Improve UX of rotated ROI selection

This commit is contained in:
Charlton Rodda 2023-11-06 06:15:40 +00:00
parent 1b961ae477
commit de764e57ca

View File

@ -12,6 +12,7 @@ import cv2
import sys
from utils.misc_utils import PlaySound, SND_FILENAME, SND_ASYNC, resource_path
import traceback
import math
import numpy as np
@ -114,17 +115,6 @@ class CameraWidget:
# Define the window's contents
self.tracking_layout = [
[
sg.Text("Rotation", background_color="#424042"),
sg.Slider(
range=(0, 360),
default_value=self.config.rotation_angle,
orientation="h",
key=self.gui_rotation_slider,
background_color="#424042",
tooltip="Adjust the rotation of your cameras, make them level.",
),
],
[
sg.Button(
"Start Calibration",
@ -210,6 +200,17 @@ class CameraWidget:
tooltip="Go here to crop out your eye.",
),
],
[
sg.Text("Rotation", background_color="#424042"),
sg.Slider(
range=(0, 360),
default_value=self.config.rotation_angle,
orientation="h",
key=self.gui_rotation_slider,
background_color="#424042",
tooltip="Adjust the rotation of your cameras, make them level.",
),
],
[
sg.Column(
self.tracking_layout,
@ -225,8 +226,16 @@ class CameraWidget:
],
]
# cartesian co-ordinates in widget space are used during selection
self.x0, self.y0 = None, None
self.x1, self.y1 = None, None
self.cartesian_needs_update = False
# polar co-ordinates from the image center are the canonical representation
self.cr, self.ca = None, None
self.w, self.h = None, None
self.pad_x, self.pad_y = None, None
self.roi_image_center = (None, None)
self.figure = None
self.is_mouse_up = True
self.in_roi_mode = False
@ -243,6 +252,35 @@ class CameraWidget:
self.movavg_bps_queue.append(next_bps)
return f"{sum(self.movavg_bps_queue) / len(self.movavg_bps_queue) * 0.001 * 0.001 * 8:.3f} Mbps"
def _cartesian_to_polar(self):
if None not in (self.x0, self.y0, self.x1, self.y1):
image_center_x, image_center_y = self.roi_image_center
roi_center_x = image_center_x - (self.x0 + self.x1) / 2.
roi_center_y = image_center_y - (self.y0 + self.y1) / 2.
self.cr = (roi_center_x**2 + roi_center_y**2)**0.5
self.ca = math.atan2(roi_center_x, roi_center_y) - \
math.radians(self.config.rotation_angle)
self.w = abs(self.x1 - self.x0)
self.h = abs(self.y1 - self.y0)
def _polar_to_cartesian_at_angle(self, rotation_angle_radians):
if None not in (self.cr, self.ca, self.w, self.h):
image_center_x, image_center_y = self.roi_image_center
ca = self.ca + rotation_angle_radians
cx = -math.sin(ca) * self.cr + image_center_x
cy = -math.cos(ca) * self.cr + image_center_y
return ((int(cx - self.w/2), int(cy - self.h/2)),
(int(cx + self.w/2), int(cy + self.h/2)))
else:
return 4 * (None,)
def _polar_to_cartesian(self):
if None not in (self.cr, self.ca, self.w, self.h):
(self.x0, self.y0), (self.x1, self.y1) = \
self._polar_to_cartesian_at_angle(
math.radians(self.config.rotation_angle))
def started(self):
return not self.cancellation_event.is_set()
@ -296,9 +334,10 @@ class CameraWidget:
self.config.capture_source = values[self.gui_camera_addr]
changed = True
if self.config.rotation_angle != values[self.gui_rotation_slider]:
if self.config.rotation_angle != int(values[self.gui_rotation_slider]):
self.config.rotation_angle = int(values[self.gui_rotation_slider])
changed = True
self.cartesian_needs_update = True
# if self.config.gui_circular_crop != values[self.gui_circular_crop]:
# self.config.gui_circular_crop = values[self.gui_circular_crop]
@ -325,15 +364,14 @@ class CameraWidget:
# Event for mouse button up in ROI mode
self.is_mouse_up = True
print("UP")
if self.x1 < 0:
self.x1 = 0
if self.y1 < 0:
self.y1 = 0
# TODO keep rect in bounds of rotated image
if abs(self.x0 - self.x1) != 0 and abs(self.y0 - self.y1) != 0:
self.config.roi_window_x = min([self.x0, self.x1])
self.config.roi_window_y = min([self.y0, self.y1])
self.config.roi_window_w = abs(self.x0 - self.x1)
self.config.roi_window_h = abs(self.y0 - self.y1)
(x0, y0), (x1, y1) = self._polar_to_cartesian_at_angle(0)
self.config.roi_window_x = min([x0, x1]) - self.pad_x
self.config.roi_window_y = min([y0, y1]) - self.pad_y
self.config.roi_window_w = abs(x0 - x1)
self.config.roi_window_h = abs(y0 - y1)
self.main_config.save()
if event == self.gui_roi_selection:
@ -344,6 +382,8 @@ class CameraWidget:
self.x1, self.y1 = values[self.gui_roi_selection]
self._cartesian_to_polar()
if event == self.gui_restart_calibration:
self.ransac.calibration_frame_counter = self.settings.calibration_samples
self.ransac.ibo.clear_filter()
@ -401,6 +441,41 @@ class CameraWidget:
if self.roi_queue.empty():
self.capture_event.set()
maybe_image = self.roi_queue.get(block=False)
if maybe_image:
image = maybe_image[0]
img_w, img_h, _ = image.shape
# TODO: rotation matrix -> bounding box corners -> crop matrix
hyp = math.ceil((img_w**2 + img_h**2)**0.5)
self.pad_x = (hyp - img_w)/2
self.pad_y = (hyp - img_h)/2
self.roi_image_center = (hyp / 2, hyp / 2)
# deferred to after roi_image_center is updated
if self.cartesian_needs_update:
self._polar_to_cartesian()
self.cartesian_needs_update = False
crop_matrix = np.float32([[1, 0, self.pad_x],
[0, 1, self.pad_y],
[0, 0, 1]])
rotation_matrix = cv2.getRotationMatrix2D(
self.roi_image_center, self.config.rotation_angle, 1
)
matrix = np.matmul(rotation_matrix, crop_matrix)
image = cv2.warpAffine(
image,
matrix,
(hyp, hyp),
borderMode=cv2.BORDER_CONSTANT,
borderValue=(128, 128, 128),
)
maybe_image = (image, *maybe_image[1:])
imgbytes = cv2.imencode(".ppm", maybe_image[0])[1].tobytes()
graph = window[self.gui_roi_selection]
if self.figure:
@ -411,7 +486,6 @@ class CameraWidget:
graph.erase()
graph.draw_image(data=imgbytes, location=(0, 0))
if None not in (self.x0, self.y0, self.x1, self.y1):
self.figure = graph.draw_rectangle(
(self.x0, self.y0), (self.x1, self.y1), line_color="#6f4ca1"
)