""" Manual annotation tool for camera calibration aids. Use this when automatic corner detection is not practical. It lets you freeze a camera/video frame or open an image, then manually mark corners, lines, rectangles, and ROI boxes. Saved JSON coordinates are in original image pixels. """ import argparse import json import os import sys from datetime import datetime os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" import cv2 import numpy as np def _fix_qt_plugin_path(): """OpenCV can redirect Qt to cv2/qt/plugins; prefer PyQt5's plugins.""" try: from PyQt5.QtCore import QLibraryInfo os.environ["QT_QPA_PLATFORM_PLUGIN_PATH"] = QLibraryInfo.location( QLibraryInfo.PluginsPath ) except Exception: path = os.environ.get("QT_QPA_PLATFORM_PLUGIN_PATH", "") if "cv2" in path.replace("\\", "/"): os.environ.pop("QT_QPA_PLATFORM_PLUGIN_PATH", None) _fix_qt_plugin_path() from PyQt5.QtCore import QPoint, QRect, Qt, QTimer from PyQt5.QtGui import QColor, QFont, QImage, QPainter, QPen, QPixmap from PyQt5.QtWidgets import ( QAction, QApplication, QButtonGroup, QFileDialog, QHBoxLayout, QLabel, QLineEdit, QMainWindow, QMessageBox, QPushButton, QSizePolicy, QToolButton, QVBoxLayout, QWidget, ) COLORS = { "corner": QColor(0, 229, 255), "line": QColor(255, 213, 79), "rect": QColor(129, 199, 132), "roi": QColor(255, 112, 67), } MODE_TEXT = { "corner": "角点", "line": "直线", "rect": "矩形", "roi": "ROI", } def cv_to_qpixmap(frame_bgr): rgb = cv2.cvtColor(frame_bgr, cv2.COLOR_BGR2RGB) h, w, ch = rgb.shape qimg = QImage(rgb.data, w, h, ch * w, QImage.Format_RGB888).copy() return QPixmap.fromImage(qimg) def normalize_rect(p0, p1): x0, y0 = p0 x1, y1 = p1 left, right = sorted((int(round(x0)), int(round(x1)))) top, bottom = sorted((int(round(y0)), int(round(y1)))) return [left, top, max(0, right - left), max(0, bottom - top)] class ImageCanvas(QLabel): def __init__(self, parent=None): super().__init__(parent) self.setMouseTracking(True) self.setFocusPolicy(Qt.StrongFocus) self.setAlignment(Qt.AlignCenter) self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) self.setMinimumSize(640, 480) self.frame = None self.pixmap_src = None self.annotations = [] self.mode = "corner" self.drag_start = None self.drag_current = None self.hover_img_pos = None self.status_callback = None def set_status_callback(self, callback): self.status_callback = callback def set_frame(self, frame_bgr): self.frame = frame_bgr.copy() self.pixmap_src = cv_to_qpixmap(self.frame) self.update() def clear_annotations(self): self.annotations.clear() self.drag_start = None self.drag_current = None self.update() def undo(self): if self.annotations: self.annotations.pop() self.update() def set_mode(self, mode): self.mode = mode self.drag_start = None self.drag_current = None self.update() def image_size(self): if self.frame is None: return None h, w = self.frame.shape[:2] return [w, h] def _target_rect(self): if self.pixmap_src is None: return QRect() src_w = self.pixmap_src.width() src_h = self.pixmap_src.height() if src_w <= 0 or src_h <= 0: return QRect() widget_w = self.width() widget_h = self.height() scale = min(widget_w / src_w, widget_h / src_h) draw_w = int(src_w * scale) draw_h = int(src_h * scale) x = (widget_w - draw_w) // 2 y = (widget_h - draw_h) // 2 return QRect(x, y, draw_w, draw_h) def _widget_to_image(self, pos): if self.pixmap_src is None: return None rect = self._target_rect() if not rect.contains(pos): return None x = (pos.x() - rect.x()) * self.pixmap_src.width() / rect.width() y = (pos.y() - rect.y()) * self.pixmap_src.height() / rect.height() x = min(max(x, 0), self.pixmap_src.width() - 1) y = min(max(y, 0), self.pixmap_src.height() - 1) return [float(x), float(y)] def _image_to_widget(self, point): rect = self._target_rect() x = rect.x() + point[0] * rect.width() / self.pixmap_src.width() y = rect.y() + point[1] * rect.height() / self.pixmap_src.height() return QPoint(int(round(x)), int(round(y))) def mousePressEvent(self, event): if event.button() != Qt.LeftButton or self.frame is None: return img_pos = self._widget_to_image(event.pos()) if img_pos is None: return if self.mode == "corner": self.annotations.append( { "type": "corner", "label": f"corner_{self._count_type('corner') + 1}", "points": [[round(img_pos[0], 2), round(img_pos[1], 2)]], } ) self.update() else: self.drag_start = img_pos self.drag_current = img_pos self.update() def mouseMoveEvent(self, event): img_pos = self._widget_to_image(event.pos()) self.hover_img_pos = img_pos if self.status_callback: if img_pos is None: self.status_callback(f"模式: {MODE_TEXT[self.mode]} | 坐标: -") else: self.status_callback( f"模式: {MODE_TEXT[self.mode]} | 坐标: " f"x={img_pos[0]:.1f}, y={img_pos[1]:.1f}" ) if self.drag_start is not None and img_pos is not None: self.drag_current = img_pos self.update() def mouseReleaseEvent(self, event): if event.button() != Qt.LeftButton or self.drag_start is None: return img_pos = self._widget_to_image(event.pos()) or self.drag_current if img_pos is None: self.drag_start = None self.drag_current = None self.update() return p0 = [round(self.drag_start[0], 2), round(self.drag_start[1], 2)] p1 = [round(img_pos[0], 2), round(img_pos[1], 2)] if self.mode == "line": self.annotations.append( { "type": "line", "label": f"line_{self._count_type('line') + 1}", "points": [p0, p1], } ) elif self.mode in ("rect", "roi"): x, y, w, h = normalize_rect(p0, p1) if w > 0 and h > 0: self.annotations.append( { "type": self.mode, "label": f"{self.mode}_{self._count_type(self.mode) + 1}", "rect": [x, y, w, h], "points": [[x, y], [x + w, y + h]], } ) self.drag_start = None self.drag_current = None self.update() def keyPressEvent(self, event): if event.key() == Qt.Key_Z and event.modifiers() & Qt.ControlModifier: self.undo() else: super().keyPressEvent(event) def paintEvent(self, event): painter = QPainter(self) painter.fillRect(self.rect(), QColor("#0b0b0b")) if self.pixmap_src is None: painter.setPen(QColor("#777777")) painter.setFont(QFont("SimHei", 16)) painter.drawText(self.rect(), Qt.AlignCenter, "打开图片/视频或启动摄像头") painter.end() return target = self._target_rect() painter.drawPixmap(target, self.pixmap_src) painter.setRenderHint(QPainter.Antialiasing, True) for ann in self.annotations: self._draw_annotation(painter, ann) if self.drag_start is not None and self.drag_current is not None: preview = self._preview_annotation() if preview is not None: self._draw_annotation(painter, preview, preview=True) painter.end() def _preview_annotation(self): if self.mode == "line": return {"type": "line", "points": [self.drag_start, self.drag_current]} if self.mode in ("rect", "roi"): x, y, w, h = normalize_rect(self.drag_start, self.drag_current) return { "type": self.mode, "rect": [x, y, w, h], "points": [[x, y], [x + w, y + h]], } return None def _draw_annotation(self, painter, ann, preview=False): color = COLORS.get(ann["type"], QColor(255, 255, 255)) pen = QPen(color, 2 if not preview else 1, Qt.DashLine if preview else Qt.SolidLine) painter.setPen(pen) painter.setBrush(Qt.NoBrush) if ann["type"] == "corner": p = self._image_to_widget(ann["points"][0]) painter.drawEllipse(p, 5, 5) painter.drawLine(p.x() - 8, p.y(), p.x() + 8, p.y()) painter.drawLine(p.x(), p.y() - 8, p.x(), p.y() + 8) self._draw_label(painter, p, ann.get("label", "corner"), color) elif ann["type"] == "line": p0 = self._image_to_widget(ann["points"][0]) p1 = self._image_to_widget(ann["points"][1]) painter.drawLine(p0, p1) self._draw_label(painter, p0, ann.get("label", "line"), color) elif ann["type"] in ("rect", "roi"): x, y, w, h = ann["rect"] p0 = self._image_to_widget([x, y]) p1 = self._image_to_widget([x + w, y + h]) rect = QRect(p0, p1).normalized() painter.drawRect(rect) self._draw_label(painter, rect.topLeft(), ann.get("label", ann["type"]), color) def _draw_label(self, painter, pos, text, color): painter.setFont(QFont("Consolas", 10)) metrics = painter.fontMetrics() box = metrics.boundingRect(text).adjusted(-4, -2, 4, 2) box.moveTopLeft(pos + QPoint(8, -box.height() - 4)) painter.fillRect(box, QColor(0, 0, 0, 170)) painter.setPen(color) painter.drawText(box, Qt.AlignCenter, text) def _count_type(self, ann_type): return sum(1 for ann in self.annotations if ann["type"] == ann_type) class MainWindow(QMainWindow): def __init__(self, args): super().__init__() self.setWindowTitle("Orisys 手动标定标注工具") self.args = args self.capture = None self.source = None self.source_type = None self.paused = True self.timer = QTimer(self) self.timer.timeout.connect(self._read_frame) self._setup_ui() self._setup_shortcuts() if args.source: self._open_source(args.source) def _setup_ui(self): root = QWidget() self.setCentralWidget(root) layout = QVBoxLayout(root) layout.setContentsMargins(8, 8, 8, 8) layout.setSpacing(8) top = QHBoxLayout() top.setSpacing(6) self.source_edit = QLineEdit(str(self.args.source if self.args.source is not None else "0")) self.source_edit.setPlaceholderText("摄像头编号、视频路径或图片路径") top.addWidget(self.source_edit, 1) self.btn_open = QPushButton("打开") self.btn_open.clicked.connect(self._on_open_clicked) top.addWidget(self.btn_open) self.btn_file = QPushButton("选文件") self.btn_file.clicked.connect(self._choose_file) top.addWidget(self.btn_file) self.btn_pause = QPushButton("暂停/继续") self.btn_pause.clicked.connect(self._toggle_pause) top.addWidget(self.btn_pause) self.btn_save = QPushButton("保存 JSON") self.btn_save.clicked.connect(self._save_json) top.addWidget(self.btn_save) self.btn_save_image = QPushButton("保存预览图") self.btn_save_image.clicked.connect(self._save_preview) top.addWidget(self.btn_save_image) layout.addLayout(top) tools = QHBoxLayout() tools.setSpacing(6) self.mode_group = QButtonGroup(self) self.mode_group.setExclusive(True) for mode in ("corner", "line", "rect", "roi"): btn = QToolButton() btn.setText(MODE_TEXT[mode]) btn.setCheckable(True) btn.clicked.connect(lambda checked, m=mode: self.canvas.set_mode(m)) self.mode_group.addButton(btn) tools.addWidget(btn) if mode == "corner": btn.setChecked(True) tools.addStretch(1) self.btn_undo = QPushButton("撤销") self.btn_undo.clicked.connect(lambda: self.canvas.undo()) tools.addWidget(self.btn_undo) self.btn_clear = QPushButton("清空") self.btn_clear.clicked.connect(self._clear_annotations) tools.addWidget(self.btn_clear) layout.addLayout(tools) self.canvas = ImageCanvas() self.canvas.set_status_callback(self._set_status) layout.addWidget(self.canvas, 1) self.status = QLabel("模式: 角点 | 坐标: -") self.status.setMinimumHeight(24) layout.addWidget(self.status) self.setStyleSheet( """ QMainWindow, QWidget { background: #111111; color: #dddddd; } QLineEdit { background: #0b0b0b; color: #dddddd; border: 1px solid #333333; border-radius: 4px; padding: 5px 8px; } QPushButton, QToolButton { background: #1d1d1d; color: #dddddd; border: 1px solid #333333; border-radius: 4px; padding: 6px 12px; } QPushButton:hover, QToolButton:hover { background: #2a2a2a; } QToolButton:checked { background: #00323a; color: #00e5ff; border-color: #00a6b8; } QLabel { color: #aaaaaa; } """ ) def _setup_shortcuts(self): shortcuts = [ ("Ctrl+S", self._save_json), ("Ctrl+Z", self.canvas.undo), ("Space", self._toggle_pause), ("C", lambda: self._select_mode("corner")), ("L", lambda: self._select_mode("line")), ("B", lambda: self._select_mode("rect")), ("R", lambda: self._select_mode("roi")), ] for key, callback in shortcuts: action = QAction(self) action.setShortcut(key) action.triggered.connect(callback) self.addAction(action) def _select_mode(self, mode): self.canvas.set_mode(mode) for btn in self.mode_group.buttons(): if btn.text() == MODE_TEXT[mode]: btn.setChecked(True) break def _set_status(self, text): total = len(self.canvas.annotations) self.status.setText(f"{text} | 标注数: {total}") def _on_open_clicked(self): self._open_source(self.source_edit.text().strip()) def _choose_file(self): path, _ = QFileDialog.getOpenFileName( self, "选择图片或视频", "data", "媒体文件 (*.png *.jpg *.jpeg *.bmp *.tif *.tiff *.mp4 *.avi *.mov);;所有文件 (*)", ) if path: self.source_edit.setText(path) self._open_source(path) def _open_source(self, source): self._release_capture() self.canvas.clear_annotations() self.source = source src_for_cv = source try: src_for_cv = int(source) except (TypeError, ValueError): pass if isinstance(src_for_cv, str) and self._is_image_file(src_for_cv): frame = cv2.imread(src_for_cv, cv2.IMREAD_COLOR) if frame is None: self._show_error(f"无法读取图片: {src_for_cv}") return self.source_type = "image" self.paused = True self.canvas.set_frame(frame) self._set_status("图片已打开") return cap = cv2.VideoCapture(src_for_cv) if not cap.isOpened(): self._show_error(f"无法打开输入源: {source}") return self.capture = cap self.source_type = "camera_or_video" self.paused = False self.timer.start(30) self._read_frame() def _read_frame(self): if self.capture is None or self.paused: return ok, frame = self.capture.read() if not ok: self.paused = True self.timer.stop() self._set_status("视频结束或读取失败") return self.canvas.set_frame(frame) def _toggle_pause(self): if self.capture is None: return self.paused = not self.paused if self.paused: self.timer.stop() else: self.timer.start(30) def _clear_annotations(self): if not self.canvas.annotations: return reply = QMessageBox.question( self, "清空标注", "确定清空当前所有标注？", QMessageBox.Yes | QMessageBox.No, QMessageBox.No, ) if reply == QMessageBox.Yes: self.canvas.clear_annotations() def _save_json(self): if self.canvas.frame is None: self._show_error("当前没有图像可保存。") return default_dir = os.path.join("examples", "annotations") os.makedirs(default_dir, exist_ok=True) default_path = os.path.join( default_dir, f"manual_annotation_{datetime.now().strftime('%Y%m%d_%H%M%S')}.json" ) path, _ = QFileDialog.getSaveFileName( self, "保存标注 JSON", default_path, "JSON (*.json);;所有文件 (*)" ) if not path: return if not path.lower().endswith(".json"): path += ".json" payload = { "created_at": datetime.now().isoformat(timespec="seconds"), "source": self.source, "source_type": self.source_type, "image_size": self.canvas.image_size(), "coordinate_system": "origin_top_left_pixels", "annotations": self.canvas.annotations, } with open(path, "w", encoding="utf-8") as f: json.dump(payload, f, ensure_ascii=False, indent=2) self._set_status(f"已保存: {path}") def _save_preview(self): if self.canvas.frame is None: self._show_error("当前没有图像可保存。") return preview = self._render_preview_image() default_dir = os.path.join("examples", "annotations") os.makedirs(default_dir, exist_ok=True) default_path = os.path.join( default_dir, f"manual_annotation_{datetime.now().strftime('%Y%m%d_%H%M%S')}.png" ) path, _ = QFileDialog.getSaveFileName( self, "保存标注预览图", default_path, "PNG (*.png);;所有文件 (*)" ) if not path: return if not path.lower().endswith(".png"): path += ".png" cv2.imwrite(path, preview) self._set_status(f"已保存预览图: {path}") def _render_preview_image(self): img = self.canvas.frame.copy() for ann in self.canvas.annotations: color = COLORS.get(ann["type"], QColor(255, 255, 255)) bgr = (color.blue(), color.green(), color.red()) if ann["type"] == "corner": x, y = [int(round(v)) for v in ann["points"][0]] cv2.drawMarker(img, (x, y), bgr, cv2.MARKER_CROSS, 18, 2) cv2.circle(img, (x, y), 5, bgr, 2) cv2.putText(img, ann.get("label", "corner"), (x + 8, y - 8), cv2.FONT_HERSHEY_SIMPLEX, 0.5, bgr, 1, cv2.LINE_AA) elif ann["type"] == "line": p0 = tuple(int(round(v)) for v in ann["points"][0]) p1 = tuple(int(round(v)) for v in ann["points"][1]) cv2.line(img, p0, p1, bgr, 2) cv2.putText(img, ann.get("label", "line"), (p0[0] + 8, p0[1] - 8), cv2.FONT_HERSHEY_SIMPLEX, 0.5, bgr, 1, cv2.LINE_AA) elif ann["type"] in ("rect", "roi"): x, y, w, h = ann["rect"] cv2.rectangle(img, (x, y), (x + w, y + h), bgr, 2) cv2.putText(img, ann.get("label", ann["type"]), (x + 8, y + 18), cv2.FONT_HERSHEY_SIMPLEX, 0.5, bgr, 1, cv2.LINE_AA) return img def _release_capture(self): self.timer.stop() if self.capture is not None: self.capture.release() self.capture = None def closeEvent(self, event): self._release_capture() event.accept() @staticmethod def _is_image_file(path): return os.path.splitext(path.lower())[1] in { ".png", ".jpg", ".jpeg", ".bmp", ".tif", ".tiff" } def _show_error(self, message): QMessageBox.warning(self, "错误", message) self._set_status(message) def parse_args(): parser = argparse.ArgumentParser() parser.add_argument( "--source", "-s", default="0", help="Camera index, video path, or image path. Default: 0", ) return parser.parse_args() def main(): args = parse_args() QApplication.setAttribute(Qt.AA_EnableHighDpiScaling, True) QApplication.setAttribute(Qt.AA_UseHighDpiPixmaps, True) app = QApplication(sys.argv) window = MainWindow(args) window.resize(1280, 860) window.show() sys.exit(app.exec_()) if __name__ == "__main__": main()