opencv_tut: gui_find_keypoints.py Source File

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00001 #! /usr/bin/env python
00002 
00003 # Copyright (c) 2016 PAL Robotics SL. All Rights Reserved
00004 #
00005 # Permission to use, copy, modify, and/or distribute this software for
00006 # any purpose with or without fee is hereby granted, provided that the
00007 # above copyright notice and this permission notice appear in all
00008 # copies.
00009 #
00010 # THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
00011 # WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
00012 # MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
00013 # ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
00014 # WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
00015 # ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
00016 # OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
00017 #
00018 # Author:
00019 #   * Job van Dieten
00020 
00021 #System imports
00022 import sys
00023 import signal
00024 
00025 #ROS imports
00026 import rospy
00027 import rospkg
00028 
00029 #GUI imports
00030 from PyQt4 import QtGui, uic
00031 
00032 #Cusotm msg imports
00033 from opencv_tut.msg import valueMatrix
00034 pub = rospy.Publisher('opencv_tut/find_keypoints_gui', valueMatrix)
00035 class MyWindow(QtGui.QMainWindow):
00036         def __init__(self):
00037                 super(MyWindow, self).__init__()
00038                 self.rospack = rospkg.RosPack()
00039                 path = self.rospack.get_path('opencv_tut')
00040                 uic.loadUi(path + '/resources/gui_keypoints.ui', self)
00041                 self.setMinMax()
00042                 self.setLabels()
00043                 self.setTick()
00044                 
00045                 self.zero_zero_slider.valueChanged.connect(self.zero_zero_cb)
00046                 self.zero_one_slider.valueChanged.connect(self.zero_one_cb)
00047                 self.zero_two_slider.valueChanged.connect(self.zero_two_cb)
00048                 self.one_zero_slider.valueChanged.connect(self.one_zero_cb)
00049                 self.one_one_slider.valueChanged.connect(self.one_one_cb)
00050                 self.one_two_slider.valueChanged.connect(self.one_two_cb)
00051                 self.two_zero_slider.valueChanged.connect(self.two_zero_cb)
00052                 self.two_one_slider.valueChanged.connect(self.two_one_cb)
00053                 self.two_two_slider.valueChanged.connect(self.two_two_cb)
00054                 self.alpha_slider.valueChanged.connect(self.alpha_cb)
00055                 self.beta_slider.valueChanged.connect(self.beta_cb)
00056                 self.Detector_choice.currentIndexChanged.connect(self.Detector_choice_cb)
00057 
00058                 self.Contrast_tick.stateChanged.connect(self.Contrast_cb)
00059                 self.Keypoints_tick.stateChanged.connect(self.Keypoints_cb)
00060                 self.Original_tick.stateChanged.connect(self.Original_cb)
00061                 self.Sharpen_tick.stateChanged.connect(self.Sharpen_cb)
00062                 self.Combined_tick.stateChanged.connect(self.Combined_cb)
00063 
00064                 self.show()
00065 
00066         def setLabels(self):
00067                 self.zero_zero_label.setText(str(0))
00068                 self.zero_one_label.setText(str(-1))
00069                 self.zero_two_label.setText(str(0))
00070                 self.one_zero_label.setText(str(-1))
00071                 self.one_one_label.setText(str(5))
00072                 self.one_two_label.setText(str(-1))
00073                 self.two_zero_label.setText(str(0))
00074                 self.two_one_label.setText(str(-1))
00075                 self.two_two_label.setText(str(0))
00076                 self.alpha_value_label.setText(str(2.2))
00077                 self.beta_value_label.setText(str(50))
00078 
00079 
00080         def setMinMax(self):
00081                 self.zero_zero_slider.setMinimum(-100)
00082                 self.zero_one_slider.setMinimum(-100)
00083                 self.zero_two_slider.setMinimum(-100)
00084                 self.one_zero_slider.setMinimum(-100)
00085                 self.one_one_slider.setMinimum(-100)
00086                 self.one_two_slider.setMinimum(-100)
00087                 self.two_zero_slider.setMinimum(-100)
00088                 self.two_one_slider.setMinimum(-100)
00089                 self.two_two_slider.setMinimum(-100)
00090                 self.alpha_slider.setMinimum(0)
00091                 self.beta_slider.setMinimum(-200)
00092 
00093                 self.zero_zero_slider.setMaximum(100)
00094                 self.zero_one_slider.setMaximum(100)
00095                 self.zero_two_slider.setMaximum(100)
00096                 self.one_zero_slider.setMaximum(100)
00097                 self.one_one_slider.setMaximum(100)
00098                 self.one_two_slider.setMaximum(100)
00099                 self.two_zero_slider.setMaximum(100)
00100                 self.two_one_slider.setMaximum(100)
00101                 self.two_two_slider.setMaximum(100)
00102                 self.alpha_slider.setMaximum(30)
00103                 self.beta_slider.setMaximum(200)
00104 
00105                 self.zero_zero_slider.setValue(00)
00106                 self.zero_one_slider.setValue(-10)
00107                 self.zero_two_slider.setValue(0)
00108                 self.one_zero_slider.setValue(-10)
00109                 self.one_one_slider.setValue(50)
00110                 self.one_two_slider.setValue(-10)
00111                 self.two_zero_slider.setValue(0)
00112                 self.two_one_slider.setValue(-10)
00113                 self.two_two_slider.setValue(0)
00114                 self.alpha_slider.setValue(22)  
00115                 self.beta_slider.setValue(50)   
00116 
00117         def setTick(self):
00118                 self.Contrast_tick.setChecked(False)
00119                 self.Keypoints_tick.setChecked(True)
00120                 self.Original_tick.setChecked(False)
00121                 self.Sharpen_tick.setChecked(False)
00122                 self.Combined_tick.setChecked(False)
00123 
00124         def Detector_choice_cb(self):
00125                 value = self.Detector_choice.currentText()
00126                 rospy.loginfo("Called: %s", value)
00127                 msg = valueMatrix()
00128                 msg.header.frame_id = str(value)
00129                 pub.publish(msg)
00130 
00131         def Contrast_cb(self):
00132                 tick = self.Contrast_tick.checkState()
00133                 self.pubTickMsg("Contrast", tick)
00134                 rospy.loginfo("contrast: %s", tick)
00135 
00136         def Keypoints_cb(self):
00137                 tick = self.Keypoints_tick.checkState()
00138                 self.pubTickMsg("Keypoints", tick)
00139                 rospy.loginfo("keypoints: %s", tick)
00140 
00141         def Original_cb(self):
00142                 tick = self.Original_tick.checkState()
00143                 self.pubTickMsg("Original", tick)
00144                 rospy.loginfo("original: %s", tick)
00145 
00146         def Combined_cb(self):
00147                 tick = self.Combined_tick.checkState()
00148                 self.pubTickMsg("Combined", tick)
00149                 rospy.loginfo("Combined: %s", tick)
00150 
00151         def Sharpen_cb(self):
00152                 tick = self.Sharpen_tick.checkState()
00153                 self.pubTickMsg("Sharpen", tick)
00154                 rospy.loginfo("sharpen: %s", tick)                                                              
00155 
00156         def zero_zero_cb(self):
00157                 value_f = float(self.zero_zero_slider.value())
00158                 value = float(value_f/10)
00159                 self.zero_zero_label.setText(str(value))
00160                 self.pubValMsg("zero_zero", value)
00161                 rospy.loginfo("zero_zero %s", value)
00162 
00163         def zero_one_cb(self):
00164                 value_f = float(self.zero_one_slider.value())
00165                 value = float(value_f/10)
00166                 self.zero_one_label.setText(str(value))
00167                 self.pubValMsg("zero_one", value)
00168                 rospy.loginfo("zero_one%s", value)
00169 
00170         def zero_two_cb(self):
00171                 value_f = float(self.zero_two_slider.value())
00172                 value = float(value_f/10)
00173                 self.zero_two_label.setText(str(value))
00174                 self.pubValMsg("zero_two", value)
00175                 rospy.loginfo("zero_two%s", value)
00176 
00177         def one_zero_cb(self):
00178                 value_f = float(self.one_zero_slider.value())
00179                 value = float(value_f/10)
00180                 rospy.loginfo("value: %s" , value)
00181                 self.one_zero_label.setText(str(value))         
00182                 self.pubValMsg("one_zero", value)
00183 
00184         def one_one_cb(self):
00185                 value_f = float(self.one_one_slider.value())
00186                 value = float(value_f/10)
00187                 self.one_one_label.setText(str(value))          
00188                 self.pubValMsg("one_one", value)
00189                 rospy.loginfo("one_one%s", value)
00190 
00191         def one_two_cb(self):
00192                 value_f = float(self.one_two_slider.value())
00193                 value = float(value_f/10)
00194                 self.one_two_label.setText(str(value))
00195                 self.pubValMsg("one_two", value)
00196                 rospy.loginfo("one_two%s", value)
00197 
00198         def two_zero_cb(self):
00199                 value_f = float(self.two_zero_slider.value())
00200                 value = float(value_f/10)
00201                 self.two_zero_label.setText(str(value))
00202                 self.pubValMsg("two_zero", value)
00203                 rospy.loginfo("two_zero%s", value)
00204 
00205         def two_one_cb(self):
00206                 value_f = float(self.two_one_slider.value())
00207                 value = float(value_f/10)
00208                 self.two_one_label.setText(str(value))
00209                 self.pubValMsg("two_one", value)
00210                 rospy.loginfo("two_one%s", value)
00211 
00212         def two_two_cb(self):
00213                 value_f = float(self.two_two_slider.value())
00214                 value = float(value_f/10)
00215                 self.two_two_label.setText(str(value))
00216                 self.pubValMsg("two_two", value)
00217                 rospy.loginfo("two_two%s", value)
00218         
00219         def alpha_cb(self):
00220                 value = float(self.alpha_slider.value())
00221                 value_dec = float(value/10)
00222                 self.alpha_value_label.setText(str(value_dec))
00223                 self.pubValMsg("alpha", value_dec)
00224 
00225         def beta_cb(self):
00226                 value = self.beta_slider.value()
00227                 self.beta_value_label.setText(str(value))
00228                 self.pubValMsg("beta", value)
00229 
00230         def pubValMsg(self, name, value):
00231                 msg = valueMatrix()
00232                 msg.header.frame_id = name
00233                 msg.value = value
00234                 pub.publish(msg)
00235 
00236         def pubTickMsg(self, name, tick):
00237                 msg = valueMatrix()
00238                 msg.header.frame_id = name
00239                 msg.tick = tick
00240                 pub.publish(msg)
00241 
00242 if __name__ == '__main__':
00243         rospy.init_node('find_keypoints_gui')
00244         app = QtGui.QApplication(sys.argv)
00245         signal.signal(signal.SIGINT, signal.SIG_DFL)
00246         myWindow = MyWindow()
00247         sys.exit(app.exec_())