added dd06 test support, organized 2d viewer and 3d viewer code organization.
This commit is contained in:
ykcheungab
@@ -0,0 +1,15 @@
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"""Finger-specific Qt widgets for the 3D dashboard."""
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from .arrow_image import ArrowPanelWidget
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from .force_charts import ForceChartWidget
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from .image_panel import ImagePanel
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from .mesh_viewport import MeshViewportWidget
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from .settings_panel import SettingsPanelWidget
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__all__ = [
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"ArrowPanelWidget",
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"ForceChartWidget",
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"ImagePanel",
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"MeshViewportWidget",
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"SettingsPanelWidget",
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]
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@@ -0,0 +1,52 @@
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"""UV flow-arrow panel for the Qt dashboard."""
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from __future__ import annotations
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import cv2
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from pipeline.frame import FingerFrameView
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from viz.render_2d import ArrowBackground, ArrowCanvasColors, render_uv_arrows
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from ..layout import DashboardLayout, LAYOUT
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from .image_panel import ImagePanel
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from gui.widgets.qt_pixmap import ndarray_to_pixmap
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class ArrowPanelWidget(ImagePanel):
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"""UV unrolled flow-arrow panel."""
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def __init__(
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self,
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*,
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flow_threshold: float = 0.5,
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background: ArrowBackground = "unrolled",
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canvas_colors: ArrowCanvasColors | None = None,
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layout: DashboardLayout = LAYOUT,
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parent=None,
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):
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slot = layout.top_slot("arrows")
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super().__init__(
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title=layout.arrows_panel_title,
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object_name="panelLabel",
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default_side=min(slot.width_px, slot.height_px),
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parent=parent,
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)
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self.flow_threshold = flow_threshold
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self.background = background
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self.canvas_colors = canvas_colors if canvas_colors is not None else layout.arrow_canvas_colors
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def set_flow_threshold(self, threshold: float) -> None:
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self.flow_threshold = threshold
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def set_background(self, background: ArrowBackground) -> None:
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self.background = background
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def update_frame(self, frame: FingerFrameView) -> None:
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arrows = render_uv_arrows(
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frame,
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flow_threshold=self.flow_threshold,
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background=self.background,
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canvas_colors=self.canvas_colors,
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)
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arrows = cv2.rotate(arrows, cv2.ROTATE_180)
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self.set_source_pixmap(ndarray_to_pixmap(arrows, bgr=True))
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@@ -0,0 +1,205 @@
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"""Embedded PyQtGraph force charts for the Qt dashboard."""
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from __future__ import annotations
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import numpy as np
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from PyQt5.QtGui import QFont
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from PyQt5.QtWidgets import QSizePolicy
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from ..layout import DashboardLayout, LAYOUT
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from ..styles import LOG_FONT_PRIMARY, UI_FONT_PRIMARY
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from pipeline.frame import FingerFrameView
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from viz.signal_filters import lowpass_filter
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def _require_pyqtgraph():
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try:
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import pyqtgraph as pg
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except ImportError as exc:
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raise ImportError(
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"PyQtGraph is not installed. Install with: pip install pyqt5 pyqtgraph"
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) from exc
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return pg
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class ForceChartWidget:
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"""Rolling normal/shear force charts as an embeddable QWidget."""
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def __init__(
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self,
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*,
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layout: DashboardLayout = LAYOUT,
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lowpass_cutoff_hz: float = 5.0,
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parent=None,
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):
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pg = _require_pyqtgraph()
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pg.setConfigOption("background", "#000000")
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pg.setConfigOption("foreground", "#777777")
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pg.setConfigOptions(antialias=True)
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self._layout = layout
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self._pg = pg
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self.npoints = layout.plot_buffer_points
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self.sample_rate_hz = layout.plot_sample_rate_hz
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self.lowpass_cutoff_hz = lowpass_cutoff_hz
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self._plot_window_sec = self.npoints / self.sample_rate_hz
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self._plot_sample_count = 0
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self._y_range_alpha = layout.y_range_smooth_alpha
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self._y_range_smooth: list[tuple[float, float] | None] = [None, None, None]
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self.widget = pg.GraphicsLayoutWidget(parent=parent)
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charts = layout.top_slot("charts")
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self.set_panel_size(charts.width_px, charts.height_px)
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self._init_plot_buffer()
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self._create_plots()
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def set_panel_size(self, width: int, height: int) -> None:
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"""Apply layout width/height; height 0 means fill top-row height."""
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width = max(int(width), 64)
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self.widget.setFixedWidth(width)
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if height > 0:
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self.widget.setFixedHeight(height)
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self.widget.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
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else:
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self.widget.setMaximumHeight(16777215)
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self.widget.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Expanding)
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def _init_plot_buffer(self) -> None:
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self.data = np.full((self.npoints, 2, 3), np.nan, dtype=np.float64)
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self._plot_sample_count = 0
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self._time_origin: float | None = None
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self._y_range_smooth = [None, None, None]
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def _create_plots(self) -> None:
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pg = self._pg
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layout = self._layout
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titles = ["Normal Deformation", "X Deformation", "Y Deformation"]
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self.plots = []
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self.curves = []
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self.dot_glows = []
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self.dot_cores = []
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axis_pen = pg.mkPen(color=(38, 38, 38), width=1)
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label_font = QFont(UI_FONT_PRIMARY, layout.chart_axis_label_font_pt)
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title_pt = layout.chart_title_font_pt
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for i, title in enumerate(titles):
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plot = self.widget.addPlot(title=None)
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plot.setTitle(title, color="#999999", size=f"{title_pt}pt")
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plot.titleLabel.setFont(QFont(UI_FONT_PRIMARY, title_pt))
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plot.setLabel("bottom", "Time", units="s")
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plot.getAxis("bottom").label.setFont(label_font)
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plot.showAxis("top", False)
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plot.showAxis("right", False)
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plot.getAxis("left").setPen(axis_pen)
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plot.getAxis("bottom").setPen(axis_pen)
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plot.showGrid(x=False, y=True, alpha=0.12)
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tick_font = QFont(LOG_FONT_PRIMARY, layout.chart_tick_font_pt)
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tick_font.setStyleHint(QFont.Monospace)
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plot.getAxis("left").setTickFont(tick_font)
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plot.getAxis("bottom").setTickFont(tick_font)
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line_pen = pg.mkPen(color=layout.curve_color, width=2)
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curve = plot.plot(pen=line_pen, fillLevel=0)
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dot_glow = plot.plot(
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[],
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[],
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pen=None,
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symbol="o",
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symbolSize=8,
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symbolPen=None,
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symbolBrush=(0, 229, 255, 76),
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)
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dot_core = plot.plot(
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[],
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[],
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pen=None,
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symbol="o",
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symbolSize=4,
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symbolPen=None,
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symbolBrush=(255, 255, 255, 255),
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)
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plot.setXRange(0, self._plot_window_sec, padding=0)
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plot.enableAutoRange(x=False, y=False)
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self.plots.append(plot)
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self.curves.append(curve)
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self.dot_glows.append(dot_glow)
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self.dot_cores.append(dot_core)
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if i < 2:
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self.widget.nextRow()
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def reset(self) -> None:
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self._init_plot_buffer()
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for plot in self.plots:
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plot.setXRange(0, self._plot_window_sec, padding=0)
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def update_frame(self, frame: FingerFrameView) -> None:
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if self._time_origin is None:
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self._time_origin = frame.timestamp
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if self._plot_sample_count < self.npoints:
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idx = self._plot_sample_count
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self.data[idx, 0, :] = frame.timestamp
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self.data[idx, 1, 0] = frame.fnormal
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self.data[idx, 1, 1] = frame.fshearx
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self.data[idx, 1, 2] = frame.fsheary
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self._plot_sample_count += 1
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else:
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for channel in range(3):
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self.data[:-1, 0, channel] = self.data[1:, 0, channel]
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self.data[:-1, 1, channel] = self.data[1:, 1, channel]
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self.data[-1, 0, :] = frame.timestamp
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self.data[-1, 1, 0] = frame.fnormal
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self.data[-1, 1, 1] = frame.fshearx
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self.data[-1, 1, 2] = frame.fsheary
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n = self._plot_sample_count
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if n == 0 or self._time_origin is None:
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return
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layout = self._layout
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data_plot = self.data[:n]
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times = data_plot[:, 0, 0] - self._time_origin
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x_end = float(times[-1])
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if x_end < self._plot_window_sec:
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x_start = 0.0
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x_end = self._plot_window_sec
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else:
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x_start = x_end - self._plot_window_sec
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for channel in range(3):
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y = lowpass_filter(
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data_plot[:, 1, channel].copy(),
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self.lowpass_cutoff_hz,
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sample_rate_hz=self.sample_rate_hz,
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)
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curve = self.curves[channel]
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curve.setData(times, y)
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finite = np.isfinite(y)
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if not np.any(finite):
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continue
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ymin, ymax = float(np.min(y[finite])), float(np.max(y[finite]))
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if self._y_range_smooth[channel] is None:
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self._y_range_smooth[channel] = (ymin, ymax)
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else:
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prev_min, prev_max = self._y_range_smooth[channel]
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alpha = self._y_range_alpha
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ymin = alpha * ymin + (1 - alpha) * prev_min
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ymax = alpha * ymax + (1 - alpha) * prev_max
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span = ymax - ymin
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if span < layout.y_axis_min_span:
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mid = (ymin + ymax) / 2
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half = layout.y_axis_min_span / 2
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ymin = mid - half
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ymax = mid + half
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self._y_range_smooth[channel] = (ymin, ymax)
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pad = max((ymax - ymin) * 0.12, 0.01)
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self.plots[channel].setYRange(ymin - pad, ymax + pad)
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self.dot_glows[channel].setData(times[-1:], y[-1:])
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self.dot_cores[channel].setData(times[-1:], y[-1:])
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for plot in self.plots:
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plot.setXRange(x_start, x_end, padding=0)
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@@ -0,0 +1,71 @@
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"""Square 1:1 image panel host for dashboard viewports."""
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from __future__ import annotations
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from PyQt5.QtCore import Qt
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from PyQt5.QtGui import QPixmap
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from PyQt5.QtWidgets import QLabel, QSizePolicy, QVBoxLayout, QWidget
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from gui.widgets.qt_pixmap import pixmap_keep_aspect
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class ImagePanel(QWidget):
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"""Fixed square widget that displays an image at 1:1 aspect ratio."""
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def __init__(
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self,
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*,
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title: str = "",
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object_name: str = "panelLabel",
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default_side: int = 256,
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min_side: int = 64,
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parent=None,
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):
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super().__init__(parent)
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self._side = default_side
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self._min_side = min_side
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self._source_pixmap: QPixmap | None = None
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self.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
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layout = QVBoxLayout(self)
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layout.setContentsMargins(0, 0, 0, 0)
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self.label = QLabel(title)
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self.label.setObjectName(object_name)
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self.label.setAlignment(Qt.AlignCenter)
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layout.addWidget(self.label)
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self.set_side_length(self._side)
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def set_side_length(self, side: int) -> None:
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self.set_fixed_size(side, side)
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def set_fixed_size(self, width: int, height: int) -> None:
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width = max(int(width), self._min_side)
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height = max(int(height), self._min_side)
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if width == self.width() and height == self.height() and width == self._side:
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return
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self._side = width
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self.setFixedSize(width, height)
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self.label.setFixedSize(width, height)
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self.on_side_length_changed(min(width, height))
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self._refresh_pixmap()
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@property
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def side_length(self) -> int:
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return self._side
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def on_side_length_changed(self, side: int) -> None:
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"""Hook for subclasses (e.g. resize an offscreen renderer)."""
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def set_source_pixmap(self, pixmap: QPixmap | None) -> None:
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self._source_pixmap = pixmap
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self._refresh_pixmap()
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def _refresh_pixmap(self) -> None:
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if self._source_pixmap is None or self._source_pixmap.isNull():
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return
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self.label.setPixmap(pixmap_keep_aspect(self._source_pixmap, self.label.size()))
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def resizeEvent(self, event):
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super().resizeEvent(event)
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self._refresh_pixmap()
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@@ -0,0 +1,180 @@
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"""Embedded offscreen 3D mesh viewport for the Qt dashboard."""
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from __future__ import annotations
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from PyQt5.QtCore import QEvent, Qt
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from PyQt5.QtGui import QMouseEvent
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from pipeline.frame import FingerFrameView
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from viz.offscreen_mesh import OffscreenFingerMeshRenderer
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from ..layout import DashboardLayout, LAYOUT
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from ..mesh_view_state import MeshViewState
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from ..mesh_render_worker import MeshRenderWorker
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from gui.widgets.qt_pixmap import ndarray_to_pixmap
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from .image_panel import ImagePanel
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_VIEW_ROTATE_SENSITIVITY = 0.35
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class MeshViewportWidget(ImagePanel):
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"""Render the finger mesh offscreen in a square 1:1 viewport."""
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def __init__(self, parent=None, *, layout: DashboardLayout = LAYOUT, mesh_state: MeshViewState | None = None):
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self._layout = layout
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self._mesh_state = mesh_state or MeshViewState.from_layout(layout)
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self._renderer: OffscreenFingerMeshRenderer | None = None
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self._mesh_worker: MeshRenderWorker | None = None
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self._mesh_map = "depth"
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self._threshold = 0.0
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self._enable_3d = True
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self._free_rotation = False
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self._dragging = False
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self._last_drag_pos = None
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self._last_frame: FingerFrameView | None = None
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display_w, display_h = layout.mesh_display_size()
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super().__init__(
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title=layout.mesh_panel_title,
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object_name="meshViewport",
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default_side=min(display_w, display_h),
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parent=parent,
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)
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self.label.installEventFilter(self)
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self.label.setMouseTracking(True)
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self._mesh_state.flow_arrows_changed.connect(self._on_flow_arrows_changed)
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def set_free_rotation(self, enabled: bool) -> None:
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self._free_rotation = bool(enabled)
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if not self._free_rotation:
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self._dragging = False
|
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self._last_drag_pos = None
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self.label.setCursor(Qt.OpenHandCursor if self._free_rotation else Qt.ArrowCursor)
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|
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def _on_flow_arrows_changed(self, enabled: bool) -> None:
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if self._renderer is not None:
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self._renderer.flow_arrow.set_enabled(enabled)
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self._refresh_last_frame()
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def reset_view(self) -> None:
|
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if self._renderer is not None:
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self._renderer.reset_view()
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self._refresh_last_frame()
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def eventFilter(self, watched, event):
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if watched is self.label and self._free_rotation and self._renderer is not None:
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etype = event.type()
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if etype == QEvent.MouseButtonPress and isinstance(event, QMouseEvent):
|
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if event.button() == Qt.LeftButton:
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self._dragging = True
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self._last_drag_pos = event.pos()
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self.label.setCursor(Qt.ClosedHandCursor)
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return True
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elif etype == QEvent.MouseMove and isinstance(event, QMouseEvent):
|
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if self._dragging and self._last_drag_pos is not None:
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delta = event.pos() - self._last_drag_pos
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self._last_drag_pos = event.pos()
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self._renderer.rotate_view(
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delta.x() * _VIEW_ROTATE_SENSITIVITY,
|
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delta.y() * _VIEW_ROTATE_SENSITIVITY,
|
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)
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self._refresh_last_frame()
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return True
|
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elif etype == QEvent.MouseButtonRelease and isinstance(event, QMouseEvent):
|
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if event.button() == Qt.LeftButton and self._dragging:
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self._dragging = False
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self._last_drag_pos = None
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self.label.setCursor(Qt.OpenHandCursor)
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return True
|
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return super().eventFilter(watched, event)
|
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|
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def configure(self, pipeline) -> None:
|
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self._mesh_map = pipeline.config.mesh_map
|
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self._threshold = pipeline.config.flow_threshold
|
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self._enable_3d = pipeline.config.enable_3d and pipeline.uv_mesh is not None
|
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self._stop_worker()
|
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if self._renderer is not None:
|
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self._renderer.close()
|
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self._renderer = None
|
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if not self._enable_3d:
|
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self.label.setText(
|
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"3D mesh disabled" if not pipeline.config.enable_3d else "3D mesh unavailable"
|
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)
|
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self.set_source_pixmap(None)
|
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return
|
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self.label.setText("")
|
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self._init_renderer(pipeline)
|
||||
|
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def _init_renderer(self, pipeline) -> None:
|
||||
if not self._enable_3d or pipeline.uv_mesh is None:
|
||||
return
|
||||
render_w, render_h = self._layout.mesh_render_size()
|
||||
self._renderer = OffscreenFingerMeshRenderer(
|
||||
pipeline.uv_mesh,
|
||||
width=render_w,
|
||||
height=render_h,
|
||||
threshold=self._threshold,
|
||||
color_mode=self._mesh_map,
|
||||
world_to_cam=pipeline.world_to_cam,
|
||||
lookat=pipeline.mesh_lookat,
|
||||
mesh_lighting=self._layout.mesh_lighting,
|
||||
mesh_background=self._layout.mesh_background.color,
|
||||
contact_arrow_style=self._layout.mesh_contact_arrow,
|
||||
flow_arrow_style=self._layout.mesh_flow_arrow,
|
||||
axis_overlay=self._layout.mesh_axis_overlay,
|
||||
)
|
||||
self._renderer.flow_arrow.set_enabled(self._mesh_state.flow_arrows_enabled)
|
||||
|
||||
def _stop_worker(self) -> None:
|
||||
if self._mesh_worker is not None:
|
||||
self._mesh_worker.stop_worker()
|
||||
self._mesh_worker = None
|
||||
|
||||
def on_side_length_changed(self, side: int) -> None:
|
||||
"""Display widget resized; offscreen render size stays on layout.mesh_render_*."""
|
||||
del side # display size only; ImagePanel upscales the pixmap to fit the label
|
||||
|
||||
def _on_rgb_ready(self, rgb) -> None:
|
||||
self.set_source_pixmap(ndarray_to_pixmap(rgb, bgr=False))
|
||||
|
||||
def _refresh_last_frame(self) -> None:
|
||||
if self._last_frame is None or self._renderer is None:
|
||||
return
|
||||
frame = self._last_frame
|
||||
rgb = self._renderer.render(
|
||||
flow=frame.flow,
|
||||
scalar_map=frame.depth_map,
|
||||
centroid=frame.centroid,
|
||||
centroid_found=frame.centroid_found,
|
||||
fnormal=frame.fnormal,
|
||||
valid_mask=frame.valid_mask,
|
||||
)
|
||||
self.set_source_pixmap(ndarray_to_pixmap(rgb, bgr=False))
|
||||
|
||||
def update_frame(self, frame: FingerFrameView, *, async_render: bool | None = None) -> float:
|
||||
"""Update mesh colors on the same thread that owns the renderer."""
|
||||
if not self._enable_3d or self._renderer is None:
|
||||
return 0.0
|
||||
|
||||
self._last_frame = frame
|
||||
del async_render # Offscreen Open3D renderers are not safe to drive from a QThread.
|
||||
|
||||
import time
|
||||
|
||||
t0 = time.perf_counter()
|
||||
rgb = self._renderer.render(
|
||||
flow=frame.flow,
|
||||
scalar_map=frame.depth_map,
|
||||
centroid=frame.centroid,
|
||||
centroid_found=frame.centroid_found,
|
||||
fnormal=frame.fnormal,
|
||||
valid_mask=frame.valid_mask,
|
||||
)
|
||||
self.set_source_pixmap(ndarray_to_pixmap(rgb, bgr=False))
|
||||
return (time.perf_counter() - t0) * 1000.0
|
||||
|
||||
def close_renderer(self) -> None:
|
||||
self._stop_worker()
|
||||
if self._renderer is not None:
|
||||
self._renderer.close()
|
||||
self._renderer = None
|
||||
self._last_frame = None
|
||||
@@ -0,0 +1,474 @@
|
||||
"""Settings side panel for the finger dashboard."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from PyQt5.QtCore import QSize, Qt, pyqtSignal
|
||||
from PyQt5.QtWidgets import (
|
||||
QCheckBox,
|
||||
QComboBox,
|
||||
QHBoxLayout,
|
||||
QLabel,
|
||||
QLineEdit,
|
||||
QPushButton,
|
||||
QSizePolicy,
|
||||
QVBoxLayout,
|
||||
QWidget,
|
||||
)
|
||||
|
||||
from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
|
||||
from viz.render_2d import ArrowBackground
|
||||
|
||||
from ..layout import DashboardLayout, LAYOUT
|
||||
from ..mesh_view_state import MeshViewState
|
||||
from ..transport_icons import reset_icon, transport_icon
|
||||
|
||||
_PLAY_PAUSE_BUTTON_NAME = "btnPlayPause"
|
||||
_PLAY_PAUSE_ICON_PX = 18
|
||||
_PLAY_PAUSE_ICON_COLORS = {
|
||||
"run": "#4caf84",
|
||||
"starting": "#555555",
|
||||
"pause": "#ff9800",
|
||||
}
|
||||
|
||||
|
||||
class SettingsPanelWidget(QWidget):
|
||||
"""Right-side settings: log, sources, and 3D view controls."""
|
||||
|
||||
log_visibility_changed = pyqtSignal(bool)
|
||||
free_rotation_changed = pyqtSignal(bool)
|
||||
arrow_background_changed = pyqtSignal(str)
|
||||
view_reset_requested = pyqtSignal()
|
||||
browse_video_requested = pyqtSignal()
|
||||
browse_config_requested = pyqtSignal()
|
||||
browse_finger_assets_requested = pyqtSignal()
|
||||
browse_csv_dir_requested = pyqtSignal()
|
||||
csv_record_toggled = pyqtSignal(bool)
|
||||
camera_refresh_requested = pyqtSignal()
|
||||
camera_selection_changed = pyqtSignal(str)
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
parent=None,
|
||||
*,
|
||||
layout: DashboardLayout = LAYOUT,
|
||||
mesh_state: MeshViewState | None = None,
|
||||
show_log: bool = True,
|
||||
):
|
||||
super().__init__(parent)
|
||||
self._layout = layout
|
||||
self._mesh_state = mesh_state or MeshViewState.from_layout(layout)
|
||||
self.setObjectName("settingsPanel")
|
||||
self.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
|
||||
|
||||
root = QVBoxLayout(self)
|
||||
root.setContentsMargins(8, 8, 8, 8)
|
||||
root.setSpacing(6)
|
||||
|
||||
title = QLabel(layout.settings_panel_title)
|
||||
title.setObjectName("settingsTitle")
|
||||
root.addWidget(title)
|
||||
|
||||
control_row = QHBoxLayout()
|
||||
control_row.setSpacing(8)
|
||||
|
||||
self.btn_play_pause = QPushButton()
|
||||
self.btn_play_pause.setObjectName(_PLAY_PAUSE_BUTTON_NAME)
|
||||
self.btn_play_pause.setFixedSize(36, 32)
|
||||
self.btn_play_pause.setIconSize(QSize(_PLAY_PAUSE_ICON_PX, _PLAY_PAUSE_ICON_PX))
|
||||
control_row.addWidget(self.btn_play_pause)
|
||||
|
||||
self.btn_reset_tracker = QPushButton("Reset Sensor")
|
||||
self.btn_reset_tracker.setToolTip("Reset tracker")
|
||||
self.btn_reset_tracker.setEnabled(False)
|
||||
control_row.addWidget(self.btn_reset_tracker, 1)
|
||||
root.addLayout(control_row)
|
||||
|
||||
self.show_log_check = QCheckBox("Show log panel")
|
||||
self.show_log_check.setChecked(show_log)
|
||||
self.show_log_check.toggled.connect(self.log_visibility_changed.emit)
|
||||
root.addWidget(self.show_log_check)
|
||||
|
||||
self.show_flow_arrows_check = QCheckBox("Show displacement arrows")
|
||||
self.show_flow_arrows_check.setChecked(self._mesh_state.flow_arrows_enabled)
|
||||
self.show_flow_arrows_check.toggled.connect(self._mesh_state.set_flow_arrows_enabled)
|
||||
root.addWidget(self.show_flow_arrows_check)
|
||||
|
||||
root.addWidget(self._caption("UV arrow background"))
|
||||
self.arrow_background_combo = QComboBox()
|
||||
for label, value in (
|
||||
("Unrolled", "unrolled"),
|
||||
("Pure color", "pure_color"),
|
||||
):
|
||||
self.arrow_background_combo.addItem(label, value)
|
||||
self.set_arrow_background(layout.arrow_background)
|
||||
self.arrow_background_combo.currentIndexChanged.connect(self._emit_arrow_background_changed)
|
||||
root.addWidget(self.arrow_background_combo)
|
||||
|
||||
root.addWidget(self._caption("Video source"))
|
||||
video_row = QHBoxLayout()
|
||||
video_row.setSpacing(6)
|
||||
self.camera_combo = QComboBox()
|
||||
self.camera_combo.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)
|
||||
self.camera_combo.setToolTip("Select an available camera")
|
||||
self.camera_combo.currentIndexChanged.connect(self._on_camera_combo_changed)
|
||||
video_row.addWidget(self.camera_combo, 1)
|
||||
self.btn_refresh_cameras = QPushButton("Refresh")
|
||||
self.btn_refresh_cameras.setFixedWidth(64)
|
||||
self.btn_refresh_cameras.setToolTip("Re-scan available cameras")
|
||||
self.btn_refresh_cameras.clicked.connect(self.camera_refresh_requested.emit)
|
||||
video_row.addWidget(self.btn_refresh_cameras)
|
||||
self.btn_browse_video = QPushButton("…")
|
||||
self.btn_browse_video.setFixedWidth(32)
|
||||
self.btn_browse_video.setToolTip("Browse video file")
|
||||
self.btn_browse_video.clicked.connect(self.browse_video_requested.emit)
|
||||
video_row.addWidget(self.btn_browse_video)
|
||||
root.addLayout(video_row)
|
||||
|
||||
self.video_file_label = QLabel("")
|
||||
self.video_file_label.setObjectName("settingsCaption")
|
||||
self.video_file_label.setWordWrap(True)
|
||||
self.video_file_label.hide()
|
||||
root.addWidget(self.video_file_label)
|
||||
|
||||
self._source_mode = "camera" # "camera" | "file"
|
||||
self._video_file_path = ""
|
||||
self._updating_camera_options = False
|
||||
|
||||
root.addWidget(self._caption("Config"))
|
||||
config_row = QHBoxLayout()
|
||||
config_row.setSpacing(6)
|
||||
self.config_edit = QLineEdit("./config/dd02-ov.json")
|
||||
config_row.addWidget(self.config_edit, 1)
|
||||
self.btn_browse_config = QPushButton("…")
|
||||
self.btn_browse_config.setFixedWidth(32)
|
||||
self.btn_browse_config.setToolTip("Browse config JSON")
|
||||
self.btn_browse_config.clicked.connect(self.browse_config_requested.emit)
|
||||
config_row.addWidget(self.btn_browse_config)
|
||||
root.addLayout(config_row)
|
||||
|
||||
# Optional calibration path is kept for future re-enablement but hidden for now.
|
||||
self.cal_edit = QLineEdit("")
|
||||
self.cal_edit.setPlaceholderText("Optional calibration path")
|
||||
self.cal_edit.hide()
|
||||
|
||||
root.addWidget(self._caption("Finger assets"))
|
||||
finger_assets_row = QHBoxLayout()
|
||||
finger_assets_row.setSpacing(6)
|
||||
self.finger_assets_edit = QLineEdit(DEFAULT_FINGER_EXPORT_DIR)
|
||||
self.finger_assets_edit.setPlaceholderText("Blender export bundle directory")
|
||||
finger_assets_row.addWidget(self.finger_assets_edit, 1)
|
||||
self.btn_browse_finger_assets = QPushButton("…")
|
||||
self.btn_browse_finger_assets.setFixedWidth(32)
|
||||
self.btn_browse_finger_assets.setToolTip("Browse finger asset directory")
|
||||
self.btn_browse_finger_assets.clicked.connect(self.browse_finger_assets_requested.emit)
|
||||
finger_assets_row.addWidget(self.btn_browse_finger_assets)
|
||||
root.addLayout(finger_assets_row)
|
||||
|
||||
root.addWidget(self._caption("CSV save directory"))
|
||||
csv_dir_row = QHBoxLayout()
|
||||
csv_dir_row.setSpacing(6)
|
||||
self.csv_dir_edit = QLineEdit("./outputs/csv")
|
||||
self.csv_dir_edit.setPlaceholderText("Directory for CSV recordings")
|
||||
csv_dir_row.addWidget(self.csv_dir_edit, 1)
|
||||
self.btn_browse_csv_dir = QPushButton("…")
|
||||
self.btn_browse_csv_dir.setFixedWidth(32)
|
||||
self.btn_browse_csv_dir.setToolTip("Browse CSV save directory")
|
||||
self.btn_browse_csv_dir.clicked.connect(self.browse_csv_dir_requested.emit)
|
||||
csv_dir_row.addWidget(self.btn_browse_csv_dir)
|
||||
root.addLayout(csv_dir_row)
|
||||
|
||||
self.btn_csv_record = QPushButton("Record CSV")
|
||||
self.btn_csv_record.setToolTip("Start writing contact/force CSV")
|
||||
self.btn_csv_record.setEnabled(False)
|
||||
self.btn_csv_record.clicked.connect(self._on_csv_toggle_clicked)
|
||||
root.addWidget(self.btn_csv_record)
|
||||
self._csv_recording = False
|
||||
self._pipeline_running = False
|
||||
|
||||
root.addSpacing(4)
|
||||
rotate_row = QHBoxLayout()
|
||||
rotate_row.setSpacing(6)
|
||||
self.free_rotate_check = QCheckBox("Free rotate 3D view")
|
||||
self.free_rotate_check.toggled.connect(self.free_rotation_changed.emit)
|
||||
rotate_row.addWidget(self.free_rotate_check, 1)
|
||||
|
||||
self.btn_reset_view = QPushButton()
|
||||
self.btn_reset_view.setObjectName("btnResetView")
|
||||
self.btn_reset_view.setToolTip("Reset 3D mesh camera")
|
||||
self.btn_reset_view.setIcon(reset_icon("#999999"))
|
||||
self.btn_reset_view.setIconSize(QSize(14, 14))
|
||||
self.btn_reset_view.setFixedSize(28, 28)
|
||||
self.btn_reset_view.clicked.connect(self.view_reset_requested.emit)
|
||||
rotate_row.addWidget(self.btn_reset_view)
|
||||
root.addLayout(rotate_row)
|
||||
|
||||
root.addStretch()
|
||||
|
||||
@staticmethod
|
||||
def _caption(text: str) -> QLabel:
|
||||
label = QLabel(text)
|
||||
label.setObjectName("settingsCaption")
|
||||
return label
|
||||
|
||||
def set_panel_size(self, width: int, height: int) -> None:
|
||||
self.setFixedSize(max(int(width), 64), max(int(height), 64))
|
||||
|
||||
def set_play_pause_state(self, state: str) -> None:
|
||||
"""``run`` = green play, ``starting`` = grey disabled play, ``pause`` = orange pause."""
|
||||
btn = self.btn_play_pause
|
||||
if state == "run":
|
||||
btn.setToolTip("Run")
|
||||
btn.setEnabled(True)
|
||||
elif state == "starting":
|
||||
btn.setToolTip("Starting…")
|
||||
btn.setEnabled(False)
|
||||
elif state == "pause":
|
||||
btn.setToolTip("Pause")
|
||||
btn.setEnabled(True)
|
||||
else:
|
||||
raise ValueError(f"unknown play/pause state: {state!r}")
|
||||
|
||||
kind = "pause" if state == "pause" else "play"
|
||||
btn.setText("")
|
||||
btn.setIcon(transport_icon(kind, _PLAY_PAUSE_ICON_COLORS[state]))
|
||||
btn.setProperty("playState", state)
|
||||
style = btn.style()
|
||||
style.unpolish(btn)
|
||||
style.polish(btn)
|
||||
btn.update()
|
||||
|
||||
def set_camera_options(self, cameras, selected_value: str | None = None) -> None:
|
||||
"""Populate camera combo from discovered cameras.
|
||||
|
||||
``cameras`` items may be objects with ``.source`` / ``.label()`` or
|
||||
``(source, label)`` tuples.
|
||||
"""
|
||||
self._updating_camera_options = True
|
||||
self.camera_combo.blockSignals(True)
|
||||
self.camera_combo.clear()
|
||||
|
||||
sources: list[str] = []
|
||||
for cam in cameras:
|
||||
if hasattr(cam, "source") and callable(getattr(cam, "label", None)):
|
||||
source = str(cam.source)
|
||||
label = str(cam.label())
|
||||
else:
|
||||
source, label = cam
|
||||
source = str(source)
|
||||
label = str(label)
|
||||
self.camera_combo.addItem(label, source)
|
||||
sources.append(source)
|
||||
|
||||
preferred = (selected_value or "").strip()
|
||||
idx = self.camera_combo.findData(preferred) if preferred else -1
|
||||
if idx < 0 and self.camera_combo.count() > 0:
|
||||
idx = 0
|
||||
if idx >= 0:
|
||||
self.camera_combo.setCurrentIndex(idx)
|
||||
# File mode is cleared only when we intentionally select a camera.
|
||||
if self._source_mode != "file":
|
||||
self._source_mode = "camera"
|
||||
self._video_file_path = ""
|
||||
self.video_file_label.hide()
|
||||
self.camera_combo.setEnabled(self.camera_combo.count() > 0)
|
||||
self.camera_combo.blockSignals(False)
|
||||
self._updating_camera_options = False
|
||||
|
||||
def set_video_source(self, value: str) -> None:
|
||||
"""Set current video source (camera index string or file path)."""
|
||||
value = (value or "").strip()
|
||||
if not value:
|
||||
return
|
||||
# Numeric camera index → select in combo if present; else keep as preferred text via adding.
|
||||
if value.isdigit() or (value.startswith("-") and value[1:].isdigit()):
|
||||
idx = self.camera_combo.findData(value)
|
||||
if idx >= 0:
|
||||
self._source_mode = "camera"
|
||||
self._video_file_path = ""
|
||||
self.video_file_label.hide()
|
||||
self.camera_combo.blockSignals(True)
|
||||
self.camera_combo.setCurrentIndex(idx)
|
||||
self.camera_combo.blockSignals(False)
|
||||
else:
|
||||
# Not yet scanned / not present: remember as pending camera selection.
|
||||
self._source_mode = "camera"
|
||||
self._video_file_path = ""
|
||||
self.video_file_label.hide()
|
||||
return
|
||||
|
||||
# Treat as video file path.
|
||||
self._source_mode = "file"
|
||||
self._video_file_path = value
|
||||
self.video_file_label.setText(f"File: {value}")
|
||||
self.video_file_label.show()
|
||||
|
||||
def selected_camera_source(self) -> str:
|
||||
data = self.camera_combo.currentData()
|
||||
return str(data) if data is not None else ""
|
||||
|
||||
def video_source(self) -> str:
|
||||
if self._source_mode == "file" and self._video_file_path:
|
||||
return self._video_file_path
|
||||
return self.selected_camera_source()
|
||||
|
||||
def has_usable_source(self) -> bool:
|
||||
if self._source_mode == "file" and self._video_file_path:
|
||||
return True
|
||||
return bool(self.selected_camera_source())
|
||||
|
||||
def is_file_source(self) -> bool:
|
||||
return self._source_mode == "file" and bool(self._video_file_path)
|
||||
|
||||
def set_camera_controls_enabled(self, enabled: bool) -> None:
|
||||
self.btn_refresh_cameras.setEnabled(enabled)
|
||||
self.btn_browse_video.setEnabled(enabled)
|
||||
self.camera_combo.setEnabled(enabled and self.camera_combo.count() > 0)
|
||||
|
||||
def _on_camera_combo_changed(self, _index: int) -> None:
|
||||
if self._updating_camera_options:
|
||||
return
|
||||
source = self.selected_camera_source()
|
||||
if not source:
|
||||
return
|
||||
self._source_mode = "camera"
|
||||
self._video_file_path = ""
|
||||
self.video_file_label.hide()
|
||||
self.camera_selection_changed.emit(source)
|
||||
|
||||
def set_config_path(self, value: str) -> None:
|
||||
self.config_edit.setText(value)
|
||||
|
||||
def set_calibration_path(self, value: str) -> None:
|
||||
self.cal_edit.setText(value or "")
|
||||
|
||||
def set_finger_export_dir(self, value: str) -> None:
|
||||
self.finger_assets_edit.setText(value)
|
||||
|
||||
def set_finger_export_dir_enabled(self, enabled: bool) -> None:
|
||||
self.finger_assets_edit.setEnabled(enabled)
|
||||
self.btn_browse_finger_assets.setEnabled(enabled)
|
||||
|
||||
def set_csv_save_dir(self, value: str) -> None:
|
||||
self.csv_dir_edit.setText(value)
|
||||
|
||||
def set_csv_controls_for_pipeline(self, running: bool) -> None:
|
||||
"""Update CSV controls from pipeline start/stop."""
|
||||
self._pipeline_running = bool(running)
|
||||
if not self._pipeline_running:
|
||||
self._csv_recording = False
|
||||
self._refresh_csv_controls()
|
||||
|
||||
def set_csv_recording(self, recording: bool) -> None:
|
||||
"""Update CSV controls after a successful start/stop of recording."""
|
||||
self._csv_recording = bool(recording) and self._pipeline_running
|
||||
self._refresh_csv_controls()
|
||||
|
||||
def _refresh_csv_controls(self) -> None:
|
||||
self.btn_csv_record.setEnabled(self._pipeline_running)
|
||||
if self._csv_recording:
|
||||
self.btn_csv_record.setText("Stop CSV")
|
||||
self.btn_csv_record.setToolTip("Stop CSV recording")
|
||||
self.btn_csv_record.setProperty("recording", True)
|
||||
else:
|
||||
self.btn_csv_record.setText("Record CSV")
|
||||
self.btn_csv_record.setToolTip("Start writing contact/force CSV")
|
||||
self.btn_csv_record.setProperty("recording", False)
|
||||
style = self.btn_csv_record.style()
|
||||
style.unpolish(self.btn_csv_record)
|
||||
style.polish(self.btn_csv_record)
|
||||
self.btn_csv_record.update()
|
||||
|
||||
dir_enabled = not self._csv_recording
|
||||
self.csv_dir_edit.setEnabled(dir_enabled)
|
||||
self.btn_browse_csv_dir.setEnabled(dir_enabled)
|
||||
|
||||
def _on_csv_toggle_clicked(self) -> None:
|
||||
if not self._pipeline_running:
|
||||
return
|
||||
self.csv_record_toggled.emit(not self._csv_recording)
|
||||
|
||||
def _emit_arrow_background_changed(self, _index: int) -> None:
|
||||
value = self.arrow_background_combo.currentData()
|
||||
if value:
|
||||
self.arrow_background_changed.emit(value)
|
||||
|
||||
def set_arrow_background(self, value: ArrowBackground) -> None:
|
||||
idx = self.arrow_background_combo.findData(value)
|
||||
if idx < 0:
|
||||
return
|
||||
self.arrow_background_combo.blockSignals(True)
|
||||
self.arrow_background_combo.setCurrentIndex(idx)
|
||||
self.arrow_background_combo.blockSignals(False)
|
||||
|
||||
def arrow_background(self) -> ArrowBackground:
|
||||
value = self.arrow_background_combo.currentData()
|
||||
return value if value else "unrolled"
|
||||
|
||||
def config_path(self) -> str:
|
||||
return self.config_edit.text().strip()
|
||||
|
||||
def calibration_path(self) -> str:
|
||||
return self.cal_edit.text().strip()
|
||||
|
||||
def finger_export_dir(self) -> str:
|
||||
return self.finger_assets_edit.text().strip()
|
||||
|
||||
def csv_save_dir(self) -> str:
|
||||
return self.csv_dir_edit.text().strip()
|
||||
|
||||
def preference_state(self) -> dict:
|
||||
"""Serialize user-facing settings suitable for preference.json."""
|
||||
return {
|
||||
"video_source": self.video_source(),
|
||||
"config_path": self.config_path(),
|
||||
"finger_assets_dir": self.finger_export_dir(),
|
||||
"csv_save_dir": self.csv_save_dir(),
|
||||
"show_log": bool(self.show_log_check.isChecked()),
|
||||
"show_flow_arrows": bool(self.show_flow_arrows_check.isChecked()),
|
||||
"arrow_background": self.arrow_background(),
|
||||
"free_rotate": bool(self.free_rotate_check.isChecked()),
|
||||
}
|
||||
|
||||
def apply_preference_state(self, state: dict | None) -> None:
|
||||
"""Restore user-facing settings from preference.json."""
|
||||
if not isinstance(state, dict) or not state:
|
||||
return
|
||||
|
||||
show_log = state.get("show_log")
|
||||
if isinstance(show_log, bool):
|
||||
self.show_log_check.blockSignals(True)
|
||||
self.show_log_check.setChecked(show_log)
|
||||
self.show_log_check.blockSignals(False)
|
||||
|
||||
show_flow = state.get("show_flow_arrows")
|
||||
if isinstance(show_flow, bool):
|
||||
self.show_flow_arrows_check.blockSignals(True)
|
||||
self.show_flow_arrows_check.setChecked(show_flow)
|
||||
self.show_flow_arrows_check.blockSignals(False)
|
||||
self._mesh_state.set_flow_arrows_enabled(show_flow)
|
||||
|
||||
arrow_bg = state.get("arrow_background")
|
||||
if isinstance(arrow_bg, str) and arrow_bg:
|
||||
self.set_arrow_background(arrow_bg) # type: ignore[arg-type]
|
||||
|
||||
free_rotate = state.get("free_rotate")
|
||||
if isinstance(free_rotate, bool):
|
||||
self.free_rotate_check.blockSignals(True)
|
||||
self.free_rotate_check.setChecked(free_rotate)
|
||||
self.free_rotate_check.blockSignals(False)
|
||||
|
||||
config_path = state.get("config_path")
|
||||
if isinstance(config_path, str) and config_path.strip():
|
||||
self.set_config_path(config_path.strip())
|
||||
|
||||
assets = state.get("finger_assets_dir")
|
||||
if isinstance(assets, str) and assets.strip():
|
||||
self.set_finger_export_dir(assets.strip())
|
||||
|
||||
csv_dir = state.get("csv_save_dir")
|
||||
if isinstance(csv_dir, str) and csv_dir.strip():
|
||||
self.set_csv_save_dir(csv_dir.strip())
|
||||
|
||||
video = state.get("video_source")
|
||||
if isinstance(video, str) and video.strip():
|
||||
self.set_video_source(video.strip())
|
||||
Reference in New Issue
Block a user