gui_flann_matching.py

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#! /usr/bin/env python

# Copyright (c) 2016 PAL Robotics SL. All Rights Reserved
#
# Permission to use, copy, modify, and/or distribute this software for
# any purpose with or without fee is hereby granted, provided that the
# above copyright notice and this permission notice appear in all
# copies.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
# Author:
#   * Job van Dieten

#System imports
import sys
import signal

#ROS imports
import rospy
import rospkg

#GUI imports
from PyQt4 import QtGui, uic

#Custom msg imports
from opencv_tut.msg import valueMatrix

pub = rospy.Publisher('opencv_tut/flann_matching_gui', valueMatrix, queue_size=10)

class MyWindow(QtGui.QMainWindow):
        def __init__(self):
                super(MyWindow, self).__init__()
                self.rospack = rospkg.RosPack()
                path = self.rospack.get_path('opencv_tut')
                uic.loadUi(path + '/resources/gui_flann_matching.ui', self)
                self.setMinMax()
                self.setLabels()
                self.setTick()
                self.k_slider.valueChanged.connect(self.k_cb)
                self.dist_slider.valueChanged.connect(self.dist_cb)
                self.feature_choice.currentIndexChanged.connect(self.feature_choice_cb)
                self.extractor_choice.currentIndexChanged.connect(self.extractor_choice_cb)
                self.matcher_choice.currentIndexChanged.connect(self.matcher_choice_cb)
                self.knnMatching_check.stateChanged.connect(self.knn_cb)
                self.use_button.clicked.connect(self.use_button_cb)
                self.show()

        def setLabels(self):
                self.dist_label_var.setText(str(0.5))
                self.k_label_var.setText(str(2))

        def setMinMax(self):
                self.dist_slider.setMinimum(0)
                self.dist_slider.setMaximum(10)
                self.k_slider.setMinimum(1)
                self.k_slider.setMaximum(10)
                self.dist_slider.setValue(6)
                self.k_slider.setValue(2)

        def setTick(self):
                self.knnMatching_check.setChecked(False)
        
        def use_button_cb(self):
                value = self.path_text.toPlainText()
                self.pubString("path", str(value))

        def knn_cb(self):
                tick = self.knnMatching_check.checkState()
                self.pubTickMsg("knn", tick)
                rospy.loginfo("knn: %s", tick)
        
        def feature_choice_cb(self):
                value = self.feature_choice.currentText()
                self.pubString("feature_choice", str(value))

        def matcher_choice_cb(self):
                value = self.matcher_choice.currentText()
                self.pubString("matcher_choice", str(value))

        def extractor_choice_cb(self):
                value = self.extractor_choice.currentText()
                self.pubString("extractor_choice", str(value))

        def dist_cb(self):
                value = float(self.dist_slider.value())
                value_dec = float(value/10)
                self.dist_label_var.setText(str(value_dec))
                self.pubValMsg("dist", value_dec)

        def k_cb(self):
                value = self.k_slider.value()
                self.k_label_var.setText(str(value))
                self.pubValMsg("k", value)

        def pubValMsg(self, name, value):
                msg = valueMatrix()
                msg.header.frame_id = name
                msg.value = value
                pub.publish(msg)

        def pubTickMsg(self, name, tick):
                msg = valueMatrix()
                msg.header.frame_id = name
                msg.tick = tick
                pub.publish(msg)

        def pubString(self,name, string):
                msg = valueMatrix()
                msg.header.frame_id = name
                msg.option = string
                pub.publish(msg)
                
if __name__ == '__main__':
        rospy.init_node('flann_matching_gui')
        app = QtGui.QApplication(sys.argv)
        signal.signal(signal.SIGINT, signal.SIG_DFL)
        myWindow = MyWindow()
        sys.exit(app.exec_())