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MainScreenThread.py
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import os
import time
import glob
import cv2
from cv_functions import findlines
import depthai as dai
import numpy as np
from OAK_Cam import make_color_pipe, make_mono_left_pipe, make_mono_right_pipe, make_stereo_pipe
from PySide6.QtCore import Qt, QThread, Signal, Slot,QAbstractTableModel, QPoint, QRect, QSize
from PySide6.QtGui import QAction, QImage, QKeySequence, QPixmap, QScreen
from PySide6.QtWidgets import (QApplication, QComboBox, QGroupBox,
QHBoxLayout, QLabel, QMainWindow, QPushButton,
QSizePolicy, QVBoxLayout, QWidget,QTableView,QTableWidget,
QScrollArea,QFrame, QTableWidgetItem,QProgressDialog,QRubberBand)
def number(f):
return(int(f[5:-4]))
class Thread(QThread):
updateFrame = Signal(list)
def __init__(self, parent=None):
QThread.__init__(self, parent)
self.image_source = None
self.status = True
self.cap = True
self.img_formats = ('.jpg','.bmp','.jpe','.jpeg','.tif','.tiff')
self.vid_formats = ('.mp4','.avi','.mov','.wmv')
self.mixed_formats = ('.mp4','.avi','.mov','.wmv','.jpg','.bmp','.jpe','.jpeg','.tif','.tiff')
self.glob_formats = ['*.jpg','*.bmp','*.jpe','*.jpeg','*.tif','*.tiff']
def set_file(self, fname,frame_no,master_mode,auto,focus,exposure,iso,brightness,contrast,saturation,sharpness,event,roi):
self.image_source = fname.text()
self.frame_no = int(frame_no)
self.master_mode = master_mode
self.auto = auto
self.exposure = exposure
self.iso = iso
self.focus = focus
self.brightness = brightness
self.contrast = contrast
self.saturation = saturation
self.sharpness = sharpness
self.event = event
self.roi = roi
self.rect_start = None
self.rect_end = None
if self.roi is not None:
point_start = self.roi.getState()['pos']
self.rect_size = self.roi.getState()['size']
self.rect_angle = self.roi.getState()['angle']
x_start = int(point_start[0])
y_start = int(point_start[1])
width = int(self.rect_size[0])
height = int(self.rect_size[1])
x_end = x_start+width
y_end = y_start+height
self.rect_start = (x_start,y_start)
self.rect_end = (x_end,y_end)
def run(self):
while True:
self.status = True
if self.image_source != None:
##### Video or Image files -- offline mode only #####
if self.image_source.lower().endswith(self.mixed_formats):
source = self.image_source
self.cap = cv2.VideoCapture(source)
s = time.time()
if self.image_source != None and self.image_source != source:
self.status = False
self.cap.set(cv2.CAP_PROP_POS_FRAMES, self.frame_no)
ret, frame = self.cap.read()
if not ret:
continue
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
if self.rect_start is not None:
points = findlines(frame,self.rect_start,self.rect_end)
x1 = points[0]
y1 = points[1]
x2 = points[2]
y2 = points[3]
# if x1 is not None:
# cv2.line(frame,(x1+self.rect_start[0],y1+self.rect_start[1]),(x2+self.rect_start[0],y2+self.rect_start[1]),(255,0,0),3)
# img = QImage(frame.data, w, h, QImage.Format_Grayscale8)
# img = img.scaled(720, 480)
e = time.time()
delta = 1000*(e-s)
self.updateFrame.emit([frame,delta,points])
# if self.rect_start is not None:
# x1,y1,x2,y2 = findlines(frame,self.rect_start,self.rect_end)
# cv2.line(frame,(x1+self.rect_start[0],y1+self.rect_start[1]),(x2+self.rect_start[0],y2+self.rect_start[1]),(255,0,0),3)
# frame = cv2.resize(frame,(640,480))
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
else:
self.updateFrame.emit([frame,None])
##### Directories of image files -- offline mode only #####
elif os.path.isdir(self.image_source):
source = self.image_source
if self.image_source != None and self.image_source != source:
self.status = False
return
try:
frames = sorted(os.listdir(source),key=number)
except ValueError:
frames = os.listdir(source)
file = frames[self.frame_no]
path = os.path.join(source,file)
self.cap = cv2.VideoCapture(path)
s = time.time()
if file.lower().endswith(self.img_formats):
self.cap.set(cv2.CAP_PROP_POS_FRAMES, 0)
ret,frame = self.cap.read()
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
if self.rect_start is not None:
points = findlines(frame,self.rect_start,self.rect_end)
x1 = points[0]
y1 = points[1]
x2 = points[2]
y2 = points[3]
# if x1 is not None:
# cv2.line(frame,(x1+self.rect_start[0],y1+self.rect_start[1]),(x2+self.rect_start[0],y2+self.rect_start[1]),(255,0,0),3)
# img = QImage(frame.data, w, h, QImage.Format_Grayscale8)
# img = img.scaled(720, 480)
e = time.time()
delta = 1000*(e-s)
self.updateFrame.emit([frame,delta,points])
# if self.rect_start is not None:
# x1,y1,x2,y2 = findlines(frame,self.rect_start,self.rect_end)
# cv2.line(frame,(x1+self.rect_start[0],y1+self.rect_start[1]),(x2+self.rect_start[0],y2+self.rect_start[1]),(255,0,0),3)
# frame = cv2.resize(frame,(640,480))
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
else:
self.updateFrame.emit([frame,None])
##### Webcam -- offline and live mode #####
elif self.image_source == 'Webcam':
source = self.image_source
if self.image_source != None and self.image_source != source:
self.status = False
self.cap.release()
self.cap = cv2.VideoCapture(0)
if self.master_mode == 'live':
while self.status:
s = time.time()
if self.image_source != None and self.image_source != source:
self.status = False
self.cap.release()
ret, frame = self.cap.read()
if not ret:
self.status = False
self.cap.release()
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
if self.rect_start is not None:
points = findlines(frame,self.rect_start,self.rect_end)
x1 = points[0]
y1 = points[1]
x2 = points[2]
y2 = points[3]
# if x1 is not None:
# cv2.line(frame,(x1+self.rect_start[0],y1+self.rect_start[1]),(x2+self.rect_start[0],y2+self.rect_start[1]),(255,0,0),3)
# img = QImage(frame.data, w, h, QImage.Format_Grayscale8)
# img = img.scaled(720, 480)
e = time.time()
delta = 1000*(e-s)
self.updateFrame.emit([frame,delta,points])
if self.master_mode == 'live':
pass
else:
self.cap.release()
self.status = False
break
elif self.master_mode == 'offline':
if self.image_source != None and self.image_source != source:
self.status = False
self.cap.release()
ret, frame = self.cap.read()
if not ret:
self.status = False
self.cap.release()
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
while self.status:
if self.master_mode == 'offline':
if self.image_source != source:
self.status = False
self.cap.release()
break
else:
pass
elif self.master_mode == 'live':
self.status = False
self.cap.release()
break
##### OAK-D LITE Color Camera -- offline and live mode ####
elif self.image_source.split('_')[1] == 'Color':
source = self.image_source
info = dai.DeviceInfo(source.split('_')[0])
pipeline = make_color_pipe()
# Connect to device and start pipeline
with dai.Device(pipeline,info,usb2Mode=True) as device:
video = device.getOutputQueue(name="video", maxSize=1, blocking=False)
controlQ = device.getInputQueue(name='control',maxSize = 8,blocking=False)
if self.auto == False:
ctrl = dai.CameraControl()
ctrl.setManualExposure(self.exposure,self.iso)
ctrl.setContrast(self.contrast)
ctrl.setSaturation(self.saturation)
ctrl.setSharpness(self.sharpness)
controlQ.send(ctrl)
time.sleep(2)
else:
ctrl = dai.CameraControl()
ctrl.setAutoExposureLock(True)
ctrl.setContrast(self.contrast)
ctrl.setSaturation(self.saturation)
ctrl.setSharpness(self.sharpness)
controlQ.send(ctrl)
time.sleep(2)
if self.master_mode == 'live':
while self.status:
s = time.time()
if self.image_source != None and self.image_source != source:
self.status = False
videoIn = video.get()
frame = videoIn.getCvFrame()
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
if self.rect_start is not None:
points = findlines(frame,self.rect_start,self.rect_end)
x1 = points[0]
y1 = points[1]
x2 = points[2]
y2 = points[3]
# if x1 is not None:
# cv2.line(frame,(x1+self.rect_start[0],y1+self.rect_start[1]),(x2+self.rect_start[0],y2+self.rect_start[1]),(255,0,0),3)
# img = QImage(frame.data, w, h, QImage.Format_Grayscale8)
# img = img.scaled(720, 480)
e = time.time()
delta = 1000*(e-s)
self.updateFrame.emit([frame,delta,points])
if self.master_mode == 'live':
pass
else:
self.status = False
break
elif self.master_mode == 'offline':
if self.image_source != None and self.image_source != source:
self.status = False
videoIn = video.get()
frame = videoIn.getCvFrame()
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
while self.status:
if self.master_mode == 'offline':
if self.image_source != source:
self.status = False
break
else:
if self.event == 'exposure' or self.event == 'iso':
ctrl.setManualExposure(self.exposure,self.iso)
controlQ.send(ctrl)
time.sleep(1)
self.event = None
videoIn = video.get()
frame = videoIn.getCvFrame()
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
elif self.event == 'contrast':
ctrl.setContrast(self.contrast)
controlQ.send(ctrl)
time.sleep(1)
self.event = None
videoIn = video.get()
frame = videoIn.getCvFrame()
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
elif self.event == 'saturation':
ctrl.setSaturation(self.saturation)
controlQ.send(ctrl)
time.sleep(1)
self.event = None
videoIn = video.get()
frame = videoIn.getCvFrame()
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
elif self.event == 'sharpness':
ctrl.setSharpness(self.sharpness)
controlQ.send(ctrl)
time.sleep(1)
self.event = None
videoIn = video.get()
frame = videoIn.getCvFrame()
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
elif self.event == 'AutoOn':
ctrl.setAutoExposureEnable()
ctrl.setContrast(0)
ctrl.setSaturation(0)
ctrl.setSharpness(0)
controlQ.send(ctrl)
time.sleep(1)
self.event = None
videoIn = video.get()
frame = videoIn.getCvFrame()
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
break
else:
pass
elif self.master_mode == 'live':
self.status = False
break
##### OAK-D LITE Right Mono Camera -- offline and live mode #####
elif self.image_source.split('_')[1] == 'MonoRight' or self.image_source.split('_')[1] == 'MonoLeft':
source = self.image_source
info = dai.DeviceInfo(source.split('_')[0])
if self.image_source.split('_')[1] == 'MonoRight':
pipeline = make_mono_right_pipe()
elif self.image_source.split('_')[1] == 'MonoLeft':
pipeline = make_mono_left_pipe()
# Connect to device and start pipeline
with dai.Device(pipeline,info,usb2Mode=True) as device:
if self.image_source.split('_')[1] == 'MonoRight':
qRight = device.getOutputQueue(name="right", maxSize=1, blocking=False)
elif self.image_source.split('_')[1] == 'MonoLeft':
qRight = device.getOutputQueue(name="left", maxSize=1, blocking=False)
if self.auto == False:
controlQ = device.getInputQueue(name='control')
ctrl = dai.CameraControl()
ctrl.setManualExposure(self.exposure,self.iso)
controlQ.send(ctrl)
time.sleep(1)
else:
controlQ = device.getInputQueue(name='control')
ctrl = dai.CameraControl()
ctrl.setAutoExposureLock(True)
controlQ.send(ctrl)
time.sleep(1)
if self.master_mode == 'live':
while self.status:
s = time.time()
if self.image_source != None and self.image_source != source:
self.status = False
inRight = qRight.get()
frame = inRight.getCvFrame()
if self.rect_start is not None:
points = findlines(frame,self.rect_start,self.rect_end)
x1 = points[0]
y1 = points[1]
x2 = points[2]
y2 = points[3]
# if x1 is not None:
# cv2.line(frame,(x1+self.rect_start[0],y1+self.rect_start[1]),(x2+self.rect_start[0],y2+self.rect_start[1]),(255,0,0),3)
# img = QImage(frame.data, w, h, QImage.Format_Grayscale8)
# img = img.scaled(720, 480)
e = time.time()
delta = 1000*(e-s)
self.updateFrame.emit([frame,delta,points])
if self.master_mode == 'live':
pass
else:
self.status = False
break
elif self.master_mode == 'offline':
if self.image_source != None and self.image_source != source:
self.status = False
inRight = qRight.get()
frame = inRight.getCvFrame()
# h, w = frame.shape
# img = QImage(frame.data, w, h, QImage.Format_Grayscale8)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
while self.status:
if self.master_mode == 'offline':
if self.image_source != source:
self.status = False
break
else:
if self.event == 'exposure' or self.event == 'iso':
ctrl.setManualExposure(self.exposure,self.iso)
controlQ.send(ctrl)
time.sleep(1)
self.event = None
inRight = qRight.get()
frame = inRight.getCvFrame()
# h, w = frame.shape
# img = QImage(frame.data, w, h, QImage.Format_Grayscale8)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
elif self.event == 'AutoOn':
ctrl.setAutoExposureEnable()
controlQ.send(ctrl)
time.sleep(1)
self.event = None
inRight = qRight.get()
frame = inRight.getCvFrame()
# h, w = frame.shape
# img = QImage(frame.data, w, h, QImage.Format_Grayscale8)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
break
else:
pass
elif self.master_mode == 'live':
self.status = False
break
##### OAK-D LITE Depth Camera -- offline and live mode #####
elif self.image_source.split('_')[1] == 'Stereo':
source = self.image_source
info = dai.DeviceInfo(source.split('_')[0])
pipeline, depth = make_stereo_pipe()
# Connect to device and start pipeline
with dai.Device(pipeline,info,usb2Mode=True) as device:
q = device.getOutputQueue(name="disparity", maxSize=1, blocking=False)
if self.master_mode == 'live':
while self.status:
s = time.time()
if self.image_source != None and self.image_source != source:
self.status = False
inq = q.get()
frame = inq.getFrame()
frame = (frame *(255 / depth.initialConfig.getMaxDisparity())).astype(np.uint8)
frame = cv2.applyColorMap(frame,cv2.COLORMAP_JET)
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
e = time.time()
delta = 1000*(e-s)
self.updateFrame.emit([frame,delta])
if self.master_mode == 'live':
pass
else:
self.status = False
break
elif self.master_mode == 'offline':
if self.image_source != None and self.image_source != source:
self.status = False
inq = q.get()
frame = inq.getFrame()
frame = (frame *(255 / depth.initialConfig.getMaxDisparity())).astype(np.uint8)
frame = cv2.applyColorMap(frame,cv2.COLORMAP_JET)
# h, w, ch = frame.shape
# img = QImage(frame.data, w, h, ch * w, QImage.Format_RGB888)
# img = img.scaled(720, 480)
self.updateFrame.emit([frame,None])
while self.status:
if self.master_mode == 'offline':
if self.image_source != source:
self.status = False
break
else:
pass
elif self.master_mode == 'live':
self.status = False
break
else:
pass