diff --git a/parallax/__init__.py b/parallax/__init__.py index 67bd916d..02208d94 100644 --- a/parallax/__init__.py +++ b/parallax/__init__.py @@ -4,7 +4,7 @@ import os -__version__ = "0.37.20" +__version__ = "0.37.21" # allow multiple OpenMP instances os.environ["KMP_DUPLICATE_LIB_OK"] = "True" diff --git a/parallax/axis_filter.py b/parallax/axis_filter.py index ffcbd649..b55ca276 100644 --- a/parallax/axis_filter.py +++ b/parallax/axis_filter.py @@ -14,7 +14,7 @@ # Set logger name logger = logging.getLogger(__name__) -logger.setLevel(logging.DEBUG) +logger.setLevel(logging.WARNING) class AxisFilter(QObject): """Class representing no filter.""" diff --git a/parallax/bundle_adjustment.py b/parallax/bundle_adjustment.py index 600c142e..340c2446 100644 --- a/parallax/bundle_adjustment.py +++ b/parallax/bundle_adjustment.py @@ -6,7 +6,7 @@ # Set logger name logger = logging.getLogger(__name__) -logger.setLevel(logging.DEBUG) +logger.setLevel(logging.WARNING) class BALProblem: def __init__(self, model, file_path): @@ -184,7 +184,7 @@ def optimize(self, print_result=True): self.opt_points = opt_params[12 * n_cams:].reshape(n_pts, 3) if print_result: - print(f"\n************** Optimization completed. **************************") + print(f"\n*********** Optimization completed **************") # Compute initial residuals initial_residuals = self.residuals(initial_params) initial_residuals_sum = np.sum(initial_residuals**2) @@ -196,7 +196,7 @@ def optimize(self, print_result=True): opt_residuals_sum = np.sum(opt_residuals**2) average_residual = opt_residuals_sum / len(self.bal_problem.observations) print(f"** After BA, Average residual of reproj: {np.round(average_residual, 2)} **") - print(f"******************************************************************") + print(f"****************************************************") logger.debug(f"Optimized camera parameters: {self.opt_camera_params}") diff --git a/parallax/coords_transformation.py b/parallax/coords_transformation.py index 61031451..302b0440 100644 --- a/parallax/coords_transformation.py +++ b/parallax/coords_transformation.py @@ -64,9 +64,17 @@ def func(self, x, measured_pts, global_pts, reflect_z=False): def avg_error(self, x, measured_pts, global_pts, reflect_z=False): """Calculates the total error for the optimization.""" error_values = self.func(x, measured_pts, global_pts, reflect_z) - mean_squared_error = np.mean(error_values**2) - average_error = np.sqrt(mean_squared_error) - return average_error + + # Calculate the L2 error for each point + l2_errors = np.zeros(len(global_pts)) + for i in range(len(global_pts)): + error_vector = error_values[i * 3: (i + 1) * 3] + l2_errors[i] = np.linalg.norm(error_vector) + + # Calculate the average L2 error + average_l2_error = np.mean(l2_errors) + + return average_l2_error def fit_params(self, measured_pts, global_pts): """Fits parameters to minimize the error defined in func""" diff --git a/parallax/main_window_wip.py b/parallax/main_window_wip.py index 6f1d9d53..a5016e0e 100644 --- a/parallax/main_window_wip.py +++ b/parallax/main_window_wip.py @@ -772,3 +772,7 @@ def save_user_configs(self): width = self.width() height = self.height() self.user_setting.save_user_configs(nColumn, directory, width, height) + + def closeEvent(self, event): + self.model.close_all_point_meshes() + event.accept() \ No newline at end of file diff --git a/parallax/model.py b/parallax/model.py index 9d9fdd49..9c6deaf8 100755 --- a/parallax/model.py +++ b/parallax/model.py @@ -3,7 +3,6 @@ """ from PyQt5.QtCore import QObject, pyqtSignal - from .camera import MockCamera, PySpinCamera, close_cameras, list_cameras from .stage_listener import Stage, StageInfo @@ -26,6 +25,9 @@ def __init__(self, version="V1", bundle_adjustment=False): self.nMockCameras = 0 self.focos = [] + # point mesh + self.point_mesh_instances = {} + # stage self.nStages = 0 self.stages = {} @@ -199,3 +201,14 @@ def save_all_camera_frames(self): filename = 'camera%d_%s.png' % (i, camera.get_last_capture_time()) camera.save_last_image(filename) self.msg_log.post("Saved camera frame: %s" % filename) + + def add_point_mesh_instance(self, instance): + sn = instance.sn + if sn in self.point_mesh_instances.keys(): + self.point_mesh_instances[sn].close() + self.point_mesh_instances[sn] = instance + + def close_all_point_meshes(self): + for instance in self.point_mesh_instances.values(): + instance.close() + self.point_mesh_instances.clear() \ No newline at end of file diff --git a/parallax/point_mesh.py b/parallax/point_mesh.py new file mode 100644 index 00000000..ecf0f751 --- /dev/null +++ b/parallax/point_mesh.py @@ -0,0 +1,184 @@ +import os +import pandas as pd +import plotly.graph_objs as go +from PyQt5.QtWidgets import QWidget, QPushButton +from PyQt5.uic import loadUi +from PyQt5.QtCore import Qt +from PyQt5.QtWebEngineWidgets import QWebEngineView + +package_dir = os.path.dirname(os.path.abspath(__file__)) +debug_dir = os.path.join(os.path.dirname(package_dir), "debug") +ui_dir = os.path.join(os.path.dirname(package_dir), "ui") +csv_file = os.path.join(debug_dir, "points.csv") + +class PointMesh(QWidget): + def __init__(self, model, file_path, sn, transM, scale, transM_BA=None, scale_BA=None, calib_completed=False): + super().__init__() + self.model = model + self.file_path = file_path + self.sn = sn + self.calib_completed = calib_completed + self.web_view = None + + self.R, self.R_BA = {}, {} + self.T, self.T_BA = {}, {} + self.S, self.S_BA = {}, {} + self.points_dict = {} + self.traces = {} # Plotly trace objects + self.colors = {} + self.resizeEvent = self._on_resize + + # Register this instance with the model + self.model.add_point_mesh_instance(self) + + self.ui = loadUi(os.path.join(ui_dir, "point_mesh.ui"), self) + self.setWindowTitle(f"{self.sn} - Trajectory 3D View ") + self.setWindowFlags(Qt.Window | Qt.WindowMinimizeButtonHint | \ + Qt.WindowMaximizeButtonHint | Qt.WindowCloseButtonHint) + + self._set_transM(transM, scale) + if transM_BA is not None and scale_BA is not None and \ + self.model.bundle_adjustment and self.calib_completed: + self.set_transM_BA(transM_BA, scale_BA) + self._parse_csv() + self._init_buttons() + + def show(self): + self._init_ui() + self._update_canvas() + super().show() # Show the widget + + def _init_ui(self): + if self.web_view is not None: + self.web_view.close() + self.web_view = QWebEngineView(self) + self.ui.verticalLayout1.addWidget(self.web_view) + + def _set_transM(self, transM, scale): + self.R[self.sn] = transM[:3, :3] + self.T[self.sn] = transM[:3, 3] + self.S[self.sn] = scale[:3] + + def set_transM_BA(self, transM, scale): + self.R_BA[self.sn] = transM[:3, :3] + self.T_BA[self.sn] = transM[:3, 3] + self.S_BA[self.sn] = scale[:3] + + def _parse_csv(self): + self.df = pd.read_csv(self.file_path) + self.df = self.df[self.df["sn"] == self.sn] # filter by sn + + self.local_pts_org = self.df[['local_x', 'local_y', 'local_z']].values + self.local_pts = self._local_to_global(self.local_pts_org, self.R[self.sn], self.T[self.sn], self.S[self.sn]) + self.points_dict['local_pts'] = self.local_pts + + self.global_pts = self.df[['global_x', 'global_y', 'global_z']].values + self.points_dict['global_pts'] = self.global_pts + + if self.model.bundle_adjustment and self.calib_completed: + self.m_global_pts = self.df[['m_global_x', 'm_global_y', 'm_global_z']].values + self.points_dict['m_global_pts'] = self.m_global_pts + + self.opt_global_pts = self.df[['opt_x', 'opt_y', 'opt_z']].values + self.points_dict['opt_global_pts'] = self.opt_global_pts + + self.local_pts_BA = self._local_to_global(self.local_pts_org, self.R_BA[self.sn], self.T_BA[self.sn], self.S_BA[self.sn]) + self.points_dict['local_pts_BA'] = self.local_pts_BA + + # Assign unique colors to each key + color_list = ['red', 'blue', 'green', 'cyan', 'magenta'] + for i, key in enumerate(self.points_dict.keys()): + self.colors[key] = color_list[i % len(color_list)] + + def _local_to_global(self, local_pts, R, t, scale=None): + if scale is not None: + local_pts = local_pts * scale + global_coords_exp = R @ local_pts.T + t.reshape(-1, 1) + return global_coords_exp.T + + def _init_buttons(self): + self.buttons = {} + + for key in self.points_dict.keys(): + button_name = self._get_button_name(key) + button = QPushButton(f'{button_name}') + button.setCheckable(True) + button.setMaximumWidth(200) + button.clicked.connect(lambda checked, key=key: self._update_plot(key, checked)) + self.ui.verticalLayout2.addWidget(button) + self.buttons[key] = button + + if self.model.bundle_adjustment and self.calib_completed: + keys_to_check = ['local_pts_BA', 'opt_global_pts'] + else: + keys_to_check = ['local_pts', 'global_pts'] + + for key in keys_to_check: + self.buttons[key].setChecked(True) + self._draw_specific_points(key) + + def _get_button_name(self, key): + if key == 'local_pts': + return 'stage' + elif key == 'local_pts_BA': + return 'stage (BA)' + elif key == 'global_pts': + return 'global' + elif key == 'm_global_pts': + return 'global (mean)' + elif key == 'opt_global_pts': + return 'global (BA)' + else: + return key # Default to the key if no match + + def _update_plot(self, key, checked): + if checked: + self._draw_specific_points(key) + else: + self._remove_points_from_plot(key) + self._update_canvas() + + def _remove_points_from_plot(self, key): + if key in self.points_dict: + del self.traces[key] # Remove from self.traces + self._update_canvas() + + def _draw_specific_points(self, key): + pts = self.points_dict[key] + x_rounded = [round(x, 0) for x in pts[:, 0]] + y_rounded = [round(y, 0) for y in pts[:, 1]] + z_rounded = [round(z, 0) for z in pts[:, 2]] + + scatter = go.Scatter3d( + x=x_rounded, y=y_rounded, z=z_rounded, + mode='markers+lines', + marker=dict(size=2, color=self.colors[key]), + name=self._get_button_name(key), + hoverinfo='x+y+z' + ) + self.traces[key] = scatter # Store the trace in self.traces + + def _update_canvas(self): + data = list(self.traces.values()) + layout = go.Layout( + scene=dict( + xaxis_title='X', + yaxis_title='Y', + zaxis_title='Z' + ), + margin=dict(l=0, r=0, b=0, t=0) + ) + fig = go.Figure(data=data, layout=layout) + html_content = fig.to_html(include_plotlyjs='cdn') + self.web_view.setHtml(html_content) + + def _on_resize(self, event): + new_size = event.size() + self.web_view.resize(new_size.width(), new_size.height()) + self._update_canvas() + + # Resize horizontal layout + self.ui.horizontalLayoutWidget.resize(new_size.width(), new_size.height()) + + + diff --git a/parallax/probe_calibration.py b/parallax/probe_calibration.py index 002730c3..d6b0cb5f 100644 --- a/parallax/probe_calibration.py +++ b/parallax/probe_calibration.py @@ -13,10 +13,11 @@ from PyQt5.QtCore import QObject, pyqtSignal from .coords_transformation import RotationTransformation from .bundle_adjustment import BALProblem, BALOptimizer +from .point_mesh import PointMesh # Set logger name logger = logging.getLogger(__name__) -logger.setLevel(logging.DEBUG) +logger.setLevel(logging.WARNING) # Set the logging level for PyQt5.uic.uiparser/properties to WARNING, to ignore DEBUG messages logging.getLogger("PyQt5.uic.uiparser").setLevel(logging.WARNING) logging.getLogger("PyQt5.uic.properties").setLevel(logging.WARNING) @@ -38,7 +39,6 @@ class ProbeCalibration(QObject): calib_complete_x = pyqtSignal(str) calib_complete_y = pyqtSignal(str) calib_complete_z = pyqtSignal(str) - #calib_complete = pyqtSignal(str, object) calib_complete = pyqtSignal(str, object, np.ndarray) transM_info = pyqtSignal(str, object, np.ndarray, float, object) @@ -54,14 +54,15 @@ def __init__(self, model, stage_listener): self.stage_listener = stage_listener self.stage_listener.probeCalibRequest.connect(self.update) self.stages = {} + self.point_mesh = {} self.df = None self.inliers = [] self.stage = None - """ self.threshold_min_max = 250 - self.threshold_min_max_z = 200 + self.threshold_min_max_z = 0 self.LR_err_L2_threshold = 200 + self.threshold_avg_error = 500 self.threshold_matrix = np.array( [ [0.002, 0.002, 0.002, 0.0], @@ -105,7 +106,8 @@ def reset_calib(self, sn=None): 'max_z': float("-inf"), 'signal_emitted_x': False, 'signal_emitted_y': False, - 'signal_emitted_z': False + 'signal_emitted_z': False, + 'calib_completed': False } else: self.stages = {} @@ -265,7 +267,8 @@ def _get_transM(self, df, remove_noise=True, save_to_csv=False, file_name=None): local_points, global_points = self._get_local_global_points(df) if remove_noise: - if self._is_criteria_met_points_min_max() and len(local_points) > 10 \ + #if self._is_criteria_met_points_min_max() and len(local_points) > 10 \ + if self._is_criteria_met_points_min_max() \ and self.R is not None and self.origin is not None: local_points, global_points, valid_indices = self._remove_outliers(local_points, global_points) @@ -362,7 +365,9 @@ def _update_min_max_x_y_z(self): self.stages[sn] = { 'min_x': float("inf"), 'max_x': float("-inf"), 'min_y': float("inf"), 'max_y': float("-inf"), - 'min_z': float("inf"), 'max_z': float("-inf") + 'min_z': float("inf"), 'max_z': float("-inf"), + 'signal_emitted_x': False, 'signal_emitted_y': False, + 'signal_emitted_z': False, 'calib_completed': False } self.stages[sn]['min_x'] = min(self.stages[sn]['min_x'], self.stage.stage_x) @@ -582,7 +587,6 @@ def _print_formatted_transM(self): print(f" [{S[0]:.5f}, {S[1]:.5f}, {S[2]:.5f}]") print("==> Average L2 between stage and global: ", self.avg_err) - def update(self, stage, debug_info=None): """ Main method to update calibration with a new stage position and check if calibration is complete. @@ -593,11 +597,6 @@ def update(self, stage, debug_info=None): # update points in the file self.stage = stage self._update_local_global_point(debug_info) # Do no update if it is duplicates - - # TODO - # get whole list of local and global points in pd format - #local_points, global_points = self._get_local_global_points() - #self.transM_LR = self._get_transM_LR_orthogonal(local_points, global_points) #remove outliers filtered_df = self._filter_df_by_sn(self.stage.sn) self.transM_LR = self._get_transM(filtered_df) @@ -610,35 +609,57 @@ def update(self, stage, debug_info=None): self._update_info_ui() # update transformation matrix and overall LR in UI ret = self._is_enough_points() # if ret, send the signal if ret: - # save the filtered points to a new file - self.file_name = f"points_{self.stage.sn}.csv" - self._get_transM(filtered_df, save_to_csv=True, file_name=self.file_name) - - # TODO - Bundle Adjustment - print("\n\n=========================================================") - print("Before BA") - self._print_formatted_transM() - print("=========================================================") - self._update_info_ui(disp_avg_error=True, save_to_csv=True, \ - file_name = f"transM_{self.stage.sn}.csv") - - if self.model.bundle_adjustment: - ret = self.run_bundle_adjustment(self.file_name) - if ret: - print("\n=========================================================") - print("After BA") - self._print_formatted_transM() - print("=========================================================") - self._update_info_ui(disp_avg_error=True, save_to_csv=True, \ - file_name = f"transM_BA_{self.stage.sn}.csv") - else: - return - - # Emit the signal to indicate that calibration is complete - self.calib_complete.emit(self.stage.sn, self.transM_LR, self.scale) - logger.debug( - f"complete probe calibration {self.stage.sn}, {self.transM_LR}, {self.scale}" - ) + self.complete_calibration(filtered_df) + + def complete_calibration(self, filtered_df): + # save the filtered points to a new file + self.file_name = f"points_{self.stage.sn}.csv" + self._get_transM(filtered_df, save_to_csv=True, file_name=self.file_name) + + print("\n\n=========================================================") + self._print_formatted_transM() + print("=========================================================") + self._update_info_ui(disp_avg_error=True, save_to_csv=True, \ + file_name = f"transM_{self.stage.sn}.csv") + + if self.model.bundle_adjustment: + self.old_transM, self.old_scale = self.transM_LR, self.scale + ret = self.run_bundle_adjustment(self.file_name) + if ret: + print("\n=========================================================") + print("** After Bundle Adjustment **") + self._print_formatted_transM() + print("=========================================================") + self._update_info_ui(disp_avg_error=True, save_to_csv=True, \ + file_name = f"transM_BA_{self.stage.sn}.csv") + else: + return + + # Emit the signal to indicate that calibration is complete + self.calib_complete.emit(self.stage.sn, self.transM_LR, self.scale) + logger.debug( + f"complete probe calibration {self.stage.sn}, {self.transM_LR}, {self.scale}" + ) + + # Init PointMesh + if not self.model.bundle_adjustment: + self.point_mesh[self.stage.sn] = PointMesh(self.model, self.file_name, self.stage.sn, \ + self.transM_LR, self.scale, calib_completed=True) + else: + self.point_mesh[self.stage.sn] = PointMesh(self.model, self.file_name, self.stage.sn, \ + self.old_transM, self.old_scale, \ + self.transM_LR, self.scale, calib_completed=True) + self.stages[self.stage.sn]['calib_completed'] = True + + def view_3d_trajectory(self, sn): + if not self.stages.get(sn, {}).get('calib_completed', False): + if sn == self.stage.sn: + self.point_mesh_not_calibrated = PointMesh(self.model, self.csv_file, self.stage.sn, \ + self.transM_LR, self.scale) + self.point_mesh_not_calibrated.show() + else: + # If calib is completed, show the PointMesh instance. + self.point_mesh[sn].show() def run_bundle_adjustment(self, file_path): bal_problem = BALProblem(self.model, file_path) @@ -651,19 +672,6 @@ def run_bundle_adjustment(self, file_path): if self.transM_LR is None: return False - """ - # Save local_pts and optimzied global pts in file_path - # Save local_pts and optimized global pts in file_path - df = pd.DataFrame({ - 'local_x': local_pts[:, 0], - 'local_y': local_pts[:, 1], - 'local_z': local_pts[:, 2], - 'global_x': opt_global_pts[:, 0], - 'global_y': opt_global_pts[:, 1], - 'opt_global_z': opt_global_pts[:, 2] - }) - df.to_csv(file_path, index=False)""" - logger.debug(f"Number of observations: {len(bal_problem.observations)}") logger.debug(f"Number of 3d points: {len(bal_problem.points)}") for i in range(len(bal_problem.list_cameras)): diff --git a/parallax/probe_detect_manager.py b/parallax/probe_detect_manager.py index 5e830367..003282c3 100644 --- a/parallax/probe_detect_manager.py +++ b/parallax/probe_detect_manager.py @@ -43,7 +43,7 @@ def __init__(self, name, model): """Initialize Worker object""" QObject.__init__(self) self.model = model - self.name = name + self.name = name # Camera serial number self.running = False self.is_detection_on = False self.is_calib = False @@ -138,9 +138,8 @@ def process(self, frame, timestamp): self.currBgCmpProcess.update_reticle_zone(self.reticle_zone) if self.prev_img is not None: - if ( - self.probeDetect.angle is None - ): # Detecting probe for the first time + if self.probeDetect.angle is None: + # Detecting probe for the first time ret = self.currPrevCmpProcess.first_cmp( self.curr_img, self.prev_img, mask, gray_img ) @@ -163,6 +162,7 @@ def process(self, frame, timestamp): ret = self.currBgCmpProcess.update_cmp( self.curr_img, mask, gray_img ) + logger.debug(f"cam:{self.name}, ret: {ret}, stopped: {self.is_calib}") if ret: # Found if self.is_calib: # If calibaration is enable, use data for calibration self.found_coords.emit( @@ -181,7 +181,7 @@ def process(self, frame, timestamp): (255, 0, 0), -1, ) - else: # Otherwise, just draw a tip on the frame + else: # Otherwise, just draw a tip on the frame (yellow) cv2.circle( frame, self.probeDetect.probe_tip_org, @@ -190,9 +190,10 @@ def process(self, frame, timestamp): -1, ) self.prev_img = self.curr_img - logger.debug(f"{self.name} Found") - else: - logger.debug(f"{self.name} Not found") + #logger.debug(f"{self.name} Found") + else: + #logger.debug(f"{self.name} Not found") + pass else: self.prev_img = self.curr_img diff --git a/parallax/screen_widget.py b/parallax/screen_widget.py index 5077bc48..82f224ba 100755 --- a/parallax/screen_widget.py +++ b/parallax/screen_widget.py @@ -19,7 +19,7 @@ # Set logger name logger = logging.getLogger(__name__) -logger.setLevel(logging.DEBUG) +logger.setLevel(logging.WARNING) # Set the logging level for PyQt5.uic.uiparser/properties to WARNING, to ignore DEBUG messages logging.getLogger("PyQt5.uic.uiparser").setLevel(logging.WARNING) logging.getLogger("PyQt5.uic.properties").setLevel(logging.WARNING) diff --git a/parallax/stage_widget.py b/parallax/stage_widget.py index 3ffa4161..8a4b574a 100644 --- a/parallax/stage_widget.py +++ b/parallax/stage_widget.py @@ -9,8 +9,6 @@ import logging import os import math -import time - import numpy as np from PyQt5.QtCore import QTimer, Qt from PyQt5.QtWidgets import (QLabel, QMessageBox, QPushButton, QSizePolicy, @@ -23,7 +21,7 @@ from .stage_ui import StageUI logger = logging.getLogger(__name__) -logger.setLevel(logging.DEBUG) +logger.setLevel(logging.WARNING) class StageWidget(QWidget): """Widget for stage control and calibration.""" @@ -84,6 +82,12 @@ def __init__(self, model, ui_dir, screen_widgets): QLabel, "probeCalibrationLabel" ) self.probeCalibrationLabel.setTextInteractionFlags(Qt.TextSelectableByMouse) + self.viewTrajectory_btn = self.probe_calib_widget.findChild( + QPushButton, "viewTrajectory_btn" + ) + self.viewTrajectory_btn.clicked.connect( + self.view_trajectory_button_handler + ) # Reticle Widget self.reticle_detection_status = ( @@ -127,6 +131,7 @@ def __init__(self, model, ui_dir, screen_widgets): self.calib_x.hide() self.calib_y.hide() self.calib_z.hide() + self.viewTrajectory_btn.hide() self.probeCalibration.calib_complete_x.connect(self.calib_x_complete) self.probeCalibration.calib_complete_y.connect(self.calib_y_complete) self.probeCalibration.calib_complete_z.connect(self.calib_z_complete) @@ -737,6 +742,7 @@ def probe_detect_default_status_ui(self, sn = None): } """) self.hide_x_y_z() + self.hide_trajectory_btn() self.probeCalibrationLabel.setText("") self.probe_calibration_btn.setChecked(False) @@ -837,6 +843,8 @@ def probe_detect_accepted_status(self, stage_sn, transformation_matrix, scale, s self.probe_calibration_btn.setChecked(True) self.hide_x_y_z() + if not self.viewTrajectory_btn.isVisible(): + self.viewTrajectory_btn.show() if self.filter == "probe_detection": for screen in self.screen_widgets: camera_name = screen.get_camera_name() @@ -888,6 +896,10 @@ def hide_x_y_z(self): self.set_default_x_y_z_style() + def hide_trajectory_btn(self): + if self.viewTrajectory_btn.isVisible(): + self.viewTrajectory_btn.hide() + def calib_x_complete(self, switch_probe = False): """ Updates the UI to indicate that the calibration for the X-axis is complete. @@ -990,7 +1002,8 @@ def update_probe_calib_status(self, moving_stage_id, transM, scale, L2_err, dist if self.moving_stage_id == self.selected_stage_id: # If moving stage is the selected stage, update the probe calibration status on UI self.display_probe_calib_status(transM, scale, L2_err, dist_traveled) - #self.display_probe_calib_status(transM, L2_err, dist_traveled) + if not self.viewTrajectory_btn.isVisible(): + self.viewTrajectory_btn.show() else: # If moving stage is not the selected stage, save the calibration info content = ( @@ -1062,4 +1075,7 @@ def update_stages(self, prev_stage_id, curr_stage_id): if self.transM is not None: self.display_probe_calib_status(self.transM, self.scale, self.L2_err, self.dist_travled) - self.probe_detection_status = probe_detection_status \ No newline at end of file + self.probe_detection_status = probe_detection_status + + def view_trajectory_button_handler(self): + self.probeCalibration.view_3d_trajectory(self.selected_stage_id) \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index 9881a3e8..a5186ca4 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -26,7 +26,9 @@ dependencies = [ "pandas", "scikit-image", "requests", - "scikit-learn" + "scikit-learn", + "plotly", + "PyQtWebEngine" ] [tool.setuptools] diff --git a/ui/point_mesh.ui b/ui/point_mesh.ui new file mode 100644 index 00000000..42990649 --- /dev/null +++ b/ui/point_mesh.ui @@ -0,0 +1,112 @@ + + + plot_widget + + + + 0 + 0 + 1400 + 850 + + + + + 400 + 300 + + + + + 7680 + 4320 + + + + Form + + + QWidget{ + background-color: rgb(0,0,0); + color: #FFFFFF; +} + +QPushButton{ + background-color: black; +} + +QPushButton:pressed { + background-color: rgb(224, 0, 0); +} + +QPushButton:hover { + background-color: rgb(100, 30, 30); +} + +QPushButton:checked { + color: gray; + background-color: #ffaaaa; +} + + + + + 10 + 10 + 1661 + 1001 + + + + + 0 + + + 0 + + + 20 + + + 20 + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + + diff --git a/ui/probe_calib.ui b/ui/probe_calib.ui index 09c211a3..53b875f9 100644 --- a/ui/probe_calib.ui +++ b/ui/probe_calib.ui @@ -18,29 +18,38 @@ 10 10 - 286 - 705 + 281 + 715 1 - - - - Qt::Horizontal + + + + false - + - 40 - 20 + 0 + 30 - + + + 30 + 30 + + + + Y + + - - + + Qt::Horizontal @@ -52,35 +61,29 @@ - - - - - 0 - 0 - + + + + false - 200 - 40 + 0 + 30 - 300 - 40 + 30 + 30 - Probe Calibration - - - true + Z - + false @@ -102,63 +105,103 @@ - - - + + + + Qt::Horizontal + + - 0 - 600 + 40 + 20 - - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop - - + - - - - false + + + + + 0 + 0 + - 0 + 40 30 - 30 + 40 30 + + +QPushButton{ + color: white; + background-color: black; +} + +QPushButton:pressed { + background-color: rgb(224, 0, 0); +} + +QPushButton:hover { + background-color: rgb(100, 30, 30); +} + - Y + 3D - - - - - + false + + + + 0 - 30 + 600 + + + + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop + + + + + + + + 0 + 0 + + + + + 200 + 40 - 30 - 30 + 300 + 40 - Z + Probe Calibration + + + true