height / 2))),
(int(klt_state.feature_pos[0] + klt_state.dx + (klt_state.patch_width / 2)),
int(klt_state.feature_pos[1] + klt_state.dy + (klt_state.patch_height / 2))),
GREEN, -1)
image_height, image_width, image_channel = current_image.shape
divide_factor = IMAGE_SCALE_WIDTH / float(image_width)
current_image = cv2.resize(current_image, (0, 0), fx=divide_factor, fy=divide_factor)
image_height, image_width, image_channel = current_image.shape
bytesPerLine = image_channel * image_width
self.current_image.convertFromImage(QImage(current_image, image_width, image_height, bytesPerLine, QImage.Format_RGB888))
if self.current_image_item is None:
self.current_image_item = self.addPixmap(self.current_image)
self.current_image_item.setPos(scene_rect.x() + scene_rect.width() - image_width, 0)
return current_image
def draw_reference_warp_box(self, klt_state):
scene_rect = self.sceneRect()
posx = scene_rect.x() + self.current_patch_width + PAD_SIZE + 100
posy = scene_rect.y() + self.current_image_height + PAD_SIZE + (self.current_patch_height / 2) - (REF_PATH_SCALE / 2)
'''
posx = scene_rect.x()
posy = scene_rect.y() + self.current_image_height + PAD_SIZE
'''
ul = (posx, posy)
ur = (posx + (1 * REF_PATH_SCALE), posy)
bl = (posx, posy + (1 * REF_PATH_SCALE))
br = (posx + (1 * REF_PATH_SCALE), posy + (1 * REF_PATH_SCALE))
top_pen = QPen()
top_pen.setWidth(5)
top_pen.setColor(QColor("green"))
right_pen = QPen()
right_pen.setWidth(5)
right_pen.setColor(QColor("red"))
left_pen = QPen()
left_pen.setWidth(5)
left_pen.setColor(QColor("blue"))
bottom_pen = QPen()
bottom_pen.setWidth(5)
bottom_pen.setColor(QColor("purple"))
ul_point = QPointF(ul[0], ul[1])
ur_point = QPointF(ur[0], ur[1])
bl_point = QPointF(bl[0], bl[1])
br_point = QPointF(br[0], br[1])
first_draw = False
if self.reference_path_item is None:
first_draw = True
self.reference_path_item = []
self.reference_path_item.append(self.addLine(QLineF(ul[0], ul[1], ur[0], ur[1]), top_pen))
self.reference_path_item.append(self.addLine(QLineF(ul[0], ul[1], bl[0], bl[1]), left_pen))
self.reference_path_item.append(self.addLine(QLineF(ur[0], ur[1], br[0], br[1]), right_pen))
self.reference_path_item.append(self.addLine(QLineF(bl[0], bl[1], br[0], br[1]), bottom_pen))
pbr = self.find_bounding_box(self.reference_path_item)
t = self.addText("No Transform")
tbr = t.boundingRect()
posx = posx + (pbr.width() / 2) - (tbr.width() / 2)
posy = posy - tbr.height()
t.setPos(posx, posy)
else:
line = self.reference_path_item[0].setLine(ul[0], ul[1], ur[0], ur[1])
line = self.reference_path_item[1].setLine(ul[0], ul[1], bl[0], bl[1])
line = self.reference_path_item[2].setLine(ur[0], ur[1], br[0], br[1])
line = self.reference_path_item[3].setLine(bl[0], bl[1], br[0], br[1])
#self.sceneRectChanged.emit(self.sceneRect())
def draw_affine_warp_box(self, klt_state):
image_width = len(klt_state.template_image[0])
image_height = len(klt_state.template_image)
divide_factor = IMAGE_SCALE_WIDTH / float(image_width)
image_width *= divide_factor
image_height *= divide_factor
scene_rect = self.sceneRect()
#posx = scene_rect.x() + scene_rect.width() - self.current_image_width - - PAD_SIZE - (self.current_patch_width / 2)
#posy = scene_rect.y() + self.current_image_height + PAD_SIZE + (self.current_patch_height / 2)
posx = scene_rect.x() + scene_rect.width() - self.current_image_width - PAD_SIZE - self.current_patch_width
#posy = scene_rect.y() + self.current_image_height + PAD_SIZE + (self.current_patch_height / 2) - (REF_PATH_SCALE / 2)
posy = scene_rect.y() + self.current_image_height + PAD_SIZE + CURRENT_IMAGE_PIPE_OFFSET + (self.current_patch_height / 2) - (REF_PATH_SCALE / 2)
ul = (-(REF_PATH_SCALE / 2), -(REF_PATH_SCALE / 2))
ur = ( (REF_PATH_SCALE / 2), -(REF_PATH_SCALE / 2))
bl = (-(REF_PATH_SCALE / 2), (REF_PATH_SCALE / 2))
br = ( (REF_PATH_SCALE / 2), (REF_PATH_SCALE / 2))
ul_s = [0] * 2
ur_s = [0] * 2
bl_s = [0] * 2
br_s = [0] * 2
ul_s[0] = (klt_state.axx * ul[0]) + (klt_state.axy * ul[1]) + posx + (REF_PATH_SCALE / 2)
ul_s[1] = (klt_state.ayx * ul[0]) + (klt_state.ayy * ul[1]) + posy + (REF_PATH_SCALE / 2)
ur_s[0] = (klt_state.axx * ur[0]) + (klt_state.axy * ur[1]) + posx + (REF_PATH_SCALE / 2)
ur_s[1] = (klt_state.ayx * ur[0]) + (klt_state.ayy * ur[1]) + posy + (REF_PATH_SCALE / 2)
bl_s[0] = (klt_state.axx * bl[0]) + (klt_state.axy * bl[1]) + posx + (REF_PATH_SCALE / 2)
bl_s[1] = (klt_state.ayx * bl[0]) + (klt_state.ayy * bl[1]) + posy + (REF_PATH_SCALE / 2)
br_s[0] = (klt_state.axx * br[0]) + (klt_state.axy * br[1]) + posx + (REF_PATH_SCALE / 2)
br_s[1] = (klt_state.ayx * br[0]) + (klt_state.ayy * br[1]) + posy + (REF_PATH_SCALE / 2)
ur = klt_state.axx * ur[0] + klt_state.axy
top_pen = QPen()
top_pen.setWidth(5)
top_pen.setColor(QColor("green"))
right_pen = QPen()
right_pen.setWidth(5)
right_pen.setColor(QColor("red"))
left_pen = QPen()
left_pen.setWidth(5)
left_pen.setColor(QColor("blue"))
bottom_pen = QPen()
bottom_pen.setWidth(5)
bottom_pen.setColor(QColor("purple"))
first_draw = False
if self.warp_path_item is None:
first_draw = True
self.warp_path_item = []
self.warp_path_item.append(self.addLine(ul_s[0], ul_s[1], ur_s[0], ur_s[1], top_pen))
self.warp_path_item.append(self.addLine(ul_s[0], ul_s[1], bl_s[0], bl_s[1], left_pen))
self.warp_path_item.append(self.addLine(ur_s[0], ur_s[1], br_s[0], br_s[1], right_pen))
self.warp_path_item.append(self.addLine(bl_s[0], bl_s[1], br_s[0], br_s[1], bottom_pen))
pbr = self.find_bounding_box(self.warp_path_item)
t = self.addText("Warp (Affine Transform)")
tbr = t.boundingRect()
posx = posx + (pbr.width() / 2) - (tbr.width() / 2)
posy = posy - tbr.height()
t.setPos(posx, posy)
else:
line = self.warp_path_item[0].setLine(ul_s[0], ul_s[1], ur_s[0], ur_s[1])
line = self.warp_path_item[1].setLine(ul_s[0], ul_s[1], bl_s[0], bl_s[1])
line = self.warp_path_item[2].setLine(ur_s[0], ur_s[1], br_s[0], br_s[1])
line = self.warp_path_item[3].setLine(bl_s[0], bl_s[1], br_s[0], br_s[1])
def draw_annotations(self, klt_state):
scene_rect = self.sceneRect()
if self.ti_tp_arrow_item is None:
arrow = Arrow(self.template_image_item, self.template_patch_item)
arrow.setColor(QColor("black"))
self.ti_tp_arrow_item = self.addItem(arrow)
if self.ci_cp_arrow_item is None:
arrow = Arrow(self.current_image_item, self.current_patch_item)
arrow.setColor(QColor("black"))
self.ci_cp_arrow_item = self.addItem(arrow)
bounding_box = self.find_bounding_box(self.reference_path_item)
if self.tp_rw_arrow_item is None:
arrow = Arrow(self.template_patch_item, self.reference_path_item)
arrow.set_end_box(bounding_box)
arrow.setColor(QColor("black"))
self.tp_rw_arrow_item = self.addItem(arrow)
#else:
# self.tp_rw_arrow_item.getItem().set_end_box(bounding_box)
if self.rw_tp2_arrow_item is None:
arrow = Arrow(self.reference_path_item, self.template_patch_tf_item)
arrow.set_start_box(bounding_box)
arrow.setColor(QColor("black"))
self.rw_tp2_arrow_item = self.addItem(arrow)
#else:
# self.rw_tp2_arrow_item.getItem().set_end_box(bounding_box)
bounding_box = self.find_bounding_box(self.warp_path_item)
#print "Bounding Box: %s" % str(bounding_box)
if self.tp_w_arrow_item is None:
arrow = Arrow(self.current_patch_item, self.warp_path_item)
arrow.set_end_box(bounding_box)
arrow.setColor(QColor("black"))
self.tp_w_arrow_item = self.addItem(arrow)
#else:
# self.tp_w_arrow_item.getItem().set_end_box(bounding_box)
if self.w_t_arrow_item is None:
arrow = Arrow(self.warp_path_item, self.transform_patch_item)
arrow.set_start_box(bounding_box)
arrow.setColor(QColor("black"))
self.w_t_arrow_item = self.addItem(arrow)
#else:
# self.w_t_arrow.getItem().set_end_box(bounding_box)
if not self.draw_lines:
x1 = scene_rect.x() + (scene_rect.width() / 2) - (self.current_patch_width / 2) - 50
x2 = scene_rect.x() + (scene_rect.width() / 2) + (self.current_patch_width / 2) + 50
y1 = scene_rect.y() + self.current_image_height + PAD_SIZE + CURRENT_IMAGE_PIPE_OFFSET + self.current_patch_height + 20
y2 = scene_rect.y() + self.current_image_height + PAD_SIZE + CURRENT_IMAGE_PIPE_OFFSET + self.current_patch_height + 20
pen = QPen()
pen.setWidth(5)
pen.setColor(QColor("black"))
self.addLine(QLineF(x1, y1, x2, y2), pen)
x1 = scene_rect.x() + (scene_rect.width() / 2) - (self.current_patch_width / 2) - 60
x2 = scene_rect.x() + (scene_rect.width() / 2) - (self.current_patch_width / 2) - 40
y1 = scene_rect.y() + self.current_image_height + PAD_SIZE + CURRENT_IMAGE_PIPE_OFFSET + self.current_patch_height - 20
y2 = scene_rect.y() + self.current_image_height + PAD_SIZE + CURRENT_IMAGE_PIPE_OFFSET + self.current_patch_height - 20
pen = QPen()
pen.setWidth(5)
pen.setColor(QColor("black"))
self.addLine(QLineF(x1, y1, x2, y2), pen)
self.draw_lines = True
def draw_feedback(self, klt_state):
scene_rect = self.sceneRect()
if not self.draw_fb_config:
#Draw the current configuration
posx = scene_rect.x() + scene_rect.width() - self.current_image_width - PAD_SIZE - self.current_patch_width
posy = scene_rect.y() + self.current_image_height + PAD_SIZE + CURRENT_IMAGE_PIPE_OFFSET + self.current_patch_height + 50
pen = QPen()
pen.setWidth(5)
end = scene_rect.x() + scene_rect.width() - ((self.current_image_width / 2) + (self.current_patch_width / 2)) + self.current_patch_width
width = end - posx
pen.setColor(QColor("black"))
brush = QBrush(QColor("gray"))
self.feedback_rect_item = self.addRect( posx,
posy,
width,
self.current_patch_height,
pen,
brush)
#Draw where the Affine transform points to the affine block
affine_posx = posx
affine_posy = posy
affine_bounding_box = QRectF(affine_posx, affine_posy, self.current_patch_width, self.current_patch_height)
abox = self.find_bounding_box(self.warp_path_item)
affine_bounding_box.setX(abox.x())
affine_bounding_box.setWidth(abox.width())
arrow = Arrow(self.feedback_rect_item, self.warp_path_item)
arrow.set_start_box(affine_bounding_box)
arrow.set_end_box(abox)
self.addItem(arrow)
translate_posx = scene_rect.x() + scene_rect.width() - ((self.current_image_width / 2) + (self.current_patch_width / 2))
translate_posy = posy
#translate_box = QRectF(self.current_patch_item.boundingRect())
box = self.current_patch_item.boundingRect()
translate_box = QRectF(translate_posx, translate_posy, box.width(), box.height())
translate_box.setX(translate_posx)
translate_box.setY(translate_posy)
#translate_bounding_box = QRectF(affine_posx, affine_posy, self.current_patch_width, self.current_patch_height)
arrow = Arrow(self.feedback_rect_item, self.current_patch_item)
arrow.set_start_box(translate_box)
#arrow.set_end_box(self.current_patch.boundingRect())
self.addItem(arrow)
self.feedback_arrow = Arrow(self.image_diff_item, self.feedback_rect_item)
#abox.setX(affine_posx)
#abox.setY(affine_posy)
self.feedback_arrow.set_end_box(self.feedback_rect_item.boundingRect())
self.addItem(self.feedback_arrow)
#self.feedback_arrow.setVisible(False)
self.affine_fb_text = self.addText("")
self.affine_fb_text.setPos(QPointF(float(posx + 2), float(posy + 2)))
self.translate_fb_text = self.addText("")
self.translate_fb_text.setPos(QPointF(float(translate_posx + 2), float(posy + 2)))
self.draw_fb_config = True
if klt_state.iteration_count == 0:
self.feedback_arrow.setVisible(False)
self.affine_fb_text.setPlainText("Initial Warp:\n\nAXX: %4.2f AXY: %4.2f\nAYX: %4.2f AYY: %4.2f" % (klt_state.current_axx, klt_state.current_axy, klt_state.current_ayx, klt_state.current_ayy))
self.translate_fb_text.setPlainText("Initial Translation:\n\nDX: %6.2f\nDY: %6.2f" % (klt_state.current_dx, klt_state.current_dy))
brush = QBrush(QColor("gray"))
self.feedback_rect_item.setBrush(brush)
else:
self.feedback_arrow.setVisible(True)
self.affine_fb_text.setPlainText("Warp:\n\nAXX: %4.2f AXY: %4.2f\nAYX: %4.2f AYY: %4.2f" % (klt_state.current_axx, klt_state.current_axy, klt_state.current_ayx, klt_state.current_ayy))
self.translate_fb_text.setPlainText("Translation:\n\nDX: %6.2f\nDY: %6.2f" % (klt_state.current_dx, klt_state.current_dy))
brush = None
if klt_state.convergence:
brush = QBrush(QColor("green"))
else:
brush = QBrush(QColor("white"))
self.feedback_rect_item.setBrush(brush)
def find_bounding_box(self, line_items):
x_start = 0
x_end = 0
y_start = 0
y_end = 0
x_start = line_items[0].line().x1()
y_start = line_items[0].line().y1()
x_end = line_items[0].line().x2()
y_end = line_items[0].line().y2()
for line_item in line_items:
#Set the top left
if line_item.line().x1() < x_start:
x_start = line_item.line().x1()
if line_item.line().y1() < y_start:
y_start = line_item.line().y1()
if line_item.line().x2() < x_start:
x_start = line_item.line().x2()
if line_item.line().y2() < y_start:
y_start = line_item.line().y2()
#Set the bottom right
if line_item.line().x1() > x_end:
x_end = line_item.line().x1()
if line_item.line().y1() > y_end:
y_end = line_item.line().y1()
if line_item.line().x2() > x_end:
x_end = line_item.line().x2()
if line_item.line().y2() > y_end:
y_end = line_item.line().y2()
return QRectF(x_start, y_start, x_end - x_start, y_end - y_start)
def update(self, klt_state):
scene_rect = self.sceneRect()
image_width = len(klt_state.template_image[0])
image_height = len(klt_state.template_image)
divide_factor = IMAGE_SCALE_WIDTH / float(image_width)
self.current_image_width = divide_factor * image_width
self.current_image_height = divide_factor * image_height
self.current_patch_width = DRAW_PATCH_SIZE * klt_state.patch_width
self.current_patch_height = DRAW_PATCH_SIZE * klt_state.patch_height
print "Size: %d, %d" % (scene_rect.width(), scene_rect.height())
print "Image width: %d" % self.current_image_width
print "Image height: %d" % self.current_image_height
print "Current Feature: %f, %f" % (klt_state.feature_pos[0], klt_state.feature_pos[1])
self.draw_template_image(klt_state)
self.draw_current_image(klt_state)
self.draw_template_patch(klt_state)
self.draw_current_patch(klt_state)
self.draw_transform_patch(klt_state)
self.draw_image_diff(klt_state)
self.draw_reference_warp_box(klt_state)
self.draw_affine_warp_box(klt_state)
self.draw_feedback(klt_state)
self.draw_annotations(klt_state)
#Tell the Scene to redraw itself
self.invalidate(self.sceneRect())
class VectorGraphicsScene(QGraphicsScene):
def __init__(self):
super (VectorGraphicsScene, self).__init__()
self.setSceneRect(0, 0, 30, 30)
self.color = Qt.black
self.width = 2
self.min_multiplier = 40
self.multiplier = self.min_multiplier
self.vpen = QPen(Qt.blue, 4, Qt.SolidLine, Qt.RoundCap, Qt.RoundJoin)
self.brush = QBrush(QColor("gray"))
self.pen = QPen(self.color, self.width, Qt.SolidLine, Qt.RoundCap, Qt.RoundJoin)
self.dx = 0.0
self.dy = 0.0
self.vlines = []
self.hlines = []
self.vector = None
def draw_grid(self):
scene_rect = self.sceneRect()
start_x = int(scene_rect.left() + self.multiplier - (scene_rect.left()
% self.multiplier))
start_y = int(scene_rect.top() + self.multiplier - (scene_rect.top() %
self.multiplier))
for l in self.vlines:
self.removeItem(l)
for l in self.hlines:
self.removeItem(l)
self.vlines = []
self.hlines = []
for x in range(start_x, int(scene_rect.right()), self.multiplier):
#print "X: %d, %d, %d" % (x, int(scene_rect.top()),
# int(scene_rect.bottom()))
self.hlines.append(self.addLine(QLineF( x, int(scene_rect.top()),
x, int(scene_rect.bottom()))))
for y in range(start_y, int(scene_rect.bottom()), self.multiplier):
self.vlines.append(self.addLine(QLineF( int(scene_rect.left()), y,
int(scene_rect.right()), y)))
def draw_vector(self):
scene_rect = self.sceneRect()
mult_width = 1
mult_height = 1
if scene_rect.width() > 0:
mult_width = int(self.dx / scene_rect.width())
if scene_rect.height() > 0:
mult_height = int(self.dy / scene_rect.height())
if mult_width == 0:
mult_width = 1
if mult_height == 0:
mult_height = 1
self.multiplier = int(mult_width * 1.50)
if mult_height > mult_width:
self.multiplier = int(mult_height * 1.50)
if self.multiplier < self.min_multiplier:
self.multiplier = self.min_multiplier
x_mid = scene_rect.width() / 2
y_mid = scene_rect.height() / 2
#Scale the background relative to the size of the vector
'''
if self.dx > 0.0 or self.dy > 0.0:
pass
'''
if self.vector is not None:
self.removeItem(self.vector)
if abs(self.dx) > 0.01 or abs(self.dy) > 0.01:
print "Draw Vector!"
self.vector = self.addLine(QLineF( x_mid,
y_mid,
x_mid + self.dx * 1000.0,
#x_mid + self.dx * self.multiplier,
y_mid + self.dy * 1000.0),
#y_mid + self.dy * self.multiplier),
self.vpen)
#Draw Vector
else:
self.vector = self.addEllipse(x_mid, y_mid, 5.0, 5.0, self.vpen, self.brush)
def update(self, klt_state):
self.dx = klt_state.x_offset
self.dy = klt_state.y_offset
self.draw_vector()
self.draw_grid()
self.invalidate(self.sceneRect())
class SidePane(QWidget):
def __init__(self):
super(SidePane, self).__init__()
v_layout = QVBoxLayout()
v_layout.addWidget(QLabel("Status"))
self.vector_graphics_view = QGraphicsView(self)
self.vector_graphics_scene = VectorGraphicsScene()
self.vector_graphics_view.setScene(self.vector_graphics_scene)
self.feature_index_label = QLabel("?? of ??")
self.pyramid_level_label = QLabel("?? of ??")
self.feature_status_label = QLabel("???")
self.converged_label = QLabel("???")
self.iteration_count_label = QLabel("???")
self.dx_label = QLabel("???")
self.dy_label = QLabel("???")
self.axx_label = QLabel("???")
self.axy_label = QLabel("???")
self.ayx_label = QLabel("???")
self.ayy_label = QLabel("???")
self.dxx_err_label = QLabel("???")
self.dyx_err_label = QLabel("???")
self.dxy_err_label = QLabel("???")
self.dyy_err_label = QLabel("???")
self.dx_err_label = QLabel("???")
self.dy_err_label = QLabel("???")
self.dxx_err_thres_label = QLabel("???")
self.dyx_err_thres_label = QLabel("???")
self.dxy_err_thres_label = QLabel("???")
self.dyy_err_thres_label = QLabel("???")
self.dx_err_thres_label = QLabel("???")
self.dy_err_thres_label = QLabel("???")
#Setup the Layout
grid_layout = QGridLayout()
grid_layout.addWidget(QLabel("Feature"), 0, 0, 1 , 2)
grid_layout.addWidget(self.feature_index_label, 0, 2, 1, 4)
grid_layout.addWidget(QLabel("Pyramid"), 1, 0, 2, 2)
grid_layout.addWidget(self.pyramid_level_label, 1, 2, 2, 4)
#grid_layout.addWidget(QLabel("Feature Status"), 2, 0, 3, 2)
#grid_layout.addWidget(self.feature_status_label, 2, 2, 3, 4)
grid_layout.addWidget(QLabel("Converged"), 2, 0, 3, 2)
grid_layout.addWidget(self.converged_label, 2, 2, 3, 4)
grid_layout.addWidget(QLabel("Iteration"), 3, 0, 4, 2)
grid_layout.addWidget(self.iteration_count_label, 3, 2, 4, 4)
#grid_layout.addWidget(QLabel(""), 4, 0, 5, 4)
#grid_layout.addWidget(QLabel(""), 5, 0, 6, 4)
grid_layout.addWidget(QLabel("Transform"), 4, 0, 7, 4)
#grid_layout.addWidget(QLabel(""), 7, 0, 8, 4)
grid_layout.addWidget(QLabel("Translation"), 7, 0, 9, 4)
grid_layout.addWidget(QLabel("DX"), 9, 0, 10, 2)
grid_layout.addWidget(self.dx_label, 9, 2, 10, 4)
grid_layout.addWidget(QLabel("DY"), 10, 0, 11, 2)
grid_layout.addWidget(self.dy_label, 10, 2, 11, 4)
#grid_layout.addWidget(QLabel(""), 11, 0, 12, 4)
grid_layout.addWidget(QLabel("Warping"), 11, 0, 13, 4)
grid_layout.addWidget(QLabel("AXX"), 13, 0, 14, 1)
grid_layout.addWidget(self.axx_label, 13, 1, 14, 2)
grid_layout.addWidget(QLabel("AXY"), 13, 2, 14, 3)
grid_layout.addWidget(self.axy_label, 13, 3, 14, 4)
grid_layout.addWidget(QLabel("AYX"), 15, 0, 16, 1)
grid_layout.addWidget(self.ayx_label, 15, 1, 16, 2)
grid_layout.addWidget(QLabel("AYY"), 15, 2, 16, 3)
grid_layout.addWidget(self.ayy_label, 15, 3, 16, 4)
#grid_layout.addWidget(QLabel(""), 15, 0, 16, 4)
#grid_layout.addWidget(QLabel(""), 17, 0, 18, 4)
#grid_layout.addWidget(QLabel(""), 18, 0, 19, 4)
grid_layout.addWidget(QLabel("Error"), 17, 0, 19, 3)
grid_layout.addWidget(QLabel("Threshold"), 17, 3, 19, 4)
grid_layout.addWidget(QLabel("dX*X"), 20, 0, 21, 1)
grid_layout.addWidget(self.dxx_err_label, 20, 1, 21, 3)
grid_layout.addWidget(self.dxx_err_thres_label, 20, 3, 21, 4)
grid_layout.addWidget(QLabel("dY*X"), 21, 0, 22, 1)
grid_layout.addWidget(self.dyx_err_label, 21, 1, 22, 3)
grid_layout.addWidget(self.dyx_err_thres_label, 21, 3, 22, 4)
grid_layout.addWidget(QLabel("dX*Y"), 22, 0, 23, 1)
grid_layout.addWidget(self.dxy_err_label, 22, 1, 23, 3)
grid_layout.addWidget(self.dxy_err_thres_label, 22, 3, 23, 4)
grid_layout.addWidget(QLabel("dY*Y"), 23, 0, 24, 1)
grid_layout.addWidget(self.dyy_err_label, 23, 1, 24, 3)
grid_layout.addWidget(self.dyy_err_thres_label, 23, 3, 24, 4)
grid_layout.addWidget(QLabel("dX"), 24, 0, 25, 1)
grid_layout.addWidget(self.dx_err_label, 24, 1, 25, 3)
grid_layout.addWidget(self.dx_err_thres_label, 24, 3, 25, 4)
grid_layout.addWidget(QLabel("dY"), 25, 0, 26, 1)
grid_layout.addWidget(self.dy_err_label, 25, 1, 26, 3)
grid_layout.addWidget(self.dy_err_thres_label, 25, 3, 26, 4)
grid_layout.setColumnMinimumWidth(0, 40)
grid_layout.setColumnMinimumWidth(1, 40)
grid_layout.setColumnMinimumWidth(2, 40)
grid_layout.setColumnMinimumWidth(3, 40)
v_layout.addLayout(grid_layout, 1)
v_layout.addWidget(self.vector_graphics_view, 1)
#self.setLayout(grid_layout)
self.setLayout(v_layout)
def update(self, klt_state):
self.feature_index_label.setText(str(klt_state.feature_index))
self.pyramid_level_label.setText(str(klt_state.pyramid_pos))
self.feature_status_label.setText("")
if klt_state.convergence:
self.converged_label.setText("Converged!")
self.converged_label.setStyleSheet("QLabel { background-color : green }")
else:
self.converged_label.setText("Not Converged")
self.converged_label.setStyleSheet("QLabel { background-color : red }")
self.iteration_count_label.setText(str(klt_state.iteration_count))
self.dx_label.setText("%.2f" % klt_state.dx)
self.dy_label.setText("%.2f" % klt_state.dy)
self.axx_label.setText("%.2f" % klt_state.axx)
self.axy_label.setText("%.2f" % klt_state.axy)
self.ayx_label.setText("%.2f" % klt_state.ayx)
self.ayy_label.setText("%.2f" % klt_state.ayy)
self.update_error_entries(klt_state)
self.dxx_err_thres_label.setText("%.2f" % klt_state.error_dxx_thresh)
self.dyx_err_thres_label.setText("%.2f" % klt_state.error_dyx_thresh)
self.dxy_err_thres_label.setText("%.2f" % klt_state.error_dxy_thresh)
self.dyy_err_thres_label.setText("%.2f" % klt_state.error_dyy_thresh)
self.dx_err_thres_label.setText("%.2f" % klt_state.error_dx_thresh)
self.dy_err_thres_label.setText("%.2f" % klt_state.error_dy_thresh)
s = QSizeF(self.vector_graphics_view.size())
sr = QRectF(QPointF(0,0), s)
self.vector_graphics_scene.setSceneRect(sr)
self.vector_graphics_scene.update(klt_state)
def update_error_entries(self, klt_state):
self.dxx_err_label.setText("%.2f" % klt_state.error_dxx)
self.dyx_err_label.setText("%.2f" % klt_state.error_dyx)
self.dxy_err_label.setText("%.2f" % klt_state.error_dxy)
self.dyy_err_label.setText("%.2f" % klt_state.error_dyy)
self.dx_err_label.setText("%.2f" % klt_state.error_dx)
self.dy_err_label.setText("%.2f" % klt_state.error_dy)
'''
if abs(klt_state.error_dxx) < klt_state.error_dxx_thresh:
self.dxx_err_label.setStyleSheet("QLabel { background-color : green }")
else:
self.dxx_err_label.setStyleSheet("QLabel { background-color : red }")
if abs(klt_state.error_dxy) < klt_state.error_dxy_thresh:
self.dxy_err_label.setStyleSheet("QLabel { background-color : green }")
else:
self.dxy_err_label.setStyleSheet("QLabel { background-color : red }")
if abs(klt_state.error_dyx) < klt_state.error_dyx_thresh:
self.dyx_err_label.setStyleSheet("QLabel { background-color : green }")
else:
self.dyx_err_label.setStyleSheet("QLabel { background-color : red }")
if abs(klt_state.error_dyy) < klt_state.error_dyy_thresh:
self.dyy_err_label.setStyleSheet("QLabel { background-color : green }")
else:
self.dyy_err_label.setStyleSheet("QLabel { background-color : red }")
if abs(klt_state.error_dx) < klt_state.error_dx_thresh:
self.dx_err_label.setStyleSheet("QLabel { background-color : green }")
else:
self.dx_err_label.setStyleSheet("QLabel { background-color : red }")
if abs(klt_state.error_dy) < klt_state.error_dy_thresh:
self.dy_err_label.setStyleSheet("QLabel { background-color : green }")
else:
self.dy_err_label.setStyleSheet("QLabel { background-color : red }")