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CalibrationsGUI.py
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CalibrationsGUI.py
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"""
This software was designed by Alexander Thiel
Github handle: https://github.com/apockill
Email: Alex.D.Thiel@Gmail.com
The software was designed originaly for use with a robot arm, particularly uArm (Made by uFactory, ufactory.cc)
It is completely open source, so feel free to take it and use it as a base for your own projects.
If you make any cool additions, feel free to share!
License:
This file is part of uArmCreatorStudio.
uArmCreatorStudio is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
uArmCreatorStudio is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with uArmCreatorStudio. If not, see <http://www.gnu.org/licenses/>.
"""
import numpy as np
import CommandsGUI
import EventsGUI
from time import sleep # Used only for waiting for robot in CoordCalibrations
from PyQt5 import QtCore, QtWidgets, QtGui
from CameraGUI import CameraSelector
from Logic import Paths
from Logic.Global import printf
from Logic.ObjectManager import TrackableObject
__author__ = "Alexander Thiel"
# noinspection PyCallByClass
class CalibrateWindow(QtWidgets.QDialog):
"""
This is the dashboard where the user can calibrate different aspects of their robot.
Things like motion calibration for the camera, color calibration, focus calibration, and maybe even eventually
visual servo-ing calibrations
"""
def __init__(self, coordSettings, motionSettings, environment, parent):
super(CalibrateWindow, self).__init__(parent)
self.motionSettings = motionSettings
self.coordSettings = coordSettings
self.env = environment
# Use this when the user doesn't have the appropriate requirements for a calibration
okBtn = QtWidgets.QMessageBox.Ok
self.showError = lambda message: QtWidgets.QMessageBox.question(self, 'Error', message, okBtn)
self.cameraError = lambda: self.showError("A camera must be connected to run this calibration.")
self.robotError = lambda: self.showError("A robot must be connected to run this calibration.")
self.nextStep = lambda message: QtWidgets.QMessageBox.question(self, 'Instructions', message, okBtn)
# The label for the current known information for each calibration test. Label is changed in updateLabels()
self.motionLbl = QtWidgets.QLabel("No information for this calibration")
self.coordLbl = QtWidgets.QLabel("No information for this calibration")
self.initUI()
self.updateLabels()
def initUI(self):
def createIconLayout(commandOrEvent):
# Returns a QLabel with a pixmap set with a picture from the specified path, and a caption to go next to it
title = commandOrEvent.title
icon = QtGui.QPixmap(commandOrEvent.icon)
pictureLbl = QtWidgets.QLabel()
pictureLbl.setPixmap(icon)
layout = QtWidgets.QHBoxLayout()
layout.addWidget(pictureLbl)
return layout
motionBtn = QtWidgets.QPushButton("Calibrate Motion Detection")
coordBtn = QtWidgets.QPushButton("Calibrate Camera/Robot Position")
cancelBtn = QtWidgets.QPushButton("Cancel")
applyBtn = QtWidgets.QPushButton("Apply")
motionBtn.clicked.connect(self.calibrateMotion)
coordBtn.clicked.connect(self.calibrateCoordinates)
applyBtn.clicked.connect(self.accept)
cancelBtn.clicked.connect(self.reject)
maxWidth = 250
motionBtn.setFixedWidth(maxWidth)
coordBtn.setFixedWidth(maxWidth)
cancelBtn.setFixedWidth(130)
applyBtn.setFixedWidth(130)
# Add the relevant claibration buttons and labels here
row1 = QtWidgets.QHBoxLayout()
row2 = QtWidgets.QHBoxLayout()
row3 = QtWidgets.QHBoxLayout()
row4 = QtWidgets.QHBoxLayout()
row1.addWidget( coordBtn)
row1.addStretch(1)
row1.addWidget( self.coordLbl)
row2.addStretch(1)
row2.addLayout(createIconLayout(CommandsGUI.PickupObjectCommand))
row2.addLayout(createIconLayout(CommandsGUI.MoveRelativeToObjectCommand))
row2.addLayout(createIconLayout(CommandsGUI.VisionMoveXYZCommand))
row3.addWidget( motionBtn)
row3.addStretch(1)
row3.addWidget(self.motionLbl)
row4.addStretch(1)
row4.addLayout(createIconLayout(EventsGUI.MotionEvent))
# Place the rows into the middle layout.
middleVLayout = QtWidgets.QVBoxLayout()
middleVLayout.addLayout(row1)
middleVLayout.addLayout(row2)
middleVLayout.addSpacing(50)
middleVLayout.addLayout(row3)
middleVLayout.addLayout(row4)
middleVLayout.addStretch(1)
# Set up Cancel and Apply buttons
leftVLayout = QtWidgets.QVBoxLayout()
leftVLayout.addStretch(1)
leftVLayout.addWidget(cancelBtn, QtCore.Qt.AlignRight)
rightVLayout = QtWidgets.QVBoxLayout()
rightVLayout.addStretch(1)
rightVLayout.addWidget(applyBtn, QtCore.Qt.AlignLeft)
# Create the final layout with the leftVLayout, middleVLayout, and rightVLayout
mainHLayout = QtWidgets.QHBoxLayout()
mainHLayout.addStretch(3)
mainHLayout.addLayout(leftVLayout)
mainHLayout.addLayout(middleVLayout)
mainHLayout.addLayout(rightVLayout)
mainHLayout.addStretch(3)
self.setMinimumHeight(480)
self.setMinimumWidth(640)
self.setLayout(mainHLayout)
self.setWindowTitle('Calibrations')
self.setWindowIcon(QtGui.QIcon(Paths.calibrate))
def updateLabels(self):
# Check if motionCalibrations already exist
movCalib = self.motionSettings
if movCalib["stationaryMovement"] is not None:
self.motionLbl.setText(" Stationary Movement: " + str(movCalib["stationaryMovement"]) +
" Active Movement: " + str(movCalib["activeMovement"]))
coordCalib = self.coordSettings
if coordCalib["ptPairs"] is not None:
self.coordLbl.setText("Calibration has been run before. " + str(len(coordCalib["ptPairs"])) +
" points of data were collected.")
def calibrateMotion(self):
# Shake the robot left and right while getting frames to get a threshold for "high" movement between frames
showStep = lambda step, message: QtWidgets.QMessageBox.question(self, 'Step ' + str(step),
'Step ' + str(step) + "\n\n" + message,
QtWidgets.QMessageBox.Ok)
vStream = self.env.getVStream()
vision = self.env.getVision()
robot = self.env.getRobot()
# Check that there is a valid camera connected
if not vStream.connected():
printf("No Camera Connected!")
self.cameraError()
return
# Check that there is a valid robot connected
if not robot.connected():
printf("No uArm connected!")
self.robotError()
return
# Make sure VideoStream is collecting new frames
vStream.setPaused(False)
showStep(1, "Do not make any movement in the cameras view until the next message appears.")
# Get movement while nothing is happening
totalMotion = 0.0
samples = 75
for i in range(0, samples):
vision.waitForNewFrames()
totalMotion += vision.getMotion()
noMovement = totalMotion / samples
showStep(2, "The robot will now move. Make sure the camera is facing the robot.")
# Get movement while robot is moving
totalMotion = 0.0
moves = 10
samples = 0
direction = 1 #If the robot is going right or left next
# Start position
robot.setSpeed(22)
robot.setActiveServos(all=True)
robot.setPos( x=-15, y=robot.home["y"], z=robot.home["z"])
# Move robot left and right while getting new frames for "moves" amount of samples
for move in range(0, moves):
robot.setPos(x=30 * direction, y=0, z=0, relative=True, wait=False) #end position
sleep(.1)
while robot.getMoving():
vision.waitForNewFrames()
newMotion = vision.getMotion()
if newMotion > noMovement:
totalMotion += vision.getMotion()
samples += 1
direction *= -1
# Make sure samples were retrieved. If not, discard the calib information and exit.
if samples == 0: return
# Calculate average amount of motion when robot is moving rapidly
highMovement = totalMotion / samples
self.motionSettings["stationaryMovement"] = round( noMovement, 1)
self.motionSettings["activeMovement"] = round(highMovement, 1)
self.updateLabels()
printf("Function complete! New settings: ", noMovement, ", ", highMovement)
def calibrateCoordinates(self):
vStream = self.env.getVStream()
robot = self.env.getRobot()
objManager = self.env.getObjectManager()
robotTracker = objManager.getObject("Robot Marker")
# If Camera not connected
if not vStream.connected():
self.cameraError()
return
# If robot not connected
if not robot.connected():
self.robotError()
return
# If "Robot Marker" object doesn't exist
startFromScratch = True # Whether or not the user skip to automated calibration or not
if robotTracker is not None:
message = QtWidgets.QMessageBox()
message.setWindowTitle("Skip to Calibration?")
message.addButton(QtWidgets.QPushButton('I want to set a new Robot Marker'), QtWidgets.QMessageBox.YesRole)
message.addButton(QtWidgets.QPushButton('Skip to Automatic Calibration'), QtWidgets.QMessageBox.NoRole)
message.setText("It appears this is not the first time you have run this tutorial.\n\n" +
"Would you like to start from scratch, or skip to the automated calibration?\n\n" +
"(Automated calibration only works if the robot has the same marker on the top" +
" of its head as it did when you first ran this calibration.)\n")
reply = message.exec_()
# QtWidgets.QMessageBox.addButton
if reply == 0: startFromScratch = True
if reply == 1: startFromScratch = False
# Make sure everything is ready
vStream.setPaused(False)
coordWizard = CoordWizard(self.env, startFromScratch, parent=self)
coordWizard.exec_()
coordWizard.close()
coordWizard.deleteLater()
# If the user finished the wizard correctly, then continue
if coordWizard.result():
newCoordCalib = coordWizard.getNewCoordCalibrations()
self.coordSettings["ptPairs"] = newCoordCalib["ptPairs"]
self.coordSettings["failPts"] = newCoordCalib["failPts"]
newGroundCalib = coordWizard.getNewGroundCalibration()
self.coordSettings["groundPos"] = newGroundCalib
self.updateLabels()
def getMotionSettings(self):
return self.motionSettings
def getCoordSettings(self):
return self.coordSettings
def getSettings(self):
pass
# class MotionWizard(QtWidgets.QWizardPage):
class CoordWizard(QtWidgets.QWizard):
def __init__(self, environment, startFromScratch, parent):
super(CoordWizard, self).__init__(parent)
self.allPages = startFromScratch
self.env = environment # Used in close event to shut down vision
# Set the robot to the home position
robot = environment.getRobot()
robot.setActiveServos(all=True)
robot.setPos(**robot.home)
robot.setActiveServos(all=False)
# Create the wizard pages and add them to the sequence
if self.allPages:
self.page3 = CWPage3(parent=self)
self.page4 = CWPage4(environment, parent=self)
self.page1 = CWPage1(parent=self)
self.page2 = CWPage2(robot, parent=self)
self.page5 = CWPage5(environment, self.getNewGroundCalibration, parent=self)
self.button(QtWidgets.QWizard.NextButton).clicked.connect(lambda: self.page2.nextPressed(self.currentId()))
self.addPage(self.page1)
self.addPage(self.page2)
if self.allPages:
self.addPage(self.page3)
self.addPage(self.page4)
self.addPage(self.page5)
# Aesthetic details
self.setWindowTitle("Coordinate Calibration Wizard")
self.setWindowIcon(QtGui.QIcon(Paths.objectWizard))
def getNewCoordCalibrations(self):
return self.page5.newCalibrations
def getNewGroundCalibration(self):
return self.page2.groundCoords
def closeEvent(self, event):
# Close any pages that have active widgets, such as the cameraWidget. This will trigger each page's close func.
self.page1.close()
self.page2.close()
if self.allPages:
self.page3.close()
self.page4.close()
self.page5.close()
vision = self.env.getVision()
vision.endAllTrackers()
class CWPage1(QtWidgets.QWizardPage):
def __init__(self, parent):
super(CWPage1, self).__init__(parent)
# Create GUI objects
self.initUI()
def initUI(self):
prompt = "The algorithms in this software will only work if the\n" \
"camera is placed above the robot, and doesn't move. \n\n" \
"Please find a way to mount your webcam above the robot,\n" \
"in such a way that it has a wide field of view of the\n" \
"robots workspace.\n" \
welcomeLbl = QtWidgets.QLabel("Welcome Coordinate Calibration Wizard!\n")
introLbl = QtWidgets.QLabel("This will walk you through teaching the camera the position of the robot.")
step1Lbl = QtWidgets.QLabel("\n\nStep 1: Setup")
promptLbl = QtWidgets.QLabel(prompt)
imageLbl = QtWidgets.QLabel()
imageLbl.setPixmap(QtGui.QPixmap(Paths.help_cam_overview))
# Set titles bold
bold = QtGui.QFont()
bold.setBold(True)
step1Lbl.setFont(bold)
# Make the title larger than everything else
bold.setPointSize(15)
welcomeLbl.setFont(bold)
# Place the GUI objects vertically
stepCol = QtWidgets.QVBoxLayout()
stepCol.addWidget(step1Lbl)
stepCol.addWidget(promptLbl)
stepCol.addStretch(1)
imageCol = QtWidgets.QVBoxLayout()
imageCol.addWidget(imageLbl)
stepRow = QtWidgets.QHBoxLayout()
stepRow.addLayout(stepCol)
stepRow.addStretch(1)
stepRow.addLayout(imageCol)
mainVLayout = QtWidgets.QVBoxLayout()
mainVLayout.addWidget(welcomeLbl)
mainVLayout.addWidget(introLbl)
mainVLayout.addLayout(stepRow)
# self.setMinimumHeight(750)
# self.setMinimumWidth(700)
self.setLayout(mainVLayout)
class CWPage2(QtWidgets.QWizardPage):
def __init__(self, robot, parent):
super(CWPage2, self).__init__(parent)
# This is set in self.nextPressed
self.robot = robot
self.groundCoords = None
self.initUI()
def initUI(self):
prompt = "Mount the robot to the ground so that it doesn't move\n" \
"around, to avoid doing this calibration every time the \n" \
"robot is moved.\n\n" \
"Without moving the robots base, lower the head of the robot \n" \
"until the suction cup is barely touching the ground, as shown\n" \
"on the video to the right.\n\n" \
"Make sure the top of the robots head is still near the \n" \
"center of the cameras view, and the sucker is touching the\n" \
"ground."
step1Lbl = QtWidgets.QLabel("\n\nStep 2: Robot Placement")
promptLbl = QtWidgets.QLabel(prompt)
movieLbl = QtWidgets.QLabel("Could not find example gif")
# Set the animated gif on the movieLbl
movie = QtGui.QMovie(Paths.help_lower_head)
movieLbl.setMovie(movie)
movie.start()
# Set titles bold
bold = QtGui.QFont()
bold.setBold(True)
step1Lbl.setFont(bold)
# Place the GUI objects vertically
col1 = QtWidgets.QVBoxLayout()
col1.addWidget(step1Lbl)
col1.addWidget(promptLbl)
col1.addStretch(1)
col2 = QtWidgets.QVBoxLayout()
col2.addWidget(movieLbl)
col2.addStretch(1)
mainHLayout = QtWidgets.QHBoxLayout()
mainHLayout.addLayout(col1)
mainHLayout.addLayout(col2)
self.setLayout(mainHLayout)
def nextPressed(self, currentID):
# If next is pressed, warn the user about placing the robots head on the ground
if currentID == 2:
self.robot.setActiveServos(all=False)
warn = QtWidgets.QMessageBox()
warn.setWindowTitle("Getting Height of Ground")
warn.addButton(QtWidgets.QPushButton('Yes, the end effector is touching the ground'),
QtWidgets.QMessageBox.YesRole)
warn.setText("Important!\nBefore continuing, make sure the robots end effector is touching the ground, "
"and that it is centered below the camera. The program will read the robots coordinates.\n\n")
reply = warn.exec_()
# Get several samples of the robots current position, and put the average into self.groundCoords
samples = 10
sumCoords = np.float32([0, 0, 0])
for i in range(0, samples):
coord = self.robot.getCoords()
sumCoords += np.float32(coord)
self.groundCoords = list(map(float, sumCoords / samples))
self.robot.setPos(z=self.groundCoords[2] + .5)
self.robot.setActiveServos(servo0=False)
printf("New ground coordinates set: ", self.groundCoords)
class CWPage3(QtWidgets.QWizardPage):
def __init__(self, parent):
super(CWPage3, self).__init__(parent)
# For the sake of getting more information, save the robots position when centered on the camera
# self.groundCenterCoord = robot.getCurrentCoord()
# print("new ground: ", self.groundCenterCoord)
self.initUI()
def initUI(self):
prompt = "In order to track the robot, there must be a marker of some\n" \
"sort on the robot. If you have a QR code or detailed \n" \
"sticker, then place it on the robots head.\n\n" \
"If you do not have anything readily avaliable, get a piece \n" \
"of tape- make sure it's not reflective (non plastic tape is\n" \
"best), draw on it (as show on the right), and place it on\n" \
"the robots head.\n\n" \
"There must be a lot of detail on the marker in order to\n" \
"track properly. If you finish this tutorial and tracking is\n" \
"not sufficient, then draw on the marker to add more detail."
step1Lbl = QtWidgets.QLabel("\n\nStep 3: Make a Robot Marker")
promptLbl = QtWidgets.QLabel(prompt)
imgOneLbl = QtWidgets.QLabel()
imgTwoLbl = QtWidgets.QLabel()
# Set the images on the img labels
imgOneLbl.setPixmap(QtGui.QPixmap(Paths.help_make_sticker))
imgTwoLbl.setPixmap(QtGui.QPixmap(Paths.help_marker_on_head))
# Set titles bold
bold = QtGui.QFont()
bold.setBold(True)
step1Lbl.setFont(bold)
# Place the GUI objects vertically
col1 = QtWidgets.QVBoxLayout()
col1.addWidget(step1Lbl)
col1.addWidget(promptLbl)
col1.addStretch(1)
col2 = QtWidgets.QVBoxLayout()
col2.addWidget(imgOneLbl)
col2.addWidget(imgTwoLbl)
col2.addStretch(1)
mainHLayout = QtWidgets.QHBoxLayout()
mainHLayout.addLayout(col1)
mainHLayout.addLayout(col2)
self.setLayout(mainHLayout)
class CWPage4(QtWidgets.QWizardPage):
def __init__(self, environment, parent):
super(CWPage4, self).__init__(parent)
# The final object is stored here:
self.newRobotMrkr = None
# Create global GUI objects
self.hintLbl = QtWidgets.QLabel("") # This will tell the user how many points are on the object
self.movieLbl = QtWidgets.QLabel("") # Changes the gif depending on what the user is having trouble with
self.selMovie = QtGui.QMovie(Paths.help_sel_marker) # Help with selecting the marker
self.detMovie = QtGui.QMovie(Paths.help_add_detail) # Help with adding detail to marker
# Get the Environment objects that will be used
self.vision = environment.getVision()
self.robot = environment.getRobot()
self.objManager = environment.getObjectManager()
# Create the camera widget and set it up
self.cameraWidget = CameraSelector(environment.getVStream(), parent=self)
self.cameraWidget.play()
self.cameraWidget.objSelected.connect(self.objectSelected)
self.initUI()
def initUI(self):
prompt = "Make sure the robot's head is in the center of the camera view. Then, click the mouse on the top " +\
"\nright corner of the marker, and drag it to the bottom right corner of the marker.\n\n" +\
"The camera will begin tracking the marker. Try to have more than 500 points on the marker. Move\n" +\
"the robot around and make sure that the object can be recognized for the majority of the cameras\n" +\
"view.\n"
stepLbl = QtWidgets.QLabel("Step 4: Selecting the Marker")
promptLbl = QtWidgets.QLabel(prompt)
# Set the animated gif on the movieLbl
self.movieLbl.setMovie(self.selMovie)
self.selMovie.start()
self.detMovie.start()
# Set titles bold
bold = QtGui.QFont()
bold.setBold(True)
stepLbl.setFont(bold)
self.hintLbl.setFont(bold)
# Create a special row for the camera that will force it to remain in the center, regardless of size changes
camRow = QtWidgets.QHBoxLayout()
camRow.addWidget(self.cameraWidget)
camRow.addStretch(1)
camRow.addWidget(self.movieLbl)
# Place the GUI objects vertically
col1 = QtWidgets.QVBoxLayout()
col1.addWidget(stepLbl)
col1.addWidget(promptLbl)
col1.addWidget(self.hintLbl)
col1.addLayout(camRow)
mainHLayout = QtWidgets.QHBoxLayout()
mainHLayout.addLayout(col1)
self.setLayout(mainHLayout)
def objectSelected(self):
"""
Runs when the user has selected an object on the CameraSelector widget.
It will verify if the object is trackable (has enough points), if so, it will set the vision to tracking
mode, generate a "trackable" object, and set the camera to play.
Then, it will display information about the object next to the camera, so that the user can decide if
they want to keep this selected object or try again.
If there are not enough keypoints, the program will warn the user that this is a bad idea. If there are
zero keypoints, it won't allow the user to track it, and will automatically revert the camera to
selection mode.
"""
# Reset any previous markers
self.newRobotMrkr = None
self.completeChanged.emit()
self.hintLbl.setText("")
self.vision.endAllTrackers()
self.movieLbl.setMovie(self.selMovie)
self.movieLbl.show()
rect = self.cameraWidget.getSelectedRect()
frame = self.cameraWidget.getSelectedFrame()
# Get the "target" object from the image and rectangle
trackable = TrackableObject("Robot Marker")
trackable.addNewView(image = frame,
rect = rect,
pickupRect = None,
height = None)
target = self.vision.planeTracker.createTarget(trackable.getViews()[0])
# Analyze it, and make sure it's a valid target. If not, return the camera to selection mode.
if len(target.descrs) == 0 or len(target.keypoints) == 0:
self.cameraWidget.takeAnother()
self.hintLbl.setText("You must select an object with more detail.")
return
if len(target.descrs) < 450:
self.movieLbl.setMovie(self.detMovie)
self.hintLbl.setText("Your selected marker does not have enough detail. Only " + str(len(target.descrs)) +
" points were found.\nAdd detail to your marker and try again.")
self.cameraWidget.takeAnother()
return
self.objManager.deleteObject("Robot Marker") # Delete any previous end effector file
self.newRobotMrkr = trackable
self.objManager.saveObject(self.newRobotMrkr)
self.completeChanged.emit()
# If the object was not very good, warn the user. Otherwise, state the # of points on the object
if len(target.descrs) < 600:
self.movieLbl.setMovie(self.detMovie)
self.hintLbl.setText("Your selected marker is not very detailed, or is too small, only " +
str(len(target.descrs)) + " points were found.\n"
"Tracking may not be very accurate.")
else:
self.hintLbl.setText("Found " + str(len(target.descrs)) + " Points")
# Turn on the camera, and start tracking
self.cameraWidget.play()
self.vision.addTarget(self.newRobotMrkr)
def isComplete(self):
return self.newRobotMrkr is not None
def close(self):
self.cameraWidget.close()
self.vision.endAllTrackers()
class CWPage5(QtWidgets.QWizardPage):
def __init__(self, environment, getGroundCoord, parent):
super(CWPage5, self).__init__(parent)
# Initialize Globals
self.env = environment
self.getGroundCoord = getGroundCoord # This is used to pull a value from a previous QWizard page
self.testRunning = False # Keeps track if there's a test currently running, to not have multiple ongoing
self.cancelTest = True # Used when dialog is closed to stop the calibration
self.newCalibrations = None # The final caibration JSON to go into settings. Set in endCalibration.
# Initialize GUI globals
self.startBtn = QtWidgets.QPushButton("Start Calibration")
self.hintLbl = QtWidgets.QLabel("\n\n\n\n\n\t\t\t\t") # Add newlines since window resizing is broken
self.testLbl = QtWidgets.QLabel() # Updates during calibration to notify user of progress
self.progressBar = QtWidgets.QProgressBar() # Tells the user how far the calibration is from completion
self.timer = None # Used to hold singleshot timers for getPoint during calibration
self.startBtn.clicked.connect(self.startCalibration)
self.initUI()
def initUI(self):
self.startBtn.setMaximumWidth(130)
self.progressBar.setMinimum(0)
self.progressBar.hide()
self.testLbl.hide()
prompt = "When you press the Start Calibration button, the robot will go through a set of predefined moves\n"\
"and record the information that it needs. The program will freeze for a minute. " \
"Before beginning:\n\n\n" \
"1) Make sure that the robot's head is more or less centered under the cameras view, and the\n" \
" Robot Marker is being tracked.\n" \
"2) Make sure there is ample space for the robot to move around.\n" \
"3) Make sure the robot is immobile, and mounted to the ground. If you move the robot,\n" \
" you will have to re-run this calibration.\n"
step1Lbl = QtWidgets.QLabel("\n\nFinal Step:")
promptLbl = QtWidgets.QLabel(prompt)
# Set titles bold
bold = QtGui.QFont()
bold.setBold(True)
step1Lbl.setFont(bold)
self.hintLbl.setFont(bold)
# Place the GUI objects vertically
col1 = QtWidgets.QVBoxLayout()
col1.addWidget(step1Lbl)
col1.addWidget(promptLbl)
col1.addStretch(1)
col1.addWidget(self.testLbl)
col1.addWidget(self.progressBar)
col1.addWidget(self.hintLbl)
col1.addWidget(self.startBtn)
mainHLayout = QtWidgets.QHBoxLayout()
mainHLayout.addLayout(col1)
self.setLayout(mainHLayout)
def startCalibration(self):
if self.testRunning is True: return
# Pull from the environment and start the tracking
robot = self.env.getRobot()
vision = self.env.getVision()
objManager = self.env.getObjectManager()
# Start tracking the robots marker
rbMarker = objManager.getObject("Robot Marker")
vision.endAllTrackers()
vision.addTarget(rbMarker)
# A list of robot Coord and camera Coords, where each index of robPts corresponds to the cameraPoint index
# Set the robot to the home position, set the speed, and other things for the calibration
robot.setActiveServos(all=True)
robot.setSpeed(10)
zLower = float(round(self.getGroundCoord()[2] + 1.0, 2))
robot.setPos(x=robot.home["x"], y=robot.home["y"], z=zLower)
sleep(1)
# Generate a large set of points to test the robot, and put them in testCoords
testCoords = []
# Test the z on 3 xy points
zTest = int(round(zLower, 0)) # Since range requires an integer, round zLower just for this case
for x in range( -20, 20, 4): testCoords += [[x, 15, 15]] # Center of XYZ grid
for y in range( 8, 24, 4): testCoords += [[ 0, y, 15]]
for z in range(zTest, 24, 1): testCoords += [[ 0, 15, z]]
# for x in range( -20, 20, 1): testCoords += [[x, 15, zTest]] # Center of XY, Bottom z
# for y in range( 8, 25, 1): testCoords += [[ 0, y, zTest]]
# for z in range(zTest, 25): testCoords += [[ 0, 15, z]]
for x in range( -20, 20, 4): testCoords += [[x, 15, 25]] # Center of XY, top z
for y in range( 12, 24, 4): testCoords += [[ 0, y, 25]]
direction = int(1)
for y in range(10, 25, 2):
for x in range(-20 * direction, 20 * direction, 2 * direction):
testCoords += [[x, y, zTest]]
direction *= -1
# for z in range(zTest, 25): testCoords += [[ 0, 15, z]]
# for z in range(zTest, 26, 1): testCoords += [[0, 15, z]]
# for z in range(zTest, 19, 2): testCoords += [[-8, 11, z]]
# for z in range(zTest, 20, 2): testCoords += [[-5, 13, z]]
# for z in range(zTest, 20, 2): testCoords += [[-5, 17, z]]
# for z in range(zTest, 19, 2): testCoords += [[-8, 19, z]]
# for z in range(zTest, 19, 2): testCoords += [[ 8, 11, z]]
# for z in range(zTest, 20, 2): testCoords += [[ 5, 13, z]]
# for z in range(zTest, 20, 2): testCoords += [[ 5, 17, z]]
# for z in range(zTest, 19, 2): testCoords += [[ 8, 19, z]]
#
#
# # # Test very near the base of the robot, but avoid the actual base
# for x in range(-20, -10, 1): testCoords += [[x, 5, zLower]]# Anything lower than -10x will hit the robot legs
# for x in range( 10, 20, 1): testCoords += [[x, 5, zLower]]
# for x in range( 20, 9, -1): testCoords += [[x, 6, zLower]]
# for x in range( -9, -20, -1): testCoords += [[x, 6, zLower]]
# for x in range(-20, -6, 1): testCoords += [[x, 7, zLower]]
# for x in range( 6, 20, 1): testCoords += [[x, 7, zLower]]
#
#
# Scan the entire board row by row
printf("Testing ", len(testCoords), " coordinate points")
# Begin testing every coordinate in the testCoords array, and recording the results into newCalibrations
self.cancelTest = False
self.testRunning = True
self.hintLbl.setText("")
self.testLbl.setText("")
self.progressBar.setMaximum(len(testCoords))
self.progressBar.setValue(0)
self.progressBar.show()
self.testLbl.show()
self.startBtn.hide()
getFirstPoint = lambda: self.getPoint(0, [], {"ptPairs": [], "failPts": []}, testCoords)
self.timer = QtCore.QTimer.singleShot(10, getFirstPoint)
def endCalibration(self, errors, newCalibrations, testCoords):
robot = self.env.getRobot()
vision = self.env.getVision()
self.testRunning = False
self.cancelTest = True
self.startBtn.show()
self.testLbl.hide()
self.progressBar.hide()
robot.setPos(**robot.home)
# Prune the list down to 20 less than the original size, find the best set out of those
minPointCount = 10
# prunedSize = int(len(newCalibrations["ptPairs"]) * .90)
# if prunedSize > minPointCount:
# bestScore, bestPtPairs = self.pruneCalibrationSet(prunedSize, newCalibrations["ptPairs"])
# newCalibrations["ptPairs"] = bestPtPairs
# print("Final calibrations: ", bestPtPairs)
# Check the percent of points that were found vs amount of points that were in the testCoord array
if len(newCalibrations["ptPairs"]) < minPointCount:
# If not enough points were found, append an error to the error array
if len(newCalibrations["ptPairs"]) == 0:
errors.append("The robot marker was never seen! Try restarting the calibration and creating the"
"\n\t marker again, making sure that the robot's head is in view of the camera."
"\n\n\t Also make sure that the area in the camera view is clear, blank, without too much"
"\n\t detail around it- try having a clear workspace with white paper as a background.")
else:
errors.append("The marker was not recognized in enough points- it was only seen " +
str(len(newCalibrations["ptPairs"])) + " time(s)!"
"\n\t It must be seen at least " +
str(minPointCount) + " times." +
"\n\n\t Try making sure that the robot's head is centered in the middle of the cameras"
"\n\t view in the previous step, and try placing the camera in a higher location."
"\n\n\t Also make sure that the area around the camera view is clear, blank, without too"
"\n\t much detail around it- try having a clear workspace with white paper as a background.")
# Return the robot to home and turn off tracking
vision.endAllTrackers()
robot.setPos(**robot.home)
# Print out the errors, and set the appropriate GUI elements
hintText = ""
if len(errors):
hintText += "Calibration did not complete successfully. The following errors occured:\n"
for error in errors:
hintText += "\t- " + error + "\n"
self.newCalibrations = None
self.startBtn.setText("Try Again")
else:
hintText += "Calibration was successful, " + str(len(newCalibrations["ptPairs"])) + "/" +\
str(len(testCoords)) + " points were found.\nResults will be saved when you click Apply " +\
"on the calibrations page. Feel free to try this again.\n" +\
"Make sure to repeat this calibration whenever you move your camera or move your robot."
self.testLbl.setPixmap(QtGui.QPixmap(Paths.help_star))
self.testLbl.show()
self.newCalibrations = newCalibrations
self.startBtn.setDisabled(True)
self.hintLbl.setText(hintText)
self.setFixedSize(self.layout().sizeHint())
# Update the "Finished" button
self.completeChanged.emit()
def getPoint(self, currentPoint, errors, newCalibrations, testCoords):
self.testRunning = True
if self.cancelTest:
self.testRunning = False
return
# Here we update the GUI element for telling the user how many valid points have been tested, and progress
successCount = len(newCalibrations["ptPairs"])
recFailCount = len(newCalibrations["failPts"])
# print("failcoutn: ", recFailCount)
text = "Calibration Progress: \n"
if currentPoint > len(testCoords) * .25:
if recFailCount / currentPoint > .7: # If over 70% of tests failed so far
text += " Progress Report: The robot marker has failed to be recognized " + \
str(recFailCount) + " times!\n"
else:
text += " Progress Report: The calibration is going well.\n"
text += " Testing Point:\t" + str(currentPoint) + "/" + str(len(testCoords)) + "\n"
text += " Valid Points: \t" + str(successCount) + "\n"
# text += " Failed Points:\t" + str(currentPoint - successCount) + "\n"
self.testLbl.setText(text)
# Get variables that will be used
robot = self.env.getRobot()
vision = self.env.getVision()
rbMarker = self.env.getObjectManager().getObject("Robot Marker")
singleShot = lambda: QtCore.QTimer.singleShot(10, lambda: self.getPoint(currentPoint, errors,
newCalibrations, testCoords))
if currentPoint >= len(testCoords):
self.endCalibration(errors, newCalibrations, testCoords)
return
self.progressBar.setValue(currentPoint)
coord = testCoords[currentPoint]
currentPoint += 1
printf("Testing point ", coord)
# Move the robot to the coordinate
robot.setPos(x=coord[0], y=coord[1], z=coord[2])
vision.waitForNewFrames(3)
# Now that the robot is at the desired position, get the avg location