GUI for finger v1
This commit is contained in:
ykcheungab
@@ -0,0 +1,20 @@
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"""Qt widgets for the finger dashboard."""
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from .force_charts import ForceChartWidget
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from .log_panel import TeeStream, WidgetLogHandler, make_log_widget
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from .mesh_viewport import MeshViewportWidget
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from .arrow_image import ArrowPanelWidget
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from .qt_pixmap import ndarray_to_pixmap, pixmap_keep_aspect
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from .image_panel import ImagePanel
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__all__ = [
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"ArrowPanelWidget",
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"ForceChartWidget",
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"MeshViewportWidget",
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"ImagePanel",
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"TeeStream",
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"WidgetLogHandler",
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"make_log_widget",
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"ndarray_to_pixmap",
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"pixmap_keep_aspect",
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]
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@@ -0,0 +1,44 @@
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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 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 .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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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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def set_flow_threshold(self, threshold: float) -> None:
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self.flow_threshold = threshold
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def update_frame(self, frame: FingerFrameView) -> None:
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arrows = render_uv_arrows(
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frame.unrolled,
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frame.vnormal,
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flow_threshold=self.flow_threshold,
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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 +1,202 @@
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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 gui.layout import DashboardLayout, LAYOUT
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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._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 = ["法向力", "切向力 X", "切向力 Y"]
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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("SimHei", 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("SimHei", title_pt))
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plot.setLabel("bottom", "时间", 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("Consolas", 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._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:
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return
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layout = self._layout
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data_plot = self.data[:n].copy()
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times = data_plot[:, 0, 0] - float(data_plot[0, 0, 0])
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for channel in range(3):
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data_plot[:, 1, channel] = lowpass_filter(
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data_plot[:, 1, channel],
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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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x_end = float(times[-1])
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x_start = max(0.0, x_end - self._plot_window_sec)
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if x_end - x_start < self._plot_window_sec:
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x_start = 0.0
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x_end = max(self._plot_window_sec, x_end)
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for i, curve in enumerate(self.curves):
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y = data_plot[:, 1, i]
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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[i] is None:
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self._y_range_smooth[i] = (ymin, ymax)
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else:
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prev_min, prev_max = self._y_range_smooth[i]
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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[i] = (ymin, ymax)
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pad = max((ymax - ymin) * 0.12, 0.01)
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self.plots[i].setYRange(ymin - pad, ymax + pad)
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last_x = times[-1:]
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last_y = y[-1:]
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self.dot_glows[i].setData(last_x, last_y)
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self.dot_cores[i].setData(last_x, last_y)
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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 .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 +1,51 @@
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"""Logging helpers for the finger dashboard."""
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from __future__ import annotations
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from PyQt5.QtGui import QFont
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from PyQt5.QtWidgets import QPlainTextEdit
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class TeeStream:
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"""Write to multiple text streams."""
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def __init__(self, *streams):
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self.streams = streams
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def write(self, text):
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for stream in self.streams:
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stream.write(text)
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def flush(self):
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for stream in self.streams:
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stream.flush()
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class WidgetLogHandler:
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"""Mirror print output into a QPlainTextEdit."""
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def __init__(self, widget: QPlainTextEdit):
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self.widget = widget
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self.buf = ""
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def write(self, text: str):
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self.buf += text
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while "\n" in self.buf:
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line, self.buf = self.buf.split("\n", 1)
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if line:
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self.widget.appendPlainText(line)
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def flush(self):
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if self.buf:
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self.widget.appendPlainText(self.buf)
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self.buf = ""
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def make_log_widget() -> QPlainTextEdit:
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widget = QPlainTextEdit()
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widget.setReadOnly(True)
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widget.setMaximumBlockCount(2000)
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font = QFont("Consolas", 12)
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font.setStyleHint(QFont.Monospace)
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widget.setFont(font)
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return widget
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@@ -0,0 +1,79 @@
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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 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 .qt_pixmap import ndarray_to_pixmap
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from .image_panel import ImagePanel
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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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|
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def __init__(self, parent=None, *, layout: DashboardLayout = LAYOUT):
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self._layout = layout
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self._renderer: OffscreenFingerMeshRenderer | 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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slot = layout.top_slot("mesh")
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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(slot.width_px, slot.height_px),
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parent=parent,
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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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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:
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if not self._enable_3d or pipeline.uv_mesh is None:
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return
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side = self.side_length
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self._renderer = OffscreenFingerMeshRenderer(
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pipeline.uv_mesh,
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width=side,
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height=side,
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threshold=self._threshold,
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color_mode=self._mesh_map,
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world_to_cam=pipeline.world_to_cam,
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lookat=pipeline.mesh_lookat,
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)
|
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def on_side_length_changed(self, side: int) -> None:
|
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if self._renderer is not None:
|
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self._renderer.resize(side, side)
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|
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def update_frame(self, frame: FingerFrameView) -> None:
|
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if not self._enable_3d or self._renderer is None:
|
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return
|
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rgb = self._renderer.render(
|
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flow=frame.flow,
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scalar_map=frame.depth_map,
|
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centroid=frame.centroid,
|
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centroid_found=frame.centroid_found,
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fnormal=frame.fnormal,
|
||||
)
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self.set_source_pixmap(ndarray_to_pixmap(rgb, bgr=False))
|
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|
||||
def close_renderer(self) -> None:
|
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if self._renderer is not None:
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self._renderer.close()
|
||||
self._renderer = None
|
||||
@@ -0,0 +1,32 @@
|
||||
"""Qt pixmap conversion helpers (no widget dependencies)."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import cv2
|
||||
import numpy as np
|
||||
from PyQt5.QtCore import Qt
|
||||
from PyQt5.QtGui import QImage, QPixmap
|
||||
|
||||
|
||||
def ndarray_to_pixmap(image: np.ndarray, *, bgr: bool = True) -> QPixmap:
|
||||
"""Convert a numpy image to QPixmap for QLabel display."""
|
||||
arr = np.ascontiguousarray(image)
|
||||
if arr.ndim == 2:
|
||||
arr = cv2.cvtColor(arr, cv2.COLOR_GRAY2BGR)
|
||||
bgr = True
|
||||
if arr.ndim == 3 and arr.shape[2] == 4:
|
||||
arr = arr[:, :, :3]
|
||||
if bgr:
|
||||
rgb = cv2.cvtColor(arr, cv2.COLOR_BGR2RGB)
|
||||
else:
|
||||
rgb = arr
|
||||
h, w, ch = rgb.shape
|
||||
qimg = QImage(rgb.data, w, h, ch * w, QImage.Format_RGB888)
|
||||
return QPixmap.fromImage(qimg.copy())
|
||||
|
||||
|
||||
def pixmap_keep_aspect(pixmap: QPixmap, size) -> QPixmap:
|
||||
"""Scale a pixmap to fit ``size`` without changing aspect ratio."""
|
||||
if size.width() <= 0 or size.height() <= 0:
|
||||
return pixmap
|
||||
return pixmap.scaled(size, Qt.KeepAspectRatio, Qt.SmoothTransformation)
|
||||
Reference in New Issue
Block a user