Allow to use h also and lock the code. msg box not here anymore.
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Anaaim
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9e4ec13934
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bc497fdf37
@ -861,7 +861,7 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
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'''
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global old_image_path
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old_image_path = img_path
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def on_key(event):
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'''
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Handles key press events:
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@ -870,7 +870,7 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
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'''
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global imgp_confirmed, objp_confirmed, objp_confirmed_notok, scat, ax_3d, fig_3d, events, count
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if event.key == 'y':
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# If 'y', close all
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# If points have been clicked, imgp_confirmed is returned, else imgp
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@ -912,8 +912,9 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
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if 'objp_confirmed' in globals():
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del objp_confirmed
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# If 'c', allows retrieving imgp_confirmed by clicking them on the image
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scat = ax.scatter([],[],s=100,marker='+',color='g')
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scat = ax.scatter([], [], s=100, marker='+', color='g')
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plt.connect('button_press_event', on_click)
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plt.connect('key_press_event', on_click)
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# If objp is given, display 3D object points in black
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if len(objp) != 0 and not plt.fignum_exists(2):
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fig_3d = plt.figure()
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@ -922,45 +923,17 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
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ax_3d = fig_3d.add_subplot(projection='3d')
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plt.rc('xtick', labelsize=5)
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plt.rc('ytick', labelsize=5)
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for i, (xs,ys,zs) in enumerate(np.float32(objp)):
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ax_3d.scatter(xs,ys,zs, marker='.', color='k')
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ax_3d.text(xs,ys,zs, f'{str(i+1)}', size=10, zorder=1, color='k')
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for i, (xs, ys, zs) in enumerate(np.float32(objp)):
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ax_3d.scatter(xs, ys, zs, marker='.', color='k')
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ax_3d.text(xs, ys, zs, f'{str(i + 1)}', size=10, zorder=1, color='k')
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set_axes_equal(ax_3d)
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ax_3d.set_xlabel('X')
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ax_3d.set_ylabel('Y')
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ax_3d.set_zlabel('Z')
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if np.all(objp[:,2] == 0):
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if np.all(objp[:, 2] == 0):
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ax_3d.view_init(elev=-90, azim=0)
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fig_3d.show()
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if event.key == 'h':
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# If 'h', indicates that one of the objp is not visible on image
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# Displays it in red on 3D plot
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if len(objp) != 0 and 'ax_3d' in globals():
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count = [0 if 'count' not in globals() else count+1][0]
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if 'events' not in globals():
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# retrieve first objp_confirmed_notok and plot 3D
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events = [event]
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objp_confirmed_notok = objp[count]
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ax_3d.scatter(*objp_confirmed_notok, marker='o', color='r')
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fig_3d.canvas.draw()
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elif count == len(objp)-1:
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# if all objp have been clicked or indicated as not visible, close all
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objp_confirmed = np.array([[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed+[objp[count]]][0])[:-1]
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imgp_confirmed = np.array(np.expand_dims(scat.get_offsets(), axis=1), np.float32)
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plt.close('all')
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for var_to_delete in ['events', 'count', 'scat', 'fig_3d', 'ax_3d', 'objp_confirmed_notok']:
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if var_to_delete in globals():
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del globals()[var_to_delete]
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else:
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# retrieve other objp_confirmed_notok and plot 3D
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events.append(event)
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objp_confirmed_notok = objp[count]
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ax_3d.scatter(*objp_confirmed_notok, marker='o', color='r')
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fig_3d.canvas.draw()
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else:
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pass
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def on_click(event):
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'''
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@ -971,23 +944,35 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
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global imgp_confirmed, objp_confirmed, objp_confirmed_notok, scat, ax_3d, fig_3d, events, count, xydata, in_prompt
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# To avoid to much click during the prompt
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in_prompt_not_exist = "in_prompt" not in globals()
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# This part is done because to allow to manage in the same function button_press_event and key_press_event
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is_button_one = False
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is_button_three = False
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is_key_h = False
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if event.name == 'button_press_event':
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if event.button == 1:
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is_button_one = True
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elif event.button == 3:
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is_button_three = True
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elif event.name == 'key_press_event':
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if event.key == "h":
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is_key_h = True
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if in_prompt_not_exist or not in_prompt:
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# Left click: Add clicked point to imgp_confirmed
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# Display it on image and on 3D plot
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if event.button == 1:
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if is_button_one or is_key_h:
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# To remember the event to cancel after right click
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if 'events' in globals():
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events.append(event)
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else:
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events = [event]
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# Add clicked point to image
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xydata = scat.get_offsets()
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new_xydata = np.concatenate((xydata, [[event.xdata, event.ydata]]))
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scat.set_offsets(new_xydata)
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imgp_confirmed = np.expand_dims(scat.get_offsets(), axis=1)
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plt.draw()
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if is_button_one:
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# Add clicked point to image
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xydata = scat.get_offsets()
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new_xydata = np.concatenate((xydata, [[event.xdata, event.ydata]]))
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scat.set_offsets(new_xydata)
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imgp_confirmed = np.expand_dims(scat.get_offsets(), axis=1)
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plt.draw()
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# Add clicked point to 3D object points if given
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if len(objp) != 0:
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@ -995,25 +980,40 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
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if count == 0:
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# retrieve objp_confirmed and plot 3D
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objp_confirmed = [objp[count]]
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ax_3d.scatter(*objp[count], marker='o', color='g')
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if is_button_one:
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ax_3d.scatter(*objp[count], marker='o', color='g')
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elif is_key_h:
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ax_3d.scatter(*objp_confirmed_notok, marker='o', color='r')
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fig_3d.canvas.draw()
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print(count)
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elif count == len(objp) - 1:
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in_prompt = True
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objp_confirmed = \
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[[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed + [objp[count]]][0]
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if is_button_one:
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objp_confirmed = \
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[[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed + [objp[count]]][0]
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elif is_key_h:
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objp_confirmed = np.array([[objp[
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count]] if 'objp_confirmed' not in globals() else objp_confirmed + [
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objp[count]]][0])[:-1]
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ax_3d.scatter(*objp[count], marker='o', color='g')
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fig_3d.canvas.draw()
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# Small bit of code to not have the basic windows of tkinter when using the askquestion messsage box
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msg = tkinter.Tk()
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msg.withdraw()
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msg_box = tkinter.messagebox.askquestion(
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"Validate Calibration", "Are you satisfied with point positioning ? ", icon="warning"
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)
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if msg_box.lower() == "yes":
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# close all
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plt.close('all')
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# retrieve objp_confirmed
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# objp_confirmed = np.array([[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed+[objp[count]]][0])
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imgp_confirmed = np.array(imgp_confirmed, np.float32)
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# delete all
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if is_button_one:
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imgp_confirmed = np.array(imgp_confirmed, np.float32)
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elif is_key_h:
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# if all objp have been clicked or indicated as not visible, close all
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imgp_confirmed = np.array(np.expand_dims(scat.get_offsets(), axis=1), np.float32)
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# delete all
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plt.close('all')
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in_prompt = False
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for var_to_delete in ['events', 'count', 'scat', 'scat_3d', 'fig_3d', 'ax_3d',
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'objp_confirmed_notok']:
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@ -1040,19 +1040,36 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
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ax_3d.collections[-1].remove()
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fig_3d.canvas.draw()
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# If last event was 'h' key
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elif events[-1].key == 'h':
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if len(objp) != 0:
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if count >= 1: count -= 1
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# Remove last point from objp_confirmed_notok
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objp_confirmed_notok = objp_confirmed_notok[:-1]
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# remove from plot
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if len(ax_3d.collections) > len(objp):
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ax_3d.collections[-1].remove()
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fig_3d.canvas.draw()
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else:
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# retrieve objp_confirmed and plot 3D
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objp_confirmed = \
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[[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed + [objp[count]]][0]
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ax_3d.scatter(*objp[count], marker='o', color='g')
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fig_3d.canvas.draw()
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print(count)
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if is_button_one:
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objp_confirmed = \
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[[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed + [objp[count]]][0]
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ax_3d.scatter(*objp[count], marker='o', color='g')
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fig_3d.canvas.draw()
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elif is_key_h:
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# retrieve other objp_confirmed_notok and plot 3D
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events.append(event)
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objp_confirmed_notok = objp[count]
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ax_3d.scatter(*objp_confirmed_notok, marker='o', color='r')
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fig_3d.canvas.draw()
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# Right click:
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# If last event was left click, remove last point and if objp given, from objp_confirmed
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# If last event was 'H' and objp given, remove last point from objp_confirmed_notok
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elif event.button == 3: # right click
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elif is_button_three: # right click
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if 'events' in globals():
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# If last event was left click:
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if 'button' in dir(events[-1]):
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