Merge Merge 2.10 on to release branch (#97)

Merge 2.10 on to release branch

CHANGELOG.txt

@@ -1,6 +1,32 @@
 Calcam Changelog
 ================
 
+Minor Release 2.10.0 (November 2022)
+------------------------------------
+
+New & Enhancements:
+* Improved handling of errors which prevent the GUI from starting, so the user should always at least get an error message instead of silent failure.
+* Added missing documentation for calcam.movement.phase_correlation_movement() so this is now part of the public API.
+* Added WSAD & Up/Down/Left/Right keyboard controls for "walking" in the 3D views (#93)
+* Switched to using vtkStaticCellLocator() for ray-casting because it's much faster but also for some reason much more accurate with newer versions of VTK.
+* Minor documentation improvements
+
+Compatibility:
+* Removed support for PyQt6, because it causes more problems than it's worth on most platforms so sticking with PyQt5 for now gives an easier / more reliable user experience.
+* Fixed various problems with the GUI under Python 3.10:
+   * Fixed an issue which prevented the main GUI tools from opening at alll (silent failure) (#94)
+   * Fixed non-working colour chooser (#95)
+   * Fix exceptions related to sliders (part of #78)
+   * Fixed exception raised when rendering unfolded wall in Viewer tool
+* Added workaround / mitigation for silent Python crashes with VTK => 9.1 when setting some CAD models to wireframe (#78)
+	* Removed restriction of VTK version < 9.1 in setup.py and updated docs accordingly.
+
+Fixes:
+* Fixed an exception raised when adding CAD viewports from a calibration file in the Viewer GUI if the user had not manually resized the window since it was opened. (#96)
+* Fixed an exception raised by Calibration.project_points() for fisheye lens calibrations if it was called with only a single 3D point to project.
+* Fixed a bug where calling get_model_normals() on a raycast result with no model normals would return an exception class, instead of raising an exception.
+* Fixed a couple of left-over legacy variable names in the CADModel class
+
 
 Patch Release 2.9.1 (23rd July 2022)
 ------------------------------------
@@ -20,7 +46,7 @@ New & Enhancements:
 * Calcam now available on PyPi (but could use improvements to make distribution more PEP compliant in future) (#83)
 * Support masking of images (i.e marking parts of the image which do not contain any actual image) in fitting and manual alignment calibration tools (#46).
 * Add vertical field of view input in virtual calibration editor as an alternative to focal length (#85).
-* Remove error message if fitting determines the camera is upside-down; camera roll not settable in range -180,180 instead of -90,90 degrees.
+* Remove error message if fitting determines the camera is upside-down; camera roll now settable in range -180,180 instead of -90,90 degrees.
 * In the virtual calibration editor, hide pinhole model parameters if another intrinsics type is selected (otherwise could be misleading).
 * In the virtual calibration editor, when using intrinsics from an existing calibration, display the filename of that calibration.
 * Add button to save image to use as a template for creating image masks.

calcam/__init__.py

@@ -23,6 +23,7 @@
 CalCam package.
 """
 import os
+import sys
 import warnings
 
 # Calcam version
@@ -65,4 +66,14 @@
 
 # If we have no GUI available, put a placeholder function to print a message about why where the GUI launcher would normally be.
 if no_gui_reason is not None:
-    start_gui = lambda : print('Could not start calcam GUI: {:s}'.format(no_gui_reason))
+
+    start_gui = lambda: print('Could not start calcam GUI: {:s}'.format(no_gui_reason))
+
+    # If we're running under pythonw, that print statement won't do anything, so try to make a simple tkinter dialog box to tell the user about the error.
+    if 'pythonw' in os.path.split(sys.executable)[-1]:
+        try:
+            from tkinter import messagebox
+            start_gui = lambda: messagebox.showerror(title='Cannot start Calcam GUI',message='Cannot start Calcam GUI: {:s}'.format(no_gui_reason))
+        except Exception as e:
+            pass
+

calcam/__version__

@@ -1 +1 @@
-2.9.1
+2.10.0

calcam/cadmodel.py

@@ -141,7 +141,7 @@ def __init__(self,model_name=None,model_variant=None,status_callback=print_statu
                         self.def_file.close()
                         raise
 
-                    if type(test_out) == str or type(test_out) == unicode:
+                    if type(test_out) in [str,bytes]:
                         self.usermodule = usermodule
                     else:
                         self.def_file.close()
@@ -444,7 +444,7 @@ def reset_colour(self,features=None):
             elif feature in self.features.keys():
                 self.features[feature].set_colour(self.features[feature].default_colour)
             else:
-                raise ValueError('Unknown feature "{:s}"!'.format(requested))
+                raise ValueError('Unknown feature "{:s}"!'.format(feature))
 
 
 
@@ -596,7 +596,7 @@ def get_cell_locator(self):
 
             appender.Update()
 
-            self.cell_locator = vtk.vtkCellLocator()
+            self.cell_locator = vtk.vtkStaticCellLocator()
             self.cell_locator.SetTolerance(1e-6)
             self.cell_locator.SetDataSet(appender.GetOutput())
             self.cell_locator.BuildLocator()
@@ -854,6 +854,11 @@ def get_polydata(self):
 
             self.polydata = scaler.GetOutput()
 
+            # Remove all the lines from the PolyData. As far as I can tell for "normal" mesh files this shouldn't
+            # remove anything visually important, but it avoids running in to issues with vtkFeatureEdges trying to allocate
+            # way too much memory in VTK 9.1+.
+            self.polydata.SetLines(vtk.vtkCellArray())
+
             if self.parent.status_callback is not None:
                 self.parent.status_callback(None)
 

calcam/calibration.py

@@ -354,10 +354,11 @@ def normalise(self,x,y):
     def project_points(self,points,include_distortion=True):
 
         # Check the input points are in a suitable format
-        if np.ndim(points) < 3:
-            points = np.array([points],dtype='float32')
-        else:
+        if np.ndim(points) == 3:
             points = np.array(points,dtype='float32')
+        else:
+            while np.ndim(points) < 3:
+                points = np.array([points], dtype='float32')
 
         if include_distortion:
             kc = self.kc

calcam/gui/cad_edit.py

@@ -80,7 +80,7 @@ def __init__(self, app, parent = None,filename=None):
         self.rename_variant_button.clicked.connect(self.rename_variant)
         self.model_variant.currentIndexChanged.connect(self.change_variant)
 
-        self.control_sensitivity_slider.setValue(self.config.mouse_sensitivity)
+        self.control_sensitivity_slider.setValue(int(self.config.mouse_sensitivity))
         self.remove_variant_button.clicked.connect(self.remove_variant)
 
         self.feature_tree.itemChanged.connect(self.on_featuretree_change)

calcam/gui/core.py

@@ -55,6 +55,9 @@ def init(self, ui_filename, app, parent):
 
         self.app = app
 
+         # Let's show helpful dialog boxes if we have unhandled exceptions:
+        sys.excepthook = self.show_exception_dialog
+
         self.config = CalcamConfig()
 
         self.manual_exc = False
@@ -66,12 +69,10 @@ def init(self, ui_filename, app, parent):
             available_space = self.app.primaryScreen().availableGeometry()
 
         # Open the window with same aspect ratio as the screen, and no fewer than 500px tall.
-        win_height = max(500,min(780,0.75*available_space.height()))
-        win_width = win_height * available_space.width() / available_space.height() 
+        win_height = int(max(500,min(780,0.75*available_space.height())))
+        win_width = int(win_height * available_space.width() / available_space.height())
         self.resize(win_width,win_height)
 
-         # Let's show helpful dialog boxes if we have unhandled exceptions:
-        sys.excepthook = self.show_exception_dialog
 
         try:
             self.action_new.setIcon( qt.QIcon(os.path.join(guipath,'icons','new.png')) )
@@ -321,6 +322,8 @@ def pick_colour(self,init_colour,pick_alpha=False):
 
         col_init = np.array(init_colour) * 255
 
+        col_init = np.round(col_init).astype(int)
+
         if pick_alpha:
             if col_init.size < 4:
                 raise ValueError('If pick_alpha = True, you must supply a 4 element RGBA initial colour!')

calcam/gui/fitting_calib.py

@@ -195,7 +195,7 @@ def __init__(self, app, parent = None, load_file=None):
 
         self.fit_initted = False
 
-        self.overlay_opacity_slider.setValue(self.config.main_overlay_colour[3]*100)
+        self.overlay_opacity_slider.setValue(int(self.config.main_overlay_colour[3]*100))
         self.overlay_appearance_controls.hide()
         self.comparison_overlay_appearance.hide()
 

calcam/gui/qt_wrapper.py

@@ -28,6 +28,8 @@
 """
 
 # Import all the Qt bits and pieces from the relevant module
+
+''' PyQt6 support removed because it works very poorly with VTK, and PyQt5 is still readily available.
 try:
     from PyQt6.QtCore import *
     from PyQt6.QtGui import *
@@ -42,36 +44,37 @@
         pyqt6_broken=True
     except Exception:
         pyqt6_broken=False
+'''
 
-    try:
-        from PyQt5.QtCore import *
-        from PyQt5.QtGui import *
-        from PyQt5.QtWidgets import *
-        from PyQt5.QtWidgets import QTreeWidgetItem as QTreeWidgetItem_class
-        from PyQt5 import uic
-        qt_ver = 5
+try:
+    from PyQt5.QtCore import *
+    from PyQt5.QtGui import *
+    from PyQt5.QtWidgets import *
+    from PyQt5.QtWidgets import QTreeWidgetItem as QTreeWidgetItem_class
+    from PyQt5 import uic
+    qt_ver = 5
 
+except Exception:
+    try:
+        import PyQt5
+        pyqt5_broken=True
+    except:
+        pyqt5_broken=False
+    try:
+        from PyQt4.QtCore import *
+        from PyQt4.QtGui import *
+        from PyQt4.QtGui import QTreeWidgetItem as QTreeWidgetItem_class
+        from PyQt4 import uic
+        qt_ver = 4
     except Exception:
-        try:
-            import PyQt5
-            pyqt5_broken=True
-        except:
-            pyqt5_broken=False
-        try:
-            from PyQt4.QtCore import *
-            from PyQt4.QtGui import *
-            from PyQt4.QtGui import QTreeWidgetItem as QTreeWidgetItem_class
-            from PyQt4 import uic
-            qt_ver = 4
-        except Exception:
-
-            if pyqt6_broken:
-                raise ImportError('Could not import required GUI library: Python package "PyQt6" is present but seems to be broken.')
-
-            if pyqt5_broken:
-                raise ImportError('Could not import required GUI library: Python package "PyQt5" is present but seems to be broken.')
-
-            raise ImportError('Could not import required GUI library: could not import either "PyQt6", "PyQt5" or "PyQt4" python packages successfully.')
+
+        #if pyqt6_broken:
+        #    raise ImportError('Could not import required GUI library: Python package "PyQt6" is present but seems to be broken.')
+
+        if pyqt5_broken:
+            raise ImportError('Could not import required GUI library: Python package "PyQt5" is present but seems to be broken.')
+
+        raise ImportError('Could not import required GUI library: could not import either "PyQt6", "PyQt5" or "PyQt4" python packages successfully.')
 
 
 if qt_ver == 6:

calcam/gui/qvtkrenderwindowinteractor.py

@@ -500,8 +500,7 @@ def keyPressEvent(self, ev):
         if keySym is not None and shift and len(keySym) == 1 and keySym.isalpha():
             keySym = keySym.upper()
 
-        self._Iren.SetEventInformationFlipY(self.__saveX, self.__saveY,
-                                            ctrl, shift, key, 0, keySym)
+        self._Iren.SetEventInformationFlipY(self.__saveX, self.__saveY,ctrl, shift, key[-1], 0, keySym)
         self._Iren.KeyPressEvent()
         self._Iren.CharEvent()
 

calcam/gui/viewer.py

@@ -124,7 +124,7 @@ def __init__(self, app, parent = None):
         self.remove_lines_button.clicked.connect(self.update_lines)
         self.coords_legend_checkbox.toggled.connect(self.update_legend)
 
-        self.control_sensitivity_slider.setValue(self.config.mouse_sensitivity)
+        self.control_sensitivity_slider.setValue(int(self.config.mouse_sensitivity))
 
         self.proj_perspective.toggled.connect(self.set_projection)
 
@@ -343,7 +343,7 @@ def set_fov_opacity(self,opacity,actor_type):
         opacity = opacity**(1/gamma)
 
         self.sightline_opacity_slider.blockSignals(True)
-        self.sightline_opacity_slider.setValue(opacity * 100)
+        self.sightline_opacity_slider.setValue(int(opacity * 100))
         self.sightline_opacity_slider.blockSignals(False)
 
 
@@ -889,7 +889,7 @@ def update_sightlines(self,data):
                     self.statusbar.showMessage('Ray casting camera sight lines...')
                     self.app.processEvents()
                     if self.sightlines[data][2] == 'wall_coverage':
-                        actor = render.get_wall_coverage_actor(self.sightlines[data][0],self.cadmodel,resolution=256,subview=self.sightlines[data][3])
+                        actor = render.get_wall_coverage_actor(self.sightlines[data][0],self.cadmodel,subview=self.sightlines[data][3],clearance=1e-2,resolution=256)
                     else:
                         actor = render.get_fov_actor(self.cadmodel,self.sightlines[data][0],self.sightlines[data][2],subview=self.sightlines[data][3])
                     self.statusbar.clearMessage()
@@ -1061,7 +1061,7 @@ def update(self,progress):
         self.parent.app.processEvents()
         self.repaint()
         try:
-            self.progressbar.setValue(progress*100)
+            self.progressbar.setValue(int(progress*100))
             if self.progress_ref is None:
                 self.progress_ref = (time.time(),progress)
             else: