From bcea9548d7d963491dad8e68471c4c06f3307667 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Wed, 11 Jan 2023 08:05:37 +0000 Subject: [PATCH 01/21] Fix broken VTK7 compatibility. --- CHANGELOG.txt | 7 +++++++ calcam/__version__ | 2 +- calcam/cadmodel.py | 5 ++++- 3 files changed, 12 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.txt b/CHANGELOG.txt index 4a1c4f7..c47aa20 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -1,6 +1,13 @@ Calcam Changelog ================ +Current head of MASTER (2.10.1.dev0) +------------------------------------ + +Fixes: +* Fix compatibility with VTK7 which was inadvertently broken by 2.10.0 + + Minor Release 2.10.0 (November 2022) ------------------------------------ diff --git a/calcam/__version__ b/calcam/__version__ index f161b5d..1bebf44 100644 --- a/calcam/__version__ +++ b/calcam/__version__ @@ -1 +1 @@ -2.10.0 \ No newline at end of file +2.10.1.dev0 diff --git a/calcam/cadmodel.py b/calcam/cadmodel.py index 7042172..e8aba04 100644 --- a/calcam/cadmodel.py +++ b/calcam/cadmodel.py @@ -595,8 +595,11 @@ def get_cell_locator(self): appender.AddInputData(self.features[fname].get_polydata()) appender.Update() + try: + self.cell_locator = vtk.vtkStaticCellLocator() + except AttributeError: + 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() From fb1ddafeac90fe687a76694970a68487486c28c9 Mon Sep 17 00:00:00 2001 From: krim Date: Sun, 5 Feb 2023 15:56:10 +0100 Subject: [PATCH 02/21] Bugfix for displaying calibration properties --- calcam/calibration.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/calcam/calibration.py b/calcam/calibration.py index 52bb98d..893d0c6 100644 --- a/calcam/calibration.py +++ b/calcam/calibration.py @@ -2076,7 +2076,7 @@ def __str__(self): if self.intrinsics_type == 'calibration': hist_str = self.history['intrinsics'][1] else: - hist_str = self.history['intrinsics'] + hist_str = self.history['intrinsics'][1] msg = msg + 'Intrinsics\n~~~~~~~~~~\nType: {:s}\n{:s}\n\n'.format(self.intrinsics_type.capitalize(),hist_str) if self.pixel_size is not None: msg = msg + 'Camera pixel size: {:.1f} x {:.1f} um\n'.format(1e6*self.pixel_size,1e6*self.pixel_size*self.geometry.pixel_aspectratio) From 35641baa83712125dd4778628b42504342fbfa74 Mon Sep 17 00:00:00 2001 From: krim Date: Sun, 5 Feb 2023 15:57:25 +0100 Subject: [PATCH 03/21] Bugfix for broken window resize when clicking calibration properties button --- calcam/gui/core.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/calcam/gui/core.py b/calcam/gui/core.py index 05b3c81..e9e4b78 100644 --- a/calcam/gui/core.py +++ b/calcam/gui/core.py @@ -2048,7 +2048,7 @@ def __init__(self,parent,calibration): self.setWindowTitle('Calibration Information.') - self.resize(parent.size().width()/2,parent.size().height()/2) + self.resize(parent.size().width()//2,parent.size().height()//2) self.setModal(False) From 4f7bd48e18737618899b5aaf669a0ad0b0232428 Mon Sep 17 00:00:00 2001 From: krim Date: Sun, 5 Feb 2023 15:58:36 +0100 Subject: [PATCH 04/21] Bugfix in image load GUI --- calcam/builtin_image_sources/imagefile.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/calcam/builtin_image_sources/imagefile.py b/calcam/builtin_image_sources/imagefile.py index a3cb0c8..db39384 100644 --- a/calcam/builtin_image_sources/imagefile.py +++ b/calcam/builtin_image_sources/imagefile.py @@ -75,12 +75,12 @@ def get_image(filename,coords,offset_x,offset_y): 'arg_name': 'offset_x', 'gui_label': 'Detector X Offset', 'type': 'int', - 'limits':[0,1e4] + 'limits':[0,10000] }, { 'arg_name': 'offset_y', 'gui_label': 'Detector Y Offset', 'type': 'int', - 'limits': [0, 1e4] + 'limits': [0, 10000] }, ] \ No newline at end of file From ce0c64ae52beb0c0a9c352f94072ce0ea8afe8e1 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Mon, 13 Feb 2023 13:53:55 +0000 Subject: [PATCH 05/21] Bug & compatibility fixes; see CHANGELOG.txt for details. --- CHANGELOG.txt | 9 ++++++++- calcam/gui/core.py | 6 +++--- calcam/gui/fitting_calib.py | 4 ++-- calcam/gui/image_analysis.py | 6 +++--- calcam/gui/movement_correction.py | 10 ++++++++-- calcam/gui/vtkinteractorstyles.py | 6 +++++- 6 files changed, 29 insertions(+), 12 deletions(-) diff --git a/CHANGELOG.txt b/CHANGELOG.txt index c47aa20..db33a4c 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -4,8 +4,15 @@ Calcam Changelog Current head of MASTER (2.10.1.dev0) ------------------------------------ +Compatibility: +* Fixed various additional compatibility issues under Python 3.10 which raised exceptions due to floats being passed to PyQt calls that now require ints. +* Fixed ray casting compatibility with VTK7 which was inadvertently broken by 2.10.0 +* Fixed compatibility of movement correction with newer versions of OpenCV. + Fixes: -* Fix compatibility with VTK7 which was inadvertently broken by 2.10.0 +* Fixed a bug which caused erratic behaviour in image analyser when using a calibration with multiple sub-views and movement correction. +* Fixed an exception which could be raised by certain combinations of clicks & key presses on VTK GUI elements. +* Fixed an issue which could raise exceptions if trying to perform a calibration fit with < 6 points (fit button is now disabled in this case). Minor Release 2.10.0 (November 2022) diff --git a/calcam/gui/core.py b/calcam/gui/core.py index 05b3c81..28ce731 100644 --- a/calcam/gui/core.py +++ b/calcam/gui/core.py @@ -396,10 +396,10 @@ def build_imload_gui(self,index): valbox = qt.QSpinBox() valbox.setButtonSymbols(qt.QAbstractSpinBox.NoButtons) if 'limits' in option: - valbox.setMinimum(option['limits'][0]) - valbox.setMaximum(option['limits'][1]) + valbox.setMinimum(int(option['limits'][0])) + valbox.setMaximum(int(option['limits'][1])) if 'default' in option: - valbox.setValue(option['default']) + valbox.setValue(int(option['default'])) layout.addWidget(valbox,row,1) self.imload_inputs[option['arg_name']] = ([labelwidget,valbox],valbox.value ) row = row + 1 diff --git a/calcam/gui/fitting_calib.py b/calcam/gui/fitting_calib.py index 6577768..e4b8670 100644 --- a/calcam/gui/fitting_calib.py +++ b/calcam/gui/fitting_calib.py @@ -1042,8 +1042,8 @@ def fit_enable_check(self): for i in range(self.calibration.n_subviews): enable = True - # We need at least 4 extrinsics points and at least as many total points as free parameters - if self.n_points[i][0] < 4 or np.sum(self.n_points[i]) < 6: + # We need at least 6 extrinsics points + if self.n_points[i][0] < 6: enable = False self.fit_buttons[i].setEnabled(enable) diff --git a/calcam/gui/image_analysis.py b/calcam/gui/image_analysis.py index 9bcc732..ce7feca 100644 --- a/calcam/gui/image_analysis.py +++ b/calcam/gui/image_analysis.py @@ -425,15 +425,15 @@ def update_from_2d(self,coords_2d): for i,coords in enumerate(coords_2d): if coords is not None: - if self.mov_correction is not None: - coords = self.mov_correction.moved_to_ref_coords(*coords) if self.calibration.subview_lookup(*coords) == -1: raise UserWarning('The clicked position is outside the calibrated field of view.') elif np.any(coords != self.coords_2d[i]): + if self.mov_correction is not None: + coords = self.mov_correction.moved_to_ref_coords(*coords) raydata = raycast_sightlines(self.calibration,self.cadmodel,coords[0],coords[1],coords='Display',verbose=False) self.update_from_3d(raydata.ray_end_coords[0,:]) - return + break def on_close(self): diff --git a/calcam/gui/movement_correction.py b/calcam/gui/movement_correction.py index cd30dd4..bf30f89 100644 --- a/calcam/gui/movement_correction.py +++ b/calcam/gui/movement_correction.py @@ -59,7 +59,7 @@ def __init__(self,app,parent,ref_image,new_image,correction=None): # Open the window with same aspect ratio as the screen, and no fewer than 500px tall. win_height = min(780,0.75*available_space.height()) win_width = win_height * available_space.width() / available_space.height() - self.resize(win_width,win_height) + self.resize(int(win_width),int(win_height)) self.qvtkwidget_ref = qt.QVTKRenderWindowInteractor(self.ref_frame) self.ref_frame.layout().addWidget(self.qvtkwidget_ref) @@ -276,7 +276,13 @@ def get_transform(self): ref_points[i,:] = self.interactor_ref.get_cursor_coords(pp[0])[0] new_points[i,:] = self.interactor_new.get_cursor_coords(pp[1])[0] - m = np.matrix(cv2.cv2.estimateAffinePartial2D(new_points, ref_points)[0]) + + try: + # First try the call for newer versions of OpenCV (not sure exactly when it changed?) + m = np.matrix(cv2.estimateAffinePartial2D(new_points, ref_points)[0]) + except AttributeError: + # If that fails, try the older style call instead + m = np.matrix(cv2.cv2.estimateAffinePartial2D(new_points, ref_points)[0]) if m[0,0] is None: self.transform = None diff --git a/calcam/gui/vtkinteractorstyles.py b/calcam/gui/vtkinteractorstyles.py index 8bb23e3..90d1acb 100644 --- a/calcam/gui/vtkinteractorstyles.py +++ b/calcam/gui/vtkinteractorstyles.py @@ -154,7 +154,11 @@ def on_keyboard(self,obj,event): """ direction = None - key = self.interactor.GetKeySym().upper() + + try: + key = self.interactor.GetKeySym().upper() + except AttributeError: + return # -------------------- WSAD WALKING -------------------- if key in ['W','UP']: From 58777ebc4160dfcd99eda74fba38d19aaf95b576 Mon Sep 17 00:00:00 2001 From: krim Date: Mon, 13 Feb 2023 20:50:40 +0100 Subject: [PATCH 06/21] Change check for displaying calibration properties so it works for all types of intrinsics --- calcam/calibration.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/calcam/calibration.py b/calcam/calibration.py index 893d0c6..489ee37 100644 --- a/calcam/calibration.py +++ b/calcam/calibration.py @@ -2073,10 +2073,10 @@ def __str__(self): # Model info for alignment or virtual selfs if self._type in ['alignment','virtual']: msg = msg + '------------\nCamera Model\n------------\n\n' - if self.intrinsics_type == 'calibration': + if isinstance(self.history['intrinsics'], (list, tuple)): hist_str = self.history['intrinsics'][1] else: - hist_str = self.history['intrinsics'][1] + hist_str = self.history['intrinsics'] msg = msg + 'Intrinsics\n~~~~~~~~~~\nType: {:s}\n{:s}\n\n'.format(self.intrinsics_type.capitalize(),hist_str) if self.pixel_size is not None: msg = msg + 'Camera pixel size: {:.1f} x {:.1f} um\n'.format(1e6*self.pixel_size,1e6*self.pixel_size*self.geometry.pixel_aspectratio) From fb2bae0457b8e34a63da1c1e014cf0efafb87b8f Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Tue, 14 Feb 2023 20:33:31 +0000 Subject: [PATCH 07/21] Updating AUTHORS.txt --- AUTHORS.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/AUTHORS.txt b/AUTHORS.txt index ea1e6e1..d07e464 100644 --- a/AUTHORS.txt +++ b/AUTHORS.txt @@ -12,6 +12,8 @@ Christian Gutschow Mark Smithies Alasdair Wynn Rhys Doyle +Matt Kriete + Button icons by icons8 http://icons8.com From c3bb6b6ceb22a2c270333fe5908fec64b15b5f13 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Sun, 25 Jun 2023 23:27:10 +0100 Subject: [PATCH 08/21] Add options to turn off geometry matrix trimming; fix some bugs (see CHANGELOG.txt). --- CHANGELOG.txt | 8 ++++++- calcam/__version__ | 2 +- calcam/gm.py | 35 ++++++++++++++++++------------- calcam/gui/virtual_calib.py | 2 +- calcam/gui/vtkinteractorstyles.py | 5 +++++ 5 files changed, 35 insertions(+), 17 deletions(-) diff --git a/CHANGELOG.txt b/CHANGELOG.txt index db33a4c..75ef115 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -1,9 +1,12 @@ Calcam Changelog ================ -Current head of MASTER (2.10.1.dev0) +Current head of MASTER (2.11.0.dev0) ------------------------------------ +New & Enhancements: +* Added ability to turn off automatic trimming of geometry matrix rows and columns when creating GeometryMatrix objects. + Compatibility: * Fixed various additional compatibility issues under Python 3.10 which raised exceptions due to floats being passed to PyQt calls that now require ints. * Fixed ray casting compatibility with VTK7 which was inadvertently broken by 2.10.0 @@ -13,6 +16,9 @@ Fixes: * Fixed a bug which caused erratic behaviour in image analyser when using a calibration with multiple sub-views and movement correction. * Fixed an exception which could be raised by certain combinations of clicks & key presses on VTK GUI elements. * Fixed an issue which could raise exceptions if trying to perform a calibration fit with < 6 points (fit button is now disabled in this case). +* Field of view now updates correctly when changing pixel size or number of pixels in virtual calibration editor. +* Fixed issue with "lefover image" staying visible when changing sensor aspect ratio in the virtual calibration editor. +* Fixed a bug in the 3D viewer which caused a calibration legend with multiple entries to appear when rendering images with only 1 calibration visible. Minor Release 2.10.0 (November 2022) diff --git a/calcam/__version__ b/calcam/__version__ index 1bebf44..5b70b33 100644 --- a/calcam/__version__ +++ b/calcam/__version__ @@ -1 +1 @@ -2.10.1.dev0 +2.11.0.dev0 diff --git a/calcam/gm.py b/calcam/gm.py index 822b700..1440c70 100755 --- a/calcam/gm.py +++ b/calcam/gm.py @@ -577,6 +577,12 @@ class GeometryMatrix: the 2D image array in to the 1D data vector. \ Default 'C' goes left-to-right, then row-by-row (NumPy default), \ alternatively 'F' goes top-to-bottom, then column-by-column (MATLAB default). + + trim_rows (bool) : Whether to automatically remove all-zero matrix rows, i.e. rows corresponding to pixels \ + which don't see any of the cells in the inversion grid. + + trim_columns (bool) : Whether to automatically remove all-zero matrix columns, i.e. columns corresponding \ + to grid cells not seen by any pixel. This will also remove these cells from the grid object. calc_status_callback (callable) : Callable which takes a single argument, which will be called with \ status updates about the calculation. It will be called with either \ @@ -585,7 +591,7 @@ class GeometryMatrix: to stdout. If set to None, no status updates are issued. ''' - def __init__(self,grid,raydata,pixel_order='C',calc_status_callback = misc.LoopProgPrinter().update): + def __init__(self,grid,raydata,pixel_order='C',trim_rows=True,trim_columns=True,calc_status_callback = misc.LoopProgPrinter().update): if grid is not None and raydata is not None: @@ -662,19 +668,20 @@ def __init__(self,grid,raydata,pixel_order='C',calc_status_callback = misc.LoopP if calc_status_callback is not None: calc_status_callback(1.) - - # Remove any grid cells + matrix columns which have no sight-line coverage. - unused_cells = np.where(np.abs(self.data.sum(axis=0)) == 0)[1] - self.grid.remove_cells(unused_cells) - - used_cols = np.where(self.data.sum(axis=0) > 0)[1] - self.data = self.data[:,used_cols] - - # Set the pixel mask to exclude pixels which do not contribute to any grid cells and remove corresponding rows. - if self.pixel_mask is not None: - used_pixels = np.squeeze(np.array(np.abs(self.data.sum(axis=1))) > 1e-14) - self.pixel_mask = used_pixels.reshape(imdims,order=self.pixel_order) - self.data = self.data[used_pixels,:] + if trim_columns: + # Remove any grid cells + matrix columns which have no sight-line coverage. + unused_cells = np.where(np.abs(self.data.sum(axis=0)) == 0)[1] + self.grid.remove_cells(unused_cells) + + used_cols = np.where(self.data.sum(axis=0) > 0)[1] + self.data = self.data[:,used_cols] + + if trim_rows: + # Set the pixel mask to exclude pixels which do not contribute to any grid cells and remove corresponding rows. + if self.pixel_mask is not None: + used_pixels = np.squeeze(np.array(np.abs(self.data.sum(axis=1))) > 1e-14) + self.pixel_mask = used_pixels.reshape(imdims,order=self.pixel_order) + self.data = self.data[used_pixels,:] diff --git a/calcam/gui/virtual_calib.py b/calcam/gui/virtual_calib.py index aff1604..d41d1c2 100644 --- a/calcam/gui/virtual_calib.py +++ b/calcam/gui/virtual_calib.py @@ -185,7 +185,7 @@ def update_intrinsics(self): fl = self.y_pixels_box.value() * self.pixel_size_box.value() * 1e-3 / (2*np.tan(self.fov_box.value()/360 * np.pi)) self.focal_length_box.setValue(fl) self.focal_length_box.blockSignals(False) - elif self.sender() is self.focal_length_box: + else: self.fov_box.blockSignals(True) fov = 360*np.arctan(self.y_pixels_box.value() * self.pixel_size_box.value() * 1e-3 / (2*self.focal_length_box.value())) / np.pi self.fov_box.setValue(fov) diff --git a/calcam/gui/vtkinteractorstyles.py b/calcam/gui/vtkinteractorstyles.py index 90d1acb..a785ef9 100644 --- a/calcam/gui/vtkinteractorstyles.py +++ b/calcam/gui/vtkinteractorstyles.py @@ -577,11 +577,15 @@ def on_resize(self,obj=None,event=None): # Camera view wider than VTK panel if self.force_aspect <= vtk_aspect: h = self.force_aspect / vtk_aspect + self.renderer.Clear() + self.vtkwindow.Render() self.renderer.SetViewport([0.,0.5-h/2.,1.0,0.5+h/2.]) # Camera view taller than VTK panel elif self.force_aspect > vtk_aspect: w = vtk_aspect / self.force_aspect + self.renderer.Clear() + self.vtkwindow.Render() self.renderer.SetViewport([0.5-w/2.,0.,0.5+w/2.,1.]) # Sizing of the legend @@ -623,6 +627,7 @@ def set_legend(self,legend_items): if self.legend is not None: self.renderer.RemoveActor(self.legend) + self.legend = None if len(legend_items) > 0: From a5ec4279f1809dcc05b6cf632b2a69c60b969225 Mon Sep 17 00:00:00 2001 From: Scottt Silburn Date: Mon, 26 Jun 2023 13:20:49 +0100 Subject: [PATCH 09/21] Continue fixes towards v2.11; see CHANGELOG.txt. --- CHANGELOG.txt | 4 ++++ calcam/calibration.py | 26 +++++++++++++++++--------- calcam/gui/core.py | 5 ++++- calcam/gui/qt_wrapper.py | 2 +- 4 files changed, 26 insertions(+), 11 deletions(-) diff --git a/CHANGELOG.txt b/CHANGELOG.txt index 75ef115..83ac037 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -6,6 +6,7 @@ Current head of MASTER (2.11.0.dev0) New & Enhancements: * Added ability to turn off automatic trimming of geometry matrix rows and columns when creating GeometryMatrix objects. +* Improved behaviour of "Set CAD view to match fit" button when using images with multiple sub-views in the fitting calibration tool. Compatibility: * Fixed various additional compatibility issues under Python 3.10 which raised exceptions due to floats being passed to PyQt calls that now require ints. @@ -19,6 +20,9 @@ Fixes: * Field of view now updates correctly when changing pixel size or number of pixels in virtual calibration editor. * Fixed issue with "lefover image" staying visible when changing sensor aspect ratio in the virtual calibration editor. * Fixed a bug in the 3D viewer which caused a calibration legend with multiple entries to appear when rendering images with only 1 calibration visible. +* Fixed a bug which raised exceptions when using the "Set CAD view to match fit" button in the fitting calibration editor, for images with multiple sub-views if not all sub-views were fitted. +* Improved reliability of fitting calibration for high resolution images. +* Fixed PyQt error message to correctly reflect supported PyQt versions. Minor Release 2.10.0 (November 2022) diff --git a/calcam/calibration.py b/calcam/calibration.py index 489ee37..22b1a97 100644 --- a/calcam/calibration.py +++ b/calcam/calibration.py @@ -1418,10 +1418,12 @@ def get_los_direction(self,x=None,y=None,coords='Display',subview=None): subview_mask = self.subview_lookup(x,y) subview_mask = np.tile( subview_mask, [3] + [1]*x.ndim ) subview_mask = np.squeeze(np.swapaxes(np.expand_dims(subview_mask,-1),0,subview_mask.ndim),axis=0) # Changed to support old numpy versions. Simpler modern version: np.moveaxis(subview_mask,0,subview_mask.ndim-1) - - for nview in range(self.n_subviews): - losdir = self.view_models[nview].get_los_direction(x,y) - output[subview_mask == nview] = losdir[subview_mask == nview] + subview_list = np.unique(subview_mask) + subview_list = subview_list[subview_list > -1].astype(int) + for nview in subview_list: + if self.view_models[nview] is not None: + losdir = self.view_models[nview].get_los_direction(x,y) + output[subview_mask == nview] = losdir[subview_mask == nview] else: @@ -2028,7 +2030,7 @@ def __str__(self): msg = msg + '\nSub-views: {:d} ({:s})\n\n'.format(self.n_subviews,', '.join(['"{:s}"'.format(name) for name in self.subview_names])) - # Point paiir info for fitting selfs + # Point pair info for fitting calibs if self.pointpairs is not None: msg = msg + '------------------\nCalibration Points\n------------------\n{:s}\n'.format(self.history['pointpairs'][0]) if self.history['pointpairs'][1] is not None: @@ -2053,7 +2055,7 @@ def __str__(self): msg = msg + '\n\n' - # Fit info for fitting selfs. + # Fit info for fitting calibs. if self._type == 'fit': if self.view_models.count(None) < len(self.view_models): msg = msg + '----------------------\nFitted Camera Model(s)\n----------------------\n' @@ -2484,11 +2486,17 @@ def set_pointpairs(self,pointpairs,subview=0): def set_image_shape(self,im_shape): self.image_display_shape = tuple(im_shape) + + longest_side = max(self.image_display_shape[0],self.image_display_shape[1]) - # Initialise initial values for fitting + # Initial guess for fitting camera matrix + # Note the guess for the focal length is 2 * sensor longet side, + # since this seems to be a reasonable value for most currently used + # systems and allows the fitting to work well for both very low and + # very high pixel density sensors. initial_matrix = np.zeros((3,3)) - initial_matrix[0,0] = 1200 # Fx - initial_matrix[1,1] = 1200 # Fy + initial_matrix[0,0] = longest_side*2 # Fx + initial_matrix[1,1] = longest_side*2 # Fy initial_matrix[2,2] = 1 initial_matrix[0,2] = self.image_display_shape[0]/2 # Cx initial_matrix[1,2] = self.image_display_shape[1]/2 # Cy diff --git a/calcam/gui/core.py b/calcam/gui/core.py index 6e3fdfc..14a42ec 100644 --- a/calcam/gui/core.py +++ b/calcam/gui/core.py @@ -26,6 +26,7 @@ # External module imports import numpy as np +from scipy.ndimage.measurements import center_of_mass as CoM import vtk import cv2 @@ -768,7 +769,9 @@ def set_view_from_calib(self,calibration,subfield): mat = calibration.get_cam_matrix(subview=subfield) self.camera_3d.SetFocalPoint(calibration.get_pupilpos(subview=subfield) + calibration.get_los_direction(mat[0,2],mat[1,2])) else: - self.camera_3d.SetFocalPoint(calibration.get_pupilpos(subview=subfield) + calibration.get_los_direction(calibration.geometry.get_display_shape()[0]/2,calibration.geometry.get_display_shape()[1]/2)) + ypx,xpx = CoM( calibration.get_subview_mask(coords='Display') == subfield) + los_centre = calibration.get_los_direction(xpx,ypx) + self.camera_3d.SetFocalPoint(calibration.get_pupilpos(subview=subfield) + los_centre) self.interactor3d.set_roll(calibration.get_cam_roll(subview=subfield,centre='subview')) diff --git a/calcam/gui/qt_wrapper.py b/calcam/gui/qt_wrapper.py index db5745d..1e575f1 100644 --- a/calcam/gui/qt_wrapper.py +++ b/calcam/gui/qt_wrapper.py @@ -74,7 +74,7 @@ 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.') + raise ImportError('Could not import required GUI library: could not import either "PyQt5" or "PyQt4" python packages successfully.') if qt_ver == 6: From 5ee56eed0c302d4065af71942997b8e518c39da8 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Mon, 26 Jun 2023 17:19:36 +0100 Subject: [PATCH 10/21] Add horizontal FOV input in virtual calib editor. --- CHANGELOG.txt | 1 + .../qt_designer_files/virtual_calib_editor.ui | 133 ++++++++++++------ calcam/gui/virtual_calib.py | 26 ++-- 3 files changed, 112 insertions(+), 48 deletions(-) diff --git a/CHANGELOG.txt b/CHANGELOG.txt index 83ac037..a519da3 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -7,6 +7,7 @@ Current head of MASTER (2.11.0.dev0) New & Enhancements: * Added ability to turn off automatic trimming of geometry matrix rows and columns when creating GeometryMatrix objects. * Improved behaviour of "Set CAD view to match fit" button when using images with multiple sub-views in the fitting calibration tool. +* Add input fields for both vertical and horizontal FOV in virtual calibration editor so the user can specify either instead of only vertical. Compatibility: * Fixed various additional compatibility issues under Python 3.10 which raised exceptions due to floats being passed to PyQt calls that now require ints. diff --git a/calcam/gui/qt_designer_files/virtual_calib_editor.ui b/calcam/gui/qt_designer_files/virtual_calib_editor.ui index 3712807..36d7e36 100644 --- a/calcam/gui/qt_designer_files/virtual_calib_editor.ui +++ b/calcam/gui/qt_designer_files/virtual_calib_editor.ui @@ -174,6 +174,12 @@ + + + 0 + 0 + + Camera Intrinsics @@ -212,6 +218,13 @@ QFrame::Raised + + + + Field of view: + + + @@ -269,9 +282,6 @@ false - - false - mm @@ -290,6 +300,9 @@ 6.000000000000000 + + false + @@ -299,86 +312,114 @@ - + + + + QAbstractSpinBox::NoButtons + + + false + + + 1000.000000000000000 + + + 0.010000000000000 + + + 10.000000000000000 + + + + - (vert. FOV: + x + + + Qt::AlignCenter - - - - - 0 - 0 - - + + QAbstractSpinBox::NoButtons false - - ° - - - 1 - - 0.100000000000000 + 2 - 179.000000000000000 + 16384 - 81.000000000000000 + 1024 - - + + QAbstractSpinBox::NoButtons false - - 1000.000000000000000 + + ° - - 0.010000000000000 + + 0 + + + 0.000000000000000 + + + 179.000000000000000 - 10.000000000000000 + 81.000000000000000 - - - - ) + + + + + 0 + 0 + - - - - QAbstractSpinBox::NoButtons false + + ° + + + 0 + - 2 + 0.000000000000000 - 16384 + 179.000000000000000 - 1024 + 81.000000000000000 + + + + + + + Qt::Horizontal @@ -446,12 +487,24 @@ + + + 0 + 0 + + Camera Positioning + + + 0 + 0 + + false diff --git a/calcam/gui/virtual_calib.py b/calcam/gui/virtual_calib.py index d41d1c2..82acce2 100644 --- a/calcam/gui/virtual_calib.py +++ b/calcam/gui/virtual_calib.py @@ -78,7 +78,8 @@ def __init__(self, app, parent = None,load_file=None): self.x_pixels_box.valueChanged.connect(self.update_intrinsics) self.y_pixels_box.valueChanged.connect(self.update_intrinsics) self.focal_length_box.valueChanged.connect(self.update_intrinsics) - self.fov_box.valueChanged.connect(self.update_intrinsics) + self.hfov_box.valueChanged.connect(self.update_intrinsics) + self.vfov_box.valueChanged.connect(self.update_intrinsics) self.load_chessboard_button.clicked.connect(self.update_chessboard_intrinsics) self.load_intrinsics_button.clicked.connect(self.update_intrinsics) self.load_extrinsics_button.clicked.connect(self.load_viewport_calib) @@ -180,16 +181,25 @@ def update_intrinsics(self): self.load_intrinsics_button.setEnabled(False) self.pinhole_params_box.show() - if self.sender() is self.fov_box: + if self.sender() is self.vfov_box: self.focal_length_box.blockSignals(True) - fl = self.y_pixels_box.value() * self.pixel_size_box.value() * 1e-3 / (2*np.tan(self.fov_box.value()/360 * np.pi)) + fl = self.y_pixels_box.value() * self.pixel_size_box.value() * 1e-3 / (2*np.tan(self.vfov_box.value()/360 * np.pi)) self.focal_length_box.setValue(fl) self.focal_length_box.blockSignals(False) - else: - self.fov_box.blockSignals(True) - fov = 360*np.arctan(self.y_pixels_box.value() * self.pixel_size_box.value() * 1e-3 / (2*self.focal_length_box.value())) / np.pi - self.fov_box.setValue(fov) - self.fov_box.blockSignals(False) + elif self.sender() is self.hfov_box: + self.focal_length_box.blockSignals(True) + fl = self.x_pixels_box.value() * self.pixel_size_box.value() * 1e-3 / (2*np.tan(self.hfov_box.value()/360 * np.pi)) + self.focal_length_box.setValue(fl) + self.focal_length_box.blockSignals(False) + + self.hfov_box.blockSignals(True) + self.vfov_box.blockSignals(True) + hfov = 360*np.arctan(self.x_pixels_box.value() * self.pixel_size_box.value() * 1e-3 / (2*self.focal_length_box.value())) / np.pi + vfov = 360 * np.arctan(self.y_pixels_box.value() * self.pixel_size_box.value() * 1e-3 / (2 * self.focal_length_box.value())) / np.pi + self.hfov_box.setValue(hfov) + self.vfov_box.setValue(vfov) + self.hfov_box.blockSignals(False) + self.vfov_box.blockSignals(False) nx = self.x_pixels_box.value() ny = self.y_pixels_box.value() From e096dbef52f47ea9f210969f2e7c84950e4c4265 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Mon, 26 Jun 2023 20:12:51 +0100 Subject: [PATCH 11/21] Improve handling of cv2.imwrite() failure so now we get error messages instead of silent failure. --- CHANGELOG.txt | 1 + calcam/gui/core.py | 46 ++++++++++++++++++++++++++++++++++-- calcam/gui/image_analysis.py | 2 +- calcam/gui/viewer.py | 19 ++++++++++++++- calcam/render.py | 22 +++++++++++------ 5 files changed, 79 insertions(+), 11 deletions(-) diff --git a/CHANGELOG.txt b/CHANGELOG.txt index a519da3..508ea4c 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -15,6 +15,7 @@ Compatibility: * Fixed compatibility of movement correction with newer versions of OpenCV. Fixes: +* When trying to save images, if an image file cannot be written (e.g. no disk space, permissions wrong etc) the user now gets an error message instead of silent failure. * Fixed a bug which caused erratic behaviour in image analyser when using a calibration with multiple sub-views and movement correction. * Fixed an exception which could be raised by certain combinations of clicks & key presses on VTK GUI elements. * Fixed an issue which could raise exceptions if trying to perform a calibration fit with < 6 points (fit button is now disabled in this case). diff --git a/calcam/gui/core.py b/calcam/gui/core.py index 14a42ec..c00cbe2 100644 --- a/calcam/gui/core.py +++ b/calcam/gui/core.py @@ -1261,7 +1261,32 @@ def update_extrinsics(self): self.camera_3d.SetViewUp(0,0,1) self.camera_3d.SetRoll(cam_roll) - self.calibration.set_extrinsics(campos,upvec,camtar = camtar,src=self.extrinsics_src) + self.calibration.set_extrinsics(campos,upvec,camtar = camtar,src=self.extrinsics_src) + + + def save_image(self,image,filename=None): + + if filename is None: + filename = self.get_save_filename('image') + + result = cv2.imwrite(filename, image) + + if not result: + dialog = qt.QMessageBox(self) + dialog.setWindowFlags(dialog.windowFlags() | qt.Qt.CustomizeWindowHint) + dialog.setWindowFlags(dialog.windowFlags() & ~qt.Qt.WindowCloseButtonHint) + dialog.setStandardButtons(dialog.Save | dialog.Discard) + dialog.button(dialog.Save).setText('Save As...') + dialog.button(dialog.Discard).setText('Cancel') + dialog.setTextFormat(qt.Qt.RichText) + dialog.setWindowTitle('Error saving image') + dialog.setText('Could not write to file {:s}.'.format(filename)) + dialog.setInformativeText('Click "Save As..." to select another location / filename and try again, or "Cancel" to give up.') + dialog.setIcon(qt.QMessageBox.Warning) + dialog.exec() + + if dialog.result() == dialog.Save: + self.save_image(image) class ChessboardDialog(qt.QDialog): @@ -2038,7 +2063,24 @@ def save_image(self): if not selected_path.endswith(fext): selected_path = selected_path + fext - cv2.imwrite(selected_path,self.image) + result = cv2.imwrite(selected_path,self.image) + + if not result: + dialog = qt.QMessageBox(self) + dialog.setWindowFlags(dialog.windowFlags() | qt.Qt.CustomizeWindowHint) + dialog.setWindowFlags(dialog.windowFlags() & ~qt.Qt.WindowCloseButtonHint) + dialog.setStandardButtons(dialog.Save | dialog.Discard) + dialog.button(dialog.Save).setText('Save As...') + dialog.button(dialog.Discard).setText('Cancel') + dialog.setTextFormat(qt.Qt.RichText) + dialog.setWindowTitle('Error saving image') + dialog.setText('Could not write to file {:s}.'.format(selected_path)) + dialog.setInformativeText('Click "Save As..." to select another location / filename and try again, or "Cancel" to give up.') + dialog.setIcon(qt.QMessageBox.Warning) + dialog.exec() + + if dialog.result() == dialog.Save: + self.save_image() class CalibInfoDialog(qt.QDialog): diff --git a/calcam/gui/image_analysis.py b/calcam/gui/image_analysis.py index ce7feca..6be6004 100644 --- a/calcam/gui/image_analysis.py +++ b/calcam/gui/image_analysis.py @@ -245,7 +245,7 @@ def save_image(self): im = np.hstack((im,render_hires(self.renderer_3d,oversampling=oversampling))) im[:,:,:3] = im[:,:,2::-1] - cv2.imwrite(filename,im) + self.save_image(filename,im) if c3d is not None: self.renderer_3d.AddActor(c3d) diff --git a/calcam/gui/viewer.py b/calcam/gui/viewer.py index f065cf1..c6492d9 100644 --- a/calcam/gui/viewer.py +++ b/calcam/gui/viewer.py @@ -824,13 +824,30 @@ def do_render(self): # Save the image! im[:,:,:3] = im[:,:,2::-1] - cv2.imwrite(filename,im) + result = cv2.imwrite(filename,im) self.renderer_3d.Render() self.app.restoreOverrideCursor() self.statusbar.clearMessage() + if not result: + dialog = qt.QMessageBox(self) + dialog.setWindowFlags(dialog.windowFlags() | qt.Qt.CustomizeWindowHint) + dialog.setWindowFlags(dialog.windowFlags() & ~qt.Qt.WindowCloseButtonHint) + dialog.setStandardButtons(dialog.Save | dialog.Discard) + dialog.button(dialog.Save).setText('Save As...') + dialog.button(dialog.Discard).setText('Cancel') + dialog.setTextFormat(qt.Qt.RichText) + dialog.setWindowTitle('Error saving image') + dialog.setText('Could not write to file {:s}.'.format(filename)) + dialog.setInformativeText('Click "Save As..." to select another location / filename and try again, or "Cancel" to give up.') + dialog.setIcon(qt.QMessageBox.Warning) + dialog.exec() + + if dialog.result() == dialog.Save: + self.save_image(im) + diff --git a/calcam/render.py b/calcam/render.py index 9c81521..caa8b53 100644 --- a/calcam/render.py +++ b/calcam/render.py @@ -384,9 +384,11 @@ def render_cam_view(cadmodel,calibration,extra_actors=[],filename=None,oversampl # Re-shuffle the colour channels for saving (openCV needs BGR / BGRA) save_im = copy.copy(output) save_im[:,:,:3] = save_im[:,:,2::-1] - cv2.imwrite(filename,save_im) - if verbose: + result = cv2.imwrite(filename,save_im) + if verbose and result: print('[Calcam Renderer] Result saved as {:s}'.format(filename)) + if not result: + print('[Calcam Renderer] WARNING: Could not write to image file {:s}'.format(filename)) # Tidy up after ourselves! @@ -1379,10 +1381,16 @@ def render_unfolded_wall(cadmodel,calibrations=[],labels = [],colours=None,cal_o # Re-shuffle the colour channels for saving (openCV needs BGR / BGRA) save_im = copy.copy(out_im) save_im[:,:,:3] = save_im[:,:,2::-1] - cv2.imwrite(filename,save_im) - try: - progress_callback('Result saved as {:s}'.format(filename)) - except Exception: - print('Result saved as {:s}'.format(filename)) + result = cv2.imwrite(filename,save_im) + if result: + try: + progress_callback('Result saved as {:s}'.format(filename)) + except Exception: + print('Result saved as {:s}'.format(filename)) + else: + try: + progress_callback('Warning: could not write to image file {:s}'.format(filename)) + except Exception: + print('Warning: could not write to image file {:s}'.format(filename)) return out_im \ No newline at end of file From 5eb460ae820db3e04cb88a5a97b9ba98beb8330f Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Wed, 19 Jul 2023 17:43:36 +0100 Subject: [PATCH 12/21] Fix bugs in render.get_wall_coverage_actor(); see CHANGELOG. --- CHANGELOG.txt | 2 ++ calcam/render.py | 13 +++++++------ 2 files changed, 9 insertions(+), 6 deletions(-) diff --git a/CHANGELOG.txt b/CHANGELOG.txt index 508ea4c..7768daf 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -25,6 +25,8 @@ Fixes: * Fixed a bug which raised exceptions when using the "Set CAD view to match fit" button in the fitting calibration editor, for images with multiple sub-views if not all sub-views were fitted. * Improved reliability of fitting calibration for high resolution images. * Fixed PyQt error message to correctly reflect supported PyQt versions. +* Fixed bug in render.get_wall_coverage_actor() which caused status not to be reported properly when verbose=True +* Fixed bug in render.get_wall_coverage_actor() where providing a binned image caused the calculation to happen at higher instead of lower resolution. Minor Release 2.10.0 (November 2022) diff --git a/calcam/render.py b/calcam/render.py index caa8b53..f10e726 100644 --- a/calcam/render.py +++ b/calcam/render.py @@ -665,7 +665,7 @@ def get_wall_coverage_actor(cal,cadmodel=None,image=None,imagecoords='Original', else: expected_shape = np.array(cal.x.shape[::-1]) - 1 - factor = np.array(image.shape[1::-1]) / expected_shape + factor = expected_shape / np.array(image.shape[1::-1]) if factor[0] != factor[1]: raise ValueError('Image size ({:d}x{:d} px) does not match expected ({:s} image shape for this calibration ({:d}x{:d} px)'.format(image.shape[1],image.shape[0],imagecoords,expected_shape[0],expected_shape[1])) @@ -735,13 +735,17 @@ def get_wall_coverage_actor(cal,cadmodel=None,image=None,imagecoords='Original', if verbose: lp = LoopProgPrinter() lp.update('Constructing 3D mesh...') - i = 0 + i = -1 tot_px = (ray_end.shape[1]-1) * (ray_end.shape[0] - 1) # Go through the image for xi in range(ray_end.shape[1]-1): for yi in range(ray_end.shape[0] - 1): - i += 1 + + if verbose: + i += 1 + lp.update(i/tot_px) + # Don't map any pixels which are NaN if image is not None: if isnan[yi,xi]: @@ -803,9 +807,6 @@ def get_wall_coverage_actor(cal,cadmodel=None,image=None,imagecoords='Original', else: colours.InsertNextTypedTuple(fr[yi,xi,:]) - if verbose: - lp.update(i/tot_px) - if verbose: lp.update(1.) del lp From 753a774212cd3895a818b1bba4043f3f5ce41be9 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Wed, 19 Jul 2023 22:22:17 +0100 Subject: [PATCH 13/21] Improve performance of wall actor generation; fix 60s/1min rollover bug in time estimates. --- CHANGELOG.txt | 3 ++- calcam/misc.py | 24 +++++++++++++++++------- calcam/render.py | 14 +++++++++----- 3 files changed, 28 insertions(+), 13 deletions(-) diff --git a/CHANGELOG.txt b/CHANGELOG.txt index 7768daf..5ff90eb 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -8,6 +8,7 @@ New & Enhancements: * Added ability to turn off automatic trimming of geometry matrix rows and columns when creating GeometryMatrix objects. * Improved behaviour of "Set CAD view to match fit" button when using images with multiple sub-views in the fitting calibration tool. * Add input fields for both vertical and horizontal FOV in virtual calibration editor so the user can specify either instead of only vertical. +* Improved performance of generating field of view representations and mapping camera images to CAD surface. Compatibility: * Fixed various additional compatibility issues under Python 3.10 which raised exceptions due to floats being passed to PyQt calls that now require ints. @@ -27,7 +28,7 @@ Fixes: * Fixed PyQt error message to correctly reflect supported PyQt versions. * Fixed bug in render.get_wall_coverage_actor() which caused status not to be reported properly when verbose=True * Fixed bug in render.get_wall_coverage_actor() where providing a binned image caused the calculation to happen at higher instead of lower resolution. - +* Fixed bug with 60s / 1min roll-over in duration estimate for long calculations which caused estimated times such as "0 min 60 sec" Minor Release 2.10.0 (November 2022) ------------------------------------ diff --git a/calcam/misc.py b/calcam/misc.py index 0e644b5..1f18fa9 100644 --- a/calcam/misc.py +++ b/calcam/misc.py @@ -240,15 +240,25 @@ def update(self,status): est_time = (elapsed_time / self.frac_done) if est_time - elapsed_time > self.min_remaining_length: - est_time_string = '' + if est_time > 3600: - est_time_string = est_time_string + '{:.0f} hr '.format(np.floor(est_time/3600)) - if est_time > 600: - est_time_string = est_time_string + '{:.0f} min.'.format((est_time - 3600*np.floor(est_time/3600))/60) - elif est_time > 59: - est_time_string = est_time_string + '{:.0f} min {:.0f} sec.'.format(np.floor(est_time/60),est_time % 60) + hrs = np.floor(est_time/3600) + mins = (est_time - 3600*np.floor(est_time/3600))/60 + if mins >= 59.5: + mins = 0 + hrs = hrs + 1 + est_time_string = '{:.0f} hr {:.0f} min.'.format(hrs,mins) + elif est_time > 600: + est_time_string = '{:.0f} min.'.format((est_time - 3600*np.floor(est_time/3600))/60) + elif est_time > 59.5: + mins = np.floor(est_time/60) + sec = est_time % 60 + if sec >= 59.5: + sec = 0 + mins = mins + 1 + est_time_string = '{:.0f} min {:.0f} sec.'.format(mins,sec) else: - est_time_string ='{:.0f} sec.'.format(est_time) + est_time_string = '{:.0f} sec.'.format(est_time) print(self.startdatetime.strftime('Started on: %Y-%m-%d at %H:%M:%S')) print('Estimated duration: {:s}'.format(est_time_string)) diff --git a/calcam/render.py b/calcam/render.py index f10e726..461b5e1 100644 --- a/calcam/render.py +++ b/calcam/render.py @@ -519,6 +519,8 @@ def get_fov_actor(cadmodel,calib,actor_type='volume',resolution=None,subview=Non raydata = raycast_sightlines(calib,cadmodel,binning=max(calib.geometry.get_display_shape())/resolution,verbose=False) + subview_lookup = calib.subview_lookup(raydata.x,raydata.y) + # Before we do anything, we need to arrange our triangle corners points = vtk.vtkPoints() @@ -535,7 +537,7 @@ def get_fov_actor(cadmodel,calib,actor_type='volume',resolution=None,subview=Non for n in range(len(x_horiz)): if np.abs(raydata.ray_start_coords[y_horiz[n],x_horiz[n],:] - raydata.ray_start_coords[y_horiz[n],x_horiz[n]+1,:]).max() < 1e-3: if subview is not None: - if calib.subview_lookup(raydata.x[y_horiz[n],x_horiz[n]],raydata.y[y_horiz[n],x_horiz[n]]) != subview: + if subview_lookup[y_horiz[n],x_horiz[n]] != subview: continue points.InsertNextPoint(raydata.ray_start_coords[y_horiz[n],x_horiz[n],:]) points.InsertNextPoint(raydata.ray_end_coords[y_horiz[n],x_horiz[n],:]) @@ -544,7 +546,7 @@ def get_fov_actor(cadmodel,calib,actor_type='volume',resolution=None,subview=Non for n in range(len(x_vert)): if np.abs( raydata.ray_start_coords[y_vert[n],x_vert[n],:] - raydata.ray_start_coords[y_vert[n]+1,x_vert[n],:] ).max() < 1e-3: if subview is not None: - if calib.subview_lookup(raydata.x[y_vert[n],x_vert[n]],raydata.y[y_vert[n],x_vert[n]]) != subview: + if subview_lookup[y_vert[n],x_vert[n]] != subview: continue points.InsertNextPoint(raydata.ray_start_coords[y_vert[n],x_vert[n],:]) points.InsertNextPoint(raydata.ray_end_coords[y_vert[n],x_vert[n],:]) @@ -574,7 +576,7 @@ def get_fov_actor(cadmodel,calib,actor_type='volume',resolution=None,subview=Non for i in range(raydata.ray_end_coords.shape[0]): for j in range(raydata.ray_end_coords.shape[1]): if subview is not None: - if calib.subview_lookup(raydata.x[i,j],raydata.y[i,j]) != subview: + if subview_lookup[i,j] != subview: continue points.InsertNextPoint(raydata.ray_end_coords[i,j,:]) @@ -738,6 +740,8 @@ def get_wall_coverage_actor(cal,cadmodel=None,image=None,imagecoords='Original', i = -1 tot_px = (ray_end.shape[1]-1) * (ray_end.shape[0] - 1) + subview_lookup = cal.subview_lookup(rd.x,rd.y) + # Go through the image for xi in range(ray_end.shape[1]-1): for yi in range(ray_end.shape[0] - 1): @@ -752,9 +756,9 @@ def get_wall_coverage_actor(cal,cadmodel=None,image=None,imagecoords='Original', continue if subview is not None: - if np.any(cal.subview_lookup(rd.x[yi:yi+2,xi:xi+2],rd.y[yi:yi+2,xi:xi+2]) != subview): + if np.any(subview_lookup[yi:yi+2,xi:xi+2] != subview): continue - elif np.unique( cal.subview_lookup(rd.x[yi:yi+2,xi:xi+2],rd.y[yi:yi+2,xi:xi+2])).size > 1: + elif np.unique(subview_lookup[yi:yi+2,xi:xi+2]).size > 1: # Also don't do any cells which are split across subviews. continue From 55aebc976d04f732ca7d56aed3b13141261877e9 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Thu, 20 Jul 2023 13:47:10 +0100 Subject: [PATCH 14/21] Choose vtkCellLocator class based on VTK version instead of try/except, to avoid issue with not-properly-working ray-casting with VTK 8.1.2 on Windows. --- calcam/cadmodel.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/calcam/cadmodel.py b/calcam/cadmodel.py index e8aba04..90fb3ee 100644 --- a/calcam/cadmodel.py +++ b/calcam/cadmodel.py @@ -595,9 +595,9 @@ def get_cell_locator(self): appender.AddInputData(self.features[fname].get_polydata()) appender.Update() - try: + if vtk.vtkVersion().GetVTKMajorVersion() > 8: self.cell_locator = vtk.vtkStaticCellLocator() - except AttributeError: + else: self.cell_locator = vtk.vtkCellLocator() self.cell_locator.SetTolerance(1e-6) From 91daedea7305dcc74cee4f75ee3efdc419560356 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Mon, 31 Jul 2023 18:45:04 +0100 Subject: [PATCH 15/21] Remove legacy setup.py and add pyproject.tml; change GitHub Workflow to build dist with build instead of calling setup.py (See issues #83, #103) --- .github/workflows/release.yml | 6 +- CHANGELOG.txt | 3 +- LICENCE.txt => LICENSE.txt | 0 calcam/__version__ | 2 +- pyproject.toml | 64 +++++++++ setup.py | 250 ---------------------------------- 6 files changed, 70 insertions(+), 255 deletions(-) rename LICENCE.txt => LICENSE.txt (100%) create mode 100644 pyproject.toml delete mode 100644 setup.py diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index eb00867..2d0f0b2 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -13,9 +13,9 @@ jobs: - name: Install dependencies run: | python -m pip install --upgrade pip - pip install setuptools twine - - name: Build source distribution - run: python setup.py sdist + python3 -m pip install --upgrade build + - name: Build distribution + run: python3 -m build - name: Upload to PyPi env: TWINE_USERNAME: __token__ diff --git a/CHANGELOG.txt b/CHANGELOG.txt index 5ff90eb..c231bbe 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -11,7 +11,8 @@ New & Enhancements: * Improved performance of generating field of view representations and mapping camera images to CAD surface. Compatibility: -* Fixed various additional compatibility issues under Python 3.10 which raised exceptions due to floats being passed to PyQt calls that now require ints. +* Move to new style packaging with pyproject.toml. This means less flexible dependency management, but the dependencies are readily available enough now that this should be OK. +* Fixed various additional compatibility issues under Python 3.9+ which raised exceptions due to floats being passed to PyQt calls that now require ints. * Fixed ray casting compatibility with VTK7 which was inadvertently broken by 2.10.0 * Fixed compatibility of movement correction with newer versions of OpenCV. diff --git a/LICENCE.txt b/LICENSE.txt similarity index 100% rename from LICENCE.txt rename to LICENSE.txt diff --git a/calcam/__version__ b/calcam/__version__ index 5b70b33..e1e3c44 100644 --- a/calcam/__version__ +++ b/calcam/__version__ @@ -1 +1 @@ -2.11.0.dev0 +2.11.0.dev1 \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..7837743 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,64 @@ +[build-system] +requires = ["setuptools>=61.0"] +build-backend = "setuptools.build_meta" + +[project] +name = "calcam" +description = "Spatial calibration tools for science & engineering camera systems." +authors = [{name = "Scott Silburn et. al.", email = "scott.silburn@ukaea.uk"}] + +license = {file = "LICENSE.txt"} +readme = {file = "README.md", content-type='text/markdown'} +requires-python = ">=3.3" +classifiers = [ + "Development Status :: 5 - Production/Stable", + "Operating System :: Microsoft :: Windows", + "Operating System :: MacOS :: MacOS X", + "Operating System :: POSIX :: Linux", + "Environment :: Console", + "Environment :: X11 Applications :: Qt", + "Intended Audience :: Science/Research", + "Intended Audience :: Developers", + "License :: OSI Approved :: European Union Public Licence 1.1 (EUPL 1.1)", + "Natural Language :: English", + "Programming Language :: Python :: 3", + "Topic :: Scientific/Engineering :: Physics", + "Topic :: Scientific/Engineering :: Visualization", + "Topic :: Scientific/Engineering :: Image Processing" +] + +dependencies = [ + "scipy", + "matplotlib", + "vtk>=7,!=9.1.*", + "PyQt5", + "opencv-python-headless" +] + +dynamic = ["version"] + +[project.gui-scripts] +calcam = "calcam:start_gui" + +[project.urls] +"Documentation" = 'https://euratom-software.github.io/calcam' +"Source" = 'https://github.com/euratom-software/calcam/' +"Issue Tracker" = 'https://github.com/euratom-software/calcam/issues' +"Zenodo" = 'https://doi.org/10.5281/zenodo.1478554' + +[tool.setuptools] +zip-safe = false +packages = ["calcam"] + +[tool.setuptools.package-data] +calcam = [ + 'gui/icons/*', + 'gui/qt_designer_files/*.ui', + 'gui/logo.png', + 'builtin_image_sources/*.py', + '__version__', + 'gui/__executable_path__' +] + +[tool.setuptools.dynamic] +version = {file = ["calcam/__version__"]} \ No newline at end of file diff --git a/setup.py b/setup.py deleted file mode 100644 index 71f80f4..0000000 --- a/setup.py +++ /dev/null @@ -1,250 +0,0 @@ -''' -* Copyright 2015-2022 European Atomic Energy Community (EURATOM) -* -* Licensed under the EUPL, Version 1.1 or - as soon they - will be approved by the European Commission - subsequent - versions of the EUPL (the "Licence"); -* You may not use this work except in compliance with the - Licence. -* You may obtain a copy of the Licence at: -* -* https://joinup.ec.europa.eu/software/page/eupl -* -* Unless required by applicable law or agreed to in - writing, software distributed under the Licence is - distributed on an "AS IS" basis, -* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either - express or implied. -* See the Licence for the specific language governing - permissions and limitations under the Licence. -''' - -''' -Calcam Setup script, uses pip and setuptools. - -This uses the standard setuptools install_requires to specify the "easy" dependencies of SciPy and MatPlotLib, -but deals with OpenCV, VTK and PyQt using special custom logic and separate pip processes. This is because -(1) It seems to work across more platforms & environments, and (2) It allows implementing logic of fallback -dependencies, which as far as I can tell are not possible using the usual python packaging methods. - -To make sure the logic in this script gets run at install even with pip, I have to deliberately break wheel building. -Frankly, this is all a horrible hack in terms of how python package installation is supposed to work, but after trying things -on several platforms, this actually makes it work smoothest on the widest range of platforms. So I'm prioritising creating an easy -experience for the user over good practise for Python packaging, and I can only hope that one day before pip stops supporting direct -installation altogether, the official tools provide a way to do this in a more "proper" way. -''' - -import sys -import os -import subprocess - -if 'bdist_wheel' in sys.argv: - raise Exception("Calcam currently cannot be distributed as wheels due to having important install-time logic in setup.py.") - -# Read version from the version file. -with open(os.path.join(os.path.split(os.path.abspath(__file__))[0],'calcam','__version__'),'r') as ver_file: - version = ver_file.readline().rstrip() - -# Read the readme. -with open(os.path.join(os.path.split(os.path.abspath(__file__))[0],'README.md'),'r',encoding='utf-8') as readme_file: - readme = readme_file.read() - -print('\n***************************************************************') -print(' Calcam v{:s} Setup Script'.format(version)) -print('***************************************************************\n') - - -# Check if we have pip and setuptools and if not try to give the user a friendly message. -try: - import pip -except Exception: - print('\nThe calcam installation process requires pip, but module pip could not be imported. Please install pip and try again (see https://pip.pypa.io/en/stable/installing/).') - exit() - -try: - from setuptools import setup,find_packages -except Exception: - print('\nThe calcam installation process requires Python setuptools, but module setuptools could not be imported. Please install setuptools and try again.') - exit() - - -def test_dependency(test_cmd): - """ - Check if a module is importable, using an external python process. - The reason for doing this in a separate process is because otherwise - if we install a module in a separate process then try to import it - on a subsequent check in this process,there be segfaults. So to avoid - segfaults, use this. - """ - try: - subprocess.check_call([sys.executable, '-c',test_cmd],stderr=subprocess.DEVNULL) - return True - except subprocess.CalledProcessError: - return False - - -def pip_install(pkg_name): - """ - A small utility function to call pip in a new process to install a given package. - It seems setuptools cannot be trusted to locate some dependencies, or their correct versions, - and pip works more reliably. Also I pass through the "--user" option from this setup.py but that's all. - """ - if '--user' in [arg.lower() for arg in sys.argv]: - extra_opts = ['--user'] - else: - extra_opts = [] - - try: - subprocess.check_call([sys.executable, '-m', 'pip', 'install',pkg_name] + extra_opts,stdout=subprocess.DEVNULL,stderr=subprocess.DEVNULL) - return True - except subprocess.CalledProcessError: - return False - - - -if 'install' in sys.argv or 'develop' in sys.argv: - - print('Dealing with more difficult dependencies\nbefore handing over to setuptools...\n') - - if test_dependency('from cv2 import __version__'): - print('OpenCV-Python installation found.') - else: - print('No OpenCV-Python installation found - trying to install opencv-python-headless using pip...') - pip_install('opencv-python-headless') - if test_dependency('from cv2 import __version__'): - print(' OK!') - else: - print('\nCould not install opencv-python-headless using pip. Please install OpenCV for python (cv2) manually then try installing Calcam again.') - exit() - - - # Check if any supported version of PyQt is already present - pyqt = False#test_dependency('from PyQt6.QtCore import *') - if not pyqt: - pyqt = test_dependency('from PyQt5.QtCore import *') - if not pyqt: - pyqt = test_dependency('from PyQt4.QtCore import *') - - if pyqt: - print('Compatible PyQt installation found.') - else: - print('No compatible PyQt installation found.') - - # If not, try to install one with pip. PyQt6 removed because it does not work reliably enough with VTK. - #if not pyqt: - # print(' Trying to install PyQt6 using pip...') - # pip_install('PyQt6') - # pyqt = test_dependency('from PyQt6.QtCore import *') - # if pyqt: print(' OK!') - if not pyqt: - # print(' Failed.\n Trying PyQt5 instead...') - print(' Trying to install PyQt5 using pip...') - pip_install('PyQt5') - pyqt = test_dependency('from PyQt5.QtCore import *') - if pyqt: print(' OK!') - if not pyqt: - print(' Failed.\n Trying PyQt4 instead...') - pip_install('PyQt4') - pyqt = test_dependency('from PyQt4.QtCore import *') - if pyqt: - print(' OK!') - else: - print(' Failed.') - - # VTK - if test_dependency('from vtk import vtkVersion;ver=vtkVersion();v=ver.GetVTKMajorVersion()*100+ver.GetVTKMinorVersion();assert v>700'): - print('Compatible VTK installation found.') - vtk = True - else: - print('No compatible VTK installation found - trying to install with pip...') - pip_install('vtk>=7') - if test_dependency('from vtk import vtkVersion;ver=vtkVersion();v=ver.GetVTKMajorVersion()*100+ver.GetVTKMinorVersion();assert v>700'): - print(' OK!\n') - vtk = True - else: - print(' Failed.\n') - vtk = False - - # Make sure a file exists at calcam/gui/__executable_path__ before calling setup() - this makes sure it gets marked as part of the package - # so allows clean uninnstallation, but without having to keep a blank copy of the file in the git repo which causes git confusion. - open(os.path.join(os.path.split(__file__)[0],'calcam','gui','__executable_path__'), 'a').close() - - print('\nNow handing over to setuptools...\n') - -# Actually do the requested setup actions -s = setup( - name='calcam', - version=version, - license='European Union Public License 1.1', - author='Scott Silburn et. al.', - author_email='scott.silburn@ukaea.uk', - description='Spatial calibration tools for science & engineering camera systems.', - long_description=readme, - long_description_content_type='text/markdown', - classifiers=[ - "Development Status :: 5 - Production/Stable", - "Operating System :: Microsoft :: Windows", - "Operating System :: MacOS :: MacOS X", - "Operating System :: POSIX :: Linux", - "Environment :: Console", - "Environment :: X11 Applications :: Qt", - "Intended Audience :: Science/Research", - "Intended Audience :: Developers", - "License :: OSI Approved :: European Union Public Licence 1.1 (EUPL 1.1)", - "Natural Language :: English", - "Programming Language :: Python :: 3", - "Topic :: Scientific/Engineering :: Physics", - "Topic :: Scientific/Engineering :: Visualization", - "Topic :: Scientific/Engineering :: Image Processing" - ], - project_urls={ - 'Documentation': 'https://euratom-software.github.io/calcam', - 'Source': 'https://github.com/euratom-software/calcam/', - 'Issue Tracker': 'https://github.com/euratom-software/calcam/issues', - 'Zenodo':'https://doi.org/10.5281/zenodo.1478554' - }, - license_files = ('LICENCE.txt',), - packages=find_packages(), - package_data={'calcam':['gui/icons/*','gui/qt_designer_files/*.ui','gui/logo.png','builtin_image_sources/*.py','__version__','gui/__executable_path__']}, - entry_points={ 'gui_scripts': [ 'calcam = calcam:start_gui'] }, - zip_safe=False, - install_requires=['scipy','matplotlib'] - ) - - -if 'install' in sys.argv or 'develop' in sys.argv: - # Find out where setup() put the the GUI launcher script / executable and do 2 things with it: - # (1) Print a message telling the user about it, - # (2) Write it down in a file in the code path so that the user can easily look it up later. - if 'install' in sys.argv: - script_dir = s.command_obj['install'].install_scripts - code_dir = s.command_obj['install'].install_lib - elif 'develop' in sys.argv: - script_dir = s.command_obj['develop'].script_dir - code_dir = os.path.split(__file__)[0] - - executable_path = os.path.join(script_dir.replace('/',os.path.sep),'calcam') - if sys.platform == 'win32': - executable_path = executable_path + '.exe' - - extra_msg = '\n\nThe GUI can be launched using the executable:\n{:s}'.format(executable_path) - - try: - with open(os.path.join(code_dir,'calcam','gui','__executable_path__'),'w') as f: - f.write(executable_path) - except Exception: - pass - - # Check if the executable path is included in the PATH environment variable which makes the GUI easier to run - try: - env_path = os.environ['PATH'] - except KeyError: - env_path = '' - - if script_dir in env_path: - extra_msg = extra_msg + '\nor just by typing "calcam" at a terminal.' - - print('\n***************************************************************\n\nCalcam installation complete.\n\nIt can be imported as a Python module with "import calcam"{:s}\n\n***************************************************************\n'.format(extra_msg)) - -else: - print('\n***************************************************************\n') \ No newline at end of file From 44cbcb1c9f26279ea19aafa0fbe85cf669fcd777 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Mon, 31 Jul 2023 19:13:00 +0100 Subject: [PATCH 16/21] Make offset_x() and offset_y() optional in imagefile.get_image() to make sure issue #100 is robustly fixed (hopefully PyQt related fixes will have fixed this anyway). --- calcam/builtin_image_sources/imagefile.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/calcam/builtin_image_sources/imagefile.py b/calcam/builtin_image_sources/imagefile.py index db39384..69dee92 100644 --- a/calcam/builtin_image_sources/imagefile.py +++ b/calcam/builtin_image_sources/imagefile.py @@ -25,7 +25,7 @@ # A function which actually gets the image. # This can take as many arguments as you want. # It must return a dictionary, see below -def get_image(filename,coords,offset_x,offset_y): +def get_image(filename,coords,offset_x=0,offset_y=0): # Get the image data from a file dat = cv2.imread(filename) @@ -83,4 +83,4 @@ def get_image(filename,coords,offset_x,offset_y): 'type': 'int', 'limits': [0, 10000] }, - ] \ No newline at end of file + ] From 68203afd4313a7370fdffda2ea17a88c9dbf0c0b Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Mon, 31 Jul 2023 21:13:53 +0100 Subject: [PATCH 17/21] Fix bugs with updated packaging scheme. --- calcam/gui/__init__.py | 41 +++++++++++++++++++++++++++++++++-------- pyproject.toml | 3 +-- 2 files changed, 34 insertions(+), 10 deletions(-) diff --git a/calcam/gui/__init__.py b/calcam/gui/__init__.py index 5314a7a..889331f 100644 --- a/calcam/gui/__init__.py +++ b/calcam/gui/__init__.py @@ -1,5 +1,5 @@ ''' -* Copyright 2015-2022 European Atomic Energy Community (EURATOM) +* Copyright 2015-2023 European Atomic Energy Community (EURATOM) * * Licensed under the EUPL, Version 1.1 or - as soon they will be approved by the European Commission - subsequent @@ -20,6 +20,7 @@ ''' import sys import os +import sysconfig from .viewer import Viewer from .launcher import Launcher @@ -33,13 +34,17 @@ from . import qt_wrapper as qt from ..calibration import Calibration -try: - with open(os.path.join(os.path.split(__file__)[0],'__executable_path__'),'r') as f: - executable_path = f.readline() -except Exception: - executable_path = None def open_window(window_class,*args): + """ + Open a GUI window. + + Parameters: + window_class : Calcam window class. + + Returns: + PyQt return value after GUI execution + """ app = qt.QApplication([]) win = window_class(app,None,*args) if qt.QDialog in window_class.__bases__: @@ -48,7 +53,9 @@ def open_window(window_class,*args): return app.exec(),win def start_gui(): - + """ + Starts the Calcam launcher GUI. + """ try: cal = Calibration(sys.argv[1]) if cal._type == 'alignment': @@ -58,4 +65,22 @@ def start_gui(): elif cal._type == 'fit': open_window(FittingCalib,cal.filename) except: - open_window(Launcher) \ No newline at end of file + open_window(Launcher) + + +# Locate the calcam executable and put its path in a handy string variable for the user. +executable_path = None +if sys.platform == 'win32': + exe_name = 'calcam.exe' +else: + exe_name = 'calcam' + +script_path = sysconfig.get_path('scripts') +if os.access(os.path.join(script_path,exe_name),os.X_OK): + executable_path = os.path.join(script_path, exe_name) +else: + script_path = sysconfig.get_path('scripts','{:s}_user'.format(os.name)) + if os.access(os.path.join(script_path, exe_name), os.X_OK): + executable_path = os.path.join(script_path, exe_name) + +del exe_name, script_path \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index 7837743..6b8eb59 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -9,7 +9,7 @@ authors = [{name = "Scott Silburn et. al.", email = "scott.silburn@ukaea.uk"}] license = {file = "LICENSE.txt"} readme = {file = "README.md", content-type='text/markdown'} -requires-python = ">=3.3" +requires-python = ">=3.5" classifiers = [ "Development Status :: 5 - Production/Stable", "Operating System :: Microsoft :: Windows", @@ -57,7 +57,6 @@ calcam = [ 'gui/logo.png', 'builtin_image_sources/*.py', '__version__', - 'gui/__executable_path__' ] [tool.setuptools.dynamic] From c44173c6ac6d9d55bd984be7e750a51357e845f2 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Mon, 31 Jul 2023 21:21:21 +0100 Subject: [PATCH 18/21] Fix caompatibility with NumPy >= 1.24 when using chessboard images (#99) --- CHANGELOG.txt | 4 +++- calcam/__version__ | 2 +- calcam/calibration.py | 12 +++++++++--- 3 files changed, 13 insertions(+), 5 deletions(-) diff --git a/CHANGELOG.txt b/CHANGELOG.txt index c231bbe..81f06dd 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -11,10 +11,11 @@ New & Enhancements: * Improved performance of generating field of view representations and mapping camera images to CAD surface. Compatibility: -* Move to new style packaging with pyproject.toml. This means less flexible dependency management, but the dependencies are readily available enough now that this should be OK. +* Move to new style packaging with pyproject.toml. This means less flexible dependency management, but the dependencies are readily available enough now that this should be OK. (#83, #100) * Fixed various additional compatibility issues under Python 3.9+ which raised exceptions due to floats being passed to PyQt calls that now require ints. * Fixed ray casting compatibility with VTK7 which was inadvertently broken by 2.10.0 * Fixed compatibility of movement correction with newer versions of OpenCV. +* Fixed compatibility with NumPy >=1.24 which previously caused exceptions when using chessboard images (#99) Fixes: * When trying to save images, if an image file cannot be written (e.g. no disk space, permissions wrong etc) the user now gets an error message instead of silent failure. @@ -31,6 +32,7 @@ Fixes: * Fixed bug in render.get_wall_coverage_actor() where providing a binned image caused the calculation to happen at higher instead of lower resolution. * Fixed bug with 60s / 1min roll-over in duration estimate for long calculations which caused estimated times such as "0 min 60 sec" + Minor Release 2.10.0 (November 2022) ------------------------------------ diff --git a/calcam/__version__ b/calcam/__version__ index e1e3c44..989ad94 100644 --- a/calcam/__version__ +++ b/calcam/__version__ @@ -1 +1 @@ -2.11.0.dev1 \ No newline at end of file +2.11.0.dev2 \ No newline at end of file diff --git a/calcam/calibration.py b/calcam/calibration.py index 22b1a97..834e2c3 100644 --- a/calcam/calibration.py +++ b/calcam/calibration.py @@ -2435,9 +2435,15 @@ def do_fit(self): obj_points[-1] = np.array(obj_points[-1],dtype='float32') img_points[-1] = np.array(img_points[-1],dtype='float32') - - obj_points = np.array(obj_points) - img_points = np.array(img_points) + + try: + obj_points = np.array(obj_points) + img_points = np.array(img_points) + except ValueError: + # If we have extrinsics images with different numbers of points, each set of points + # might not have the same number, so we have to make these object arrays. + obj_points = np.array(obj_points,dtype=object) + img_points = np.array(img_points,dtype=object) # Do the fit! From 6ac0e81fe4fb452f24ed8d2ddf7b507b9dbf6c46 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Mon, 31 Jul 2023 21:42:59 +0100 Subject: [PATCH 19/21] Fix bug in fitting calibration GUI which enabled fitting while data < free parameters. --- calcam/gui/fitting_calib.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/calcam/gui/fitting_calib.py b/calcam/gui/fitting_calib.py index e4b8670..76f87f2 100644 --- a/calcam/gui/fitting_calib.py +++ b/calcam/gui/fitting_calib.py @@ -1042,9 +1042,14 @@ def fit_enable_check(self): for i in range(self.calibration.n_subviews): enable = True - # We need at least 6 extrinsics points if self.n_points[i][0] < 6: + # We need at least 6 extrinsics points enable = False + elif self.fitters[i].get_n_params() >= 2*(self.n_points[i][0] + self.n_points[i][1]): + # And we also need more data than free parameters + enable = False + else: + enable = True self.fit_buttons[i].setEnabled(enable) if enable: From fc47a04c656a1ec964906aae65d2bb5e4a9bf834 Mon Sep 17 00:00:00 2001 From: Scott Silburn Date: Tue, 1 Aug 2023 22:03:21 +0100 Subject: [PATCH 20/21] Update docs; fix GUI typos; improve handling od paths under Windows. Increment version to 2.11.0, hopefully this will be the release version. --- CHANGELOG.txt | 16 +- calcam/__version__ | 2 +- calcam/cadmodel.py | 80 +- calcam/gui/__init__.py | 7 +- calcam/gui/image_analysis.py | 4 +- calcam/gui/qt_designer_files/viewer.ui | 59 +- .../qt_designer_files/virtual_calib_editor.ui | 6 +- calcam/image_enhancement.py | 11 +- calcam/raycast.py | 56 +- docs/html/.buildinfo | 2 +- docs/html/_static/basic.css | 433 ++------ docs/html/_static/css/badge_only.css | 2 +- docs/html/_static/css/theme.css | 6 +- docs/html/_static/doctools.js | 349 ++++-- docs/html/_static/file.png | Bin 286 -> 358 bytes docs/html/_static/jquery.js | 6 +- docs/html/_static/js/theme.js | 4 +- docs/html/_static/minus.png | Bin 90 -> 173 bytes docs/html/_static/plus.png | Bin 90 -> 173 bytes docs/html/_static/pygments.css | 11 +- docs/html/_static/searchtools.js | 991 ++++++++++-------- docs/html/_static/underscore.js | 37 +- docs/html/api_cadmodel.html | 656 +++++++----- docs/html/api_calib.html | 696 +++++++----- docs/html/api_examples.html | 295 ++++-- docs/html/api_geom_matrix.html | 825 +++++++++------ docs/html/api_movement.html | 658 +++++++----- docs/html/api_raycast.html | 542 ++++++---- docs/html/api_rendering.html | 330 ++++-- docs/html/dev_coord_formatter.html | 228 +++- docs/html/dev_fileformats.html | 660 ++++++++++++ docs/html/dev_imsources.html | 596 ++++++----- docs/html/genindex.html | 808 +++++++++----- docs/html/gui_alignment_calib.html | 363 ++++--- docs/html/gui_calib.html | 413 +++++--- docs/html/gui_image_analyser.html | 346 ++++-- docs/html/gui_intro.html | 242 +++-- docs/html/gui_movement.html | 272 +++-- docs/html/gui_settings.html | 323 ++++-- docs/html/gui_viewer.html | 375 ++++--- docs/html/gui_virtual_calib.html | 308 ++++-- docs/html/index.html | 218 +++- docs/html/intro_conventions.html | 244 +++-- docs/html/intro_general.html | 226 +++- docs/html/intro_install_setup.html | 529 ++++++---- docs/html/intro_theory.html | 251 +++-- docs/html/objects.inv | Bin 1711 -> 1749 bytes docs/html/search.html | 196 +++- docs/html/searchindex.js | 2 +- docs/source/api_cadmodel.rst | 2 +- docs/source/api_geom_matrix.rst | 2 +- docs/source/conf.py | 2 +- docs/source/dev_fileformats.rst | 202 ++++ docs/source/gui_virtual_calib.rst | 6 +- docs/source/index.rst | 1 + docs/source/intro_install_setup.rst | 121 +-- 56 files changed, 8476 insertions(+), 4544 deletions(-) create mode 100644 docs/html/dev_fileformats.html create mode 100644 docs/source/dev_fileformats.rst diff --git a/CHANGELOG.txt b/CHANGELOG.txt index 81f06dd..94df6c8 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -1,18 +1,21 @@ Calcam Changelog ================ -Current head of MASTER (2.11.0.dev0) ------------------------------------- +Minor Release 2.11.0 (August 2023) +---------------------------------- New & Enhancements: * Added ability to turn off automatic trimming of geometry matrix rows and columns when creating GeometryMatrix objects. -* Improved behaviour of "Set CAD view to match fit" button when using images with multiple sub-views in the fitting calibration tool. * Add input fields for both vertical and horizontal FOV in virtual calibration editor so the user can specify either instead of only vertical. +* Added function intersect_with_line() to CADModel class and include in pbulic API. * Improved performance of generating field of view representations and mapping camera images to CAD surface. +* Improved behaviour of "Set CAD view to match fit" button when using images with multiple sub-views in the fitting calibration tool. +* Added basic documentation of file formats. + Compatibility: -* Move to new style packaging with pyproject.toml. This means less flexible dependency management, but the dependencies are readily available enough now that this should be OK. (#83, #100) -* Fixed various additional compatibility issues under Python 3.9+ which raised exceptions due to floats being passed to PyQt calls that now require ints. +* Move to new style packaging with pyproject.toml for compatibility with pip > 23. This means less flexible dependency management, but the dependencies are readily available enough now that this should be OK. (#83, #100) +* Fixed various additional compatibility issues under Python 3.9+ which raised exceptions due to floats being passed to PyQt calls which now require ints. * Fixed ray casting compatibility with VTK7 which was inadvertently broken by 2.10.0 * Fixed compatibility of movement correction with newer versions of OpenCV. * Fixed compatibility with NumPy >=1.24 which previously caused exceptions when using chessboard images (#99) @@ -31,6 +34,9 @@ Fixes: * Fixed bug in render.get_wall_coverage_actor() which caused status not to be reported properly when verbose=True * Fixed bug in render.get_wall_coverage_actor() where providing a binned image caused the calculation to happen at higher instead of lower resolution. * Fixed bug with 60s / 1min roll-over in duration estimate for long calculations which caused estimated times such as "0 min 60 sec" +* Fixed some typos / wording issues in GUI +* Switch from using 32bit int to 32bit float for saving pixel coordinates and binning values in Raycast NetCDF files, to allow correct saving & loading of raycasting witj sub-pixel sampling. +* Fixed bug in detection of monochrome images in enhance_image.scale_to_8bit() Minor Release 2.10.0 (November 2022) diff --git a/calcam/__version__ b/calcam/__version__ index 989ad94..ed0edc8 100644 --- a/calcam/__version__ +++ b/calcam/__version__ @@ -1 +1 @@ -2.11.0.dev2 \ No newline at end of file +2.11.0 \ No newline at end of file diff --git a/calcam/cadmodel.py b/calcam/cadmodel.py index 90fb3ee..8feddad 100644 --- a/calcam/cadmodel.py +++ b/calcam/cadmodel.py @@ -572,28 +572,26 @@ def set_linewidth(self,linewidth,features=None): raise ValueError('Unknown feature "{:s}"!'.format(requested)) - - - def get_cell_locator(self): + def build_octree(self): ''' - Get a vtkCellLocator object used for ray casting. - - Returns: - - vtk.vtkCellLocator : VTK cell locator. + Create a vtkCellLocator object used for testing + the intersection of the CAD model with line segments. ''' # Don't return anything if we have no enabled geometry if len(self.get_enabled_features()) == 0: - return None + return if self.cell_locator is None: + if self.status_callback is not None: + self.status_callback('Building CAD model octree...') + appender = vtk.vtkAppendPolyData() for fname in self.get_enabled_features(): appender.AddInputData(self.features[fname].get_polydata()) - + appender.Update() if vtk.vtkVersion().GetVTKMajorVersion() > 8: self.cell_locator = vtk.vtkStaticCellLocator() @@ -604,7 +602,67 @@ def get_cell_locator(self): self.cell_locator.SetDataSet(appender.GetOutput()) self.cell_locator.BuildLocator() - return self.cell_locator + # Initialise some faffy input variables for c-like interface of cellLocator's IntersectWithLine() + # Keep these as properties so we only have to bother once + self.raycast_args = (vtk.mutable(0), np.zeros(3), np.zeros(3), vtk.mutable(0), vtk.mutable(0), vtk.vtkGenericCell()) + + + + def intersect_with_line(self,line_start,line_end,surface_normal=False): + """ + Find the first intersection of a straight line segment with the CAD geometry, if one + occurs ("first" meaning first when moving from the start to the end of the line segment). + Optionally also calculates the surface normal vector of the CAD model at the intersection point. + + Parameters: + + line_start (sequence) : 3-element sequence x,y,z of the line segment start coordinates (in metres) + line_end (sequence) : 3-element sequence x,y,z of the line segment end coordinates (in metres) + surface_normal (bool) : Whether or not to calculate the surface normal vector of the CAD model at the intersection. + + Returns: + + Multiple return values: + - bool : Whether or not the line segment intersects the CAD geometry + - np.array : 3-element NumPy array with x,y,z position of the intersection. If there is \ + no intersection, `line_end` is returned. + - np.array or None : Only returned if surface_normal = True; the surface normal at the intersection. \ + If there is no intersection, returns `None`. + + """ + + if len(self.get_enabled_features()) == 0: + # Don't return anything if we have no enabled geometry + intersects = False + position = line_end + n = None + + else: + # Make sure we have an octree + self.build_octree() + + # Actually do the intersection using VTK + result = self.cell_locator.IntersectWithLine(line_start, line_end, 1.e-6, *self.raycast_args) + + if abs(result) > 0: + intersects = True + position = self.raycast_args[1].copy() + if surface_normal: + v0 = np.array(self.raycast_args[5].GetPoints().GetPoint(2)) - np.array(self.raycast_args[5].GetPoints().GetPoint(0)) + v1 = np.array(self.raycast_args[5].GetPoints().GetPoint(2)) - np.array(self.raycast_args[5].GetPoints().GetPoint(1)) + n = np.cross(v0,v1) + n = n / np.sqrt(np.sum(n**2)) + if np.dot(line_end - line_start,n) > 0: + n = -n + else: + intersects = False + position = line_end + n = None + + if surface_normal: + return intersects,position,n + else: + return intersects, position diff --git a/calcam/gui/__init__.py b/calcam/gui/__init__.py index 889331f..7a52d22 100644 --- a/calcam/gui/__init__.py +++ b/calcam/gui/__init__.py @@ -83,4 +83,9 @@ def start_gui(): if os.access(os.path.join(script_path, exe_name), os.X_OK): executable_path = os.path.join(script_path, exe_name) -del exe_name, script_path \ No newline at end of file +if executable_path is not None: + executable_path = os.path.realpath(executable_path) + +del exe_name, script_path + +icons_path = os.path.join(os.path.split(os.path.abspath(__file__))[0],'icons') \ No newline at end of file diff --git a/calcam/gui/image_analysis.py b/calcam/gui/image_analysis.py index 6be6004..a1b0151 100644 --- a/calcam/gui/image_analysis.py +++ b/calcam/gui/image_analysis.py @@ -650,7 +650,7 @@ def on_model_load(self): self.app.setOverrideCursor(qt.QCursor(qt.Qt.WaitCursor)) self.statusbar.showMessage('Generating model octree...') - self.cadmodel.get_cell_locator() + self.cadmodel.build_octree() self.statusbar.clearMessage() self.app.restoreOverrideCursor() self.overlay = None @@ -954,7 +954,7 @@ def toggle_enhancement(self): def on_change_cad_features(self): self.app.setOverrideCursor(qt.QCursor(qt.Qt.WaitCursor)) self.statusbar.showMessage('Updating model octree...') - self.cadmodel.get_cell_locator() + self.cadmodel.build_octree() self.statusbar.clearMessage() self.app.restoreOverrideCursor() if self.overlay_checkbox.isChecked(): diff --git a/calcam/gui/qt_designer_files/viewer.ui b/calcam/gui/qt_designer_files/viewer.ui index 108edf4..29105b2 100644 --- a/calcam/gui/qt_designer_files/viewer.ui +++ b/calcam/gui/qt_designer_files/viewer.ui @@ -42,16 +42,7 @@ QFrame::Plain - - 9 - - - 9 - - - 9 - - + 9 @@ -84,7 +75,7 @@ QTabWidget::Rounded - 1 + 0 Qt::ElideNone @@ -280,16 +271,7 @@ QFrame::Raised - - 0 - - - 0 - - - 0 - - + 0 @@ -612,16 +594,7 @@ QFrame::Plain - - 0 - - - 0 - - - 0 - - + 0 @@ -1142,16 +1115,7 @@ 6 - - 0 - - - 0 - - - 0 - - + 0 @@ -1575,7 +1539,7 @@ - Generates an image of the tokamak first wall unwrapped to a rectangular image (toroidal direction along the horizontal image direction and poloidal direction along the vertical image dimension). Any calibrations shown as CAD model shading and 3D data will also be included. + Generates an image of the torus first wall unwrapped to a rectangular image (toroidal direction along the horizontal image direction and poloidal direction along the vertical image dimension). Any calibrations shown as CAD model shading and 3D data will also be included. true @@ -1754,16 +1718,7 @@ - - 0 - - - 0 - - - 0 - - + 0 diff --git a/calcam/gui/qt_designer_files/virtual_calib_editor.ui b/calcam/gui/qt_designer_files/virtual_calib_editor.ui index 36d7e36..0725d73 100644 --- a/calcam/gui/qt_designer_files/virtual_calib_editor.ui +++ b/calcam/gui/qt_designer_files/virtual_calib_editor.ui @@ -7,7 +7,7 @@ 0 0 1160 - 778 + 976 @@ -228,7 +228,7 @@ - Numer of pixels: + Number of pixels: @@ -264,7 +264,7 @@ - Focal Lnegth: + Focal Length: diff --git a/calcam/image_enhancement.py b/calcam/image_enhancement.py index 8f793ba..92c1f95 100644 --- a/calcam/image_enhancement.py +++ b/calcam/image_enhancement.py @@ -35,10 +35,6 @@ def scale_to_8bit(image,cutoff=0.999): - # If we already have an 8-bit image, don't do anything - if image.dtype == np.uint8: - return image - # If we have a multi-channel image if len(image.shape) == 3: @@ -47,9 +43,14 @@ def scale_to_8bit(image,cutoff=0.999): image = image[:, :, :-1] # If it's actually monochrome, throw away the colour - if (np.diff(image.reshape(image.shape[2],-1),axis=0)==0).all(): + if np.diff(image.reshape(-1,image.shape[2]),axis=1).max() == 0: image = image[:,:,0] + + # If we already have an 8-bit image, don't do anything + if image.dtype == np.uint8: + return image + # Do the subtraction & normalisation as float to avoid # overflows or quantisation problems. image = image.astype(np.float32) diff --git a/calcam/raycast.py b/calcam/raycast.py index 04408b7..5b7bbcd 100644 --- a/calcam/raycast.py +++ b/calcam/raycast.py @@ -1,5 +1,5 @@ ''' -* Copyright 2015-2018 European Atomic Energy Community (EURATOM) +* Copyright 2015-2023 European Atomic Energy Community (EURATOM) * * Licensed under the EUPL, Version 1.1 or - as soon they will be approved by the European Commission - subsequent @@ -19,14 +19,6 @@ permissions and limitations under the Licence. ''' -""" -Ray tracing tools for CalCam_py - -Written by Scott Silburn -2015-05-17 -""" - -import time import os import random import copy @@ -116,12 +108,6 @@ def raycast_sightlines(calibration,cadmodel,x=None,y=None,exclusion_radius=0.0,b model_extent = cadmodel.get_extent() model_size = model_extent[1::2] - model_extent[::2] max_ray_length = model_size.max() * 4 - - if status_callback is not None: - status_callback('Getting CAD model octree...') - - # Get the CAD model's octree - cell_locator = cadmodel.get_cell_locator() # If no pixels are specified, do the whole chip at the specified binning level. fullchip = False @@ -192,19 +178,10 @@ def raycast_sightlines(calibration,cadmodel,x=None,y=None,exclusion_radius=0.0,b if status_callback is not None: - oom = np.floor( np.log(np.size(x)) / np.log(10) / 3. ) + oom = np.floor( np.log(np.size(x)) / np.log(10) / 3. ) # Order of magnitude of number of points to do status_callback('Casting {:s} rays...'.format( ['{:.0f}','{:.1f}k','{:.2f}M'][int(oom)].format(np.size(x)/10**(3*oom)) ) ) - # Some variables to give to VTK becasue of its annoying C-like interface - t = vtk.mutable(0) - pos = np.zeros(3) - coords_ = np.zeros(3) - subid = vtk.mutable(0) - cellid = vtk.mutable(0) - cell = vtk.vtkGenericCell() - - last_status_update = 0. n_done = 0 # We will do the ray casting in a random order, @@ -223,18 +200,12 @@ def raycast_sightlines(calibration,cadmodel,x=None,y=None,exclusion_radius=0.0,b raystart = results.ray_start_coords[ind] + exclusion_radius * LOSDir[ind] rayend = results.ray_start_coords[ind] + max_ray_length * LOSDir[ind] - retval = cell_locator.IntersectWithLine(raystart,rayend,1.e-6,t,pos,coords_,subid,cellid,cell) - - if abs(retval) > 0: - results.ray_end_coords[ind,:] = pos[:] + #retval = cell_locator.IntersectWithLine(raystart,rayend,1.e-6,t,pos,coords_,subid,cellid,cell) + ret_vals = cadmodel.intersect_with_line(raystart,rayend,calc_normals) + if ret_vals[0]: + results.ray_end_coords[ind,:] = ret_vals[1][:] if calc_normals: - v0 = np.array(cell.GetPoints().GetPoint(2)) - np.array(cell.GetPoints().GetPoint(0)) - v1 = np.array(cell.GetPoints().GetPoint(2)) - np.array(cell.GetPoints().GetPoint(1)) - n = np.cross(v0,v1) - n = n / np.sqrt(np.sum(n**2)) - if np.dot(LOSDir[ind],n) > 0: - n = -n - results.model_normals[ind,:] = n + results.model_normals[ind,:] = ret_vals[2] elif intersecting_only: results.ray_end_coords[ind,:] = np.nan @@ -243,9 +214,8 @@ def raycast_sightlines(calibration,cadmodel,x=None,y=None,exclusion_radius=0.0,b n_done = n_done + 1 - if time.time() - last_status_update > 1 and status_callback is not None: + if status_callback is not None: status_callback(n_done / len(inds)) - last_status_update = time.time() if status_callback is not None: status_callback(1.) @@ -336,8 +306,8 @@ def save(self,filename): f.createDimension('vdim',self.x.shape[0]) rayhit = f.createVariable('RayEndCoords','f4',('vdim','udim','pointdim')) raystart = f.createVariable('RayStartCoords','f4',('vdim','udim','pointdim')) - x = f.createVariable('PixelXLocation','i4',('vdim','udim')) - y = f.createVariable('PixelYLocation','i4',('vdim','udim')) + x = f.createVariable('PixelXLocation','f4',('vdim','udim')) + y = f.createVariable('PixelYLocation','f4',('vdim','udim')) if self.model_normals is not None: normals = f.createVariable('ModelNormals', 'f4', ('vdim', 'udim', 'pointdim')) @@ -355,8 +325,8 @@ def save(self,filename): if self.model_normals is not None: normals = f.createVariable('ModelNormals','f4',('udim','pointdim')) - x = f.createVariable('PixelXLocation','i4',('udim',)) - y = f.createVariable('PixelYLocation','i4',('udim',)) + x = f.createVariable('PixelXLocation','f4',('udim',)) + y = f.createVariable('PixelYLocation','f4',('udim',)) rayhit[:,:] = self.ray_end_coords raystart[:,:] = self.ray_start_coords @@ -367,7 +337,7 @@ def save(self,filename): else: raise Exception('Cannot save RayData with >2D x and y arrays!') - binning = f.createVariable('Binning','i4',()) + binning = f.createVariable('Binning','f4',()) if self.binning is not None: binning.assignValue(self.binning) diff --git a/docs/html/.buildinfo b/docs/html/.buildinfo index f7eaac4..e719ed7 100644 --- a/docs/html/.buildinfo +++ b/docs/html/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. -config: 44c38b22a8a6162935d8c914b87fb278 +config: 2597e1d44b23976f5cf48be5a91fde97 tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/docs/html/_static/basic.css b/docs/html/_static/basic.css index eeb0519..65dfd7d 100644 --- a/docs/html/_static/basic.css +++ b/docs/html/_static/basic.css @@ -4,7 +4,7 @@ * * Sphinx stylesheet -- basic theme. * - * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :copyright: Copyright 2007-2016 by the Sphinx team, see AUTHORS. * :license: BSD, see LICENSE for details. * */ @@ -15,12 +15,6 @@ div.clearer { clear: both; } -div.section::after { - display: block; - content: ''; - clear: left; -} - /* -- relbar ---------------------------------------------------------------- */ div.related { @@ -87,26 +81,14 @@ div.sphinxsidebar input { font-size: 1em; } -div.sphinxsidebar #searchbox form.search { - overflow: hidden; -} - div.sphinxsidebar #searchbox input[type="text"] { - float: left; - width: 80%; - padding: 0.25em; - box-sizing: border-box; + width: 170px; } div.sphinxsidebar #searchbox input[type="submit"] { - float: left; - width: 20%; - border-left: none; - padding: 0.25em; - box-sizing: border-box; + width: 30px; } - img { border: 0; max-width: 100%; @@ -130,7 +112,7 @@ ul.search li a { font-weight: bold; } -ul.search li p.context { +ul.search li div.context { color: #888; margin: 2px 0 0 30px; text-align: left; @@ -144,8 +126,6 @@ ul.keywordmatches li.goodmatch a { table.contentstable { width: 90%; - margin-left: auto; - margin-right: auto; } table.contentstable p.biglink { @@ -173,14 +153,9 @@ table.indextable td { vertical-align: top; } -table.indextable ul { +table.indextable dl, table.indextable dd { margin-top: 0; margin-bottom: 0; - list-style-type: none; -} - -table.indextable > tbody > tr > td > ul { - padding-left: 0em; } table.indextable tr.pcap { @@ -212,20 +187,8 @@ div.genindex-jumpbox { padding: 0.4em; } -/* -- domain module index --------------------------------------------------- */ - -table.modindextable td { - padding: 2px; - border-collapse: collapse; -} - /* -- general body styles --------------------------------------------------- */ -div.body { - min-width: 360px; - max-width: 800px; -} - div.body p, div.body dd, div.body li, div.body blockquote { -moz-hyphens: auto; -ms-hyphens: auto; @@ -236,16 +199,6 @@ div.body p, div.body dd, div.body li, div.body blockquote { a.headerlink { visibility: hidden; } -a.brackets:before, -span.brackets > a:before{ - content: "["; -} - -a.brackets:after, -span.brackets > a:after { - content: "]"; -} - h1:hover > a.headerlink, h2:hover > a.headerlink, @@ -268,6 +221,10 @@ div.body td { text-align: left; } +.field-list ul { + padding-left: 1em; +} + .first { margin-top: 0 !important; } @@ -277,25 +234,19 @@ p.rubric { font-weight: bold; } -img.align-left, figure.align-left, .figure.align-left, object.align-left { +img.align-left, .figure.align-left, object.align-left { clear: left; float: left; margin-right: 1em; } -img.align-right, figure.align-right, .figure.align-right, object.align-right { +img.align-right, .figure.align-right, object.align-right { clear: right; float: right; margin-left: 1em; } -img.align-center, figure.align-center, .figure.align-center, object.align-center { - display: block; - margin-left: auto; - margin-right: auto; -} - -img.align-default, figure.align-default, .figure.align-default { +img.align-center, .figure.align-center, object.align-center { display: block; margin-left: auto; margin-right: auto; @@ -309,39 +260,30 @@ img.align-default, figure.align-default, .figure.align-default { text-align: center; } -.align-default { - text-align: center; -} - .align-right { text-align: right; } /* -- sidebars -------------------------------------------------------------- */ -div.sidebar, -aside.sidebar { +div.sidebar { margin: 0 0 0.5em 1em; border: 1px solid #ddb; - padding: 7px; + padding: 7px 7px 0 7px; background-color: #ffe; width: 40%; float: right; - clear: right; - overflow-x: auto; } p.sidebar-title { font-weight: bold; } -div.admonition, div.topic, blockquote { - clear: left; -} /* -- topics ---------------------------------------------------------------- */ + div.topic { border: 1px solid #ccc; - padding: 7px; + padding: 7px 7px 0 7px; margin: 10px 0 10px 0; } @@ -363,6 +305,10 @@ div.admonition dt { font-weight: bold; } +div.admonition dl { + margin-bottom: 0; +} + p.admonition-title { margin: 0px 10px 5px 0px; font-weight: bold; @@ -373,44 +319,13 @@ div.body p.centered { margin-top: 25px; } -/* -- content of sidebars/topics/admonitions -------------------------------- */ - -div.sidebar > :last-child, -aside.sidebar > :last-child, -div.topic > :last-child, -div.admonition > :last-child { - margin-bottom: 0; -} - -div.sidebar::after, -aside.sidebar::after, -div.topic::after, -div.admonition::after, -blockquote::after { - display: block; - content: ''; - clear: both; -} - /* -- tables ---------------------------------------------------------------- */ table.docutils { - margin-top: 10px; - margin-bottom: 10px; border: 0; border-collapse: collapse; } -table.align-center { - margin-left: auto; - margin-right: auto; -} - -table.align-default { - margin-left: auto; - margin-right: auto; -} - table caption span.caption-number { font-style: italic; } @@ -426,6 +341,14 @@ table.docutils td, table.docutils th { border-bottom: 1px solid #aaa; } +table.field-list td, table.field-list th { + border: 0 !important; +} + +table.footnote td, table.footnote th { + border: 0 !important; +} + th { text-align: left; padding-right: 5px; @@ -440,123 +363,22 @@ table.citation td { border-bottom: none; } -th > :first-child, -td > :first-child { - margin-top: 0px; -} - -th > :last-child, -td > :last-child { - margin-bottom: 0px; -} - /* -- figures --------------------------------------------------------------- */ -div.figure, figure { +div.figure { margin: 0.5em; padding: 0.5em; } -div.figure p.caption, figcaption { +div.figure p.caption { padding: 0.3em; } -div.figure p.caption span.caption-number, -figcaption span.caption-number { +div.figure p.caption span.caption-number { font-style: italic; } -div.figure p.caption span.caption-text, -figcaption span.caption-text { -} - -/* -- field list styles ----------------------------------------------------- */ - -table.field-list td, table.field-list th { - border: 0 !important; -} - -.field-list ul { - margin: 0; - padding-left: 1em; -} - -.field-list p { - margin: 0; -} - -.field-name { - -moz-hyphens: manual; - -ms-hyphens: manual; - -webkit-hyphens: manual; - hyphens: manual; -} - -/* -- hlist styles ---------------------------------------------------------- */ - -table.hlist { - margin: 1em 0; -} - -table.hlist td { - vertical-align: top; -} - -/* -- object description styles --------------------------------------------- */ - -.sig { - font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace; -} - -.sig-name, code.descname { - background-color: transparent; - font-weight: bold; -} - -.sig-name { - font-size: 1.1em; -} - -code.descname { - font-size: 1.2em; -} - -.sig-prename, code.descclassname { - background-color: transparent; -} - -.optional { - font-size: 1.3em; -} - -.sig-paren { - font-size: larger; -} - -.sig-param.n { - font-style: italic; -} - -/* C++ specific styling */ - -.sig-inline.c-texpr, -.sig-inline.cpp-texpr { - font-family: unset; -} - -.sig.c .k, .sig.c .kt, -.sig.cpp .k, .sig.cpp .kt { - color: #0033B3; -} - -.sig.c .m, -.sig.cpp .m { - color: #1750EB; -} - -.sig.c .s, .sig.c .sc, -.sig.cpp .s, .sig.cpp .sc { - color: #067D17; +div.figure p.caption span.caption-text { } @@ -582,77 +404,11 @@ ol.upperroman { list-style: upper-roman; } -:not(li) > ol > li:first-child > :first-child, -:not(li) > ul > li:first-child > :first-child { - margin-top: 0px; -} - -:not(li) > ol > li:last-child > :last-child, -:not(li) > ul > li:last-child > :last-child { - margin-bottom: 0px; -} - -ol.simple ol p, -ol.simple ul p, -ul.simple ol p, -ul.simple ul p { - margin-top: 0; -} - -ol.simple > li:not(:first-child) > p, -ul.simple > li:not(:first-child) > p { - margin-top: 0; -} - -ol.simple p, -ul.simple p { - margin-bottom: 0; -} -dl.footnote > dt, -dl.citation > dt { - float: left; - margin-right: 0.5em; -} - -dl.footnote > dd, -dl.citation > dd { - margin-bottom: 0em; -} - -dl.footnote > dd:after, -dl.citation > dd:after { - content: ""; - clear: both; -} - -dl.field-list { - display: grid; - grid-template-columns: fit-content(30%) auto; -} - -dl.field-list > dt { - font-weight: bold; - word-break: break-word; - padding-left: 0.5em; - padding-right: 5px; -} -dl.field-list > dt:after { - content: ":"; -} - - -dl.field-list > dd { - padding-left: 0.5em; - margin-top: 0em; - margin-left: 0em; - margin-bottom: 0em; -} - dl { margin-bottom: 15px; } -dd > :first-child { +dd p { margin-top: 0px; } @@ -666,24 +422,32 @@ dd { margin-left: 30px; } -dl > dd:last-child, -dl > dd:last-child > :last-child { - margin-bottom: 0; -} - -dt:target, span.highlighted { +dt:target, .highlighted { background-color: #fbe54e; } -rect.highlighted { - fill: #fbe54e; -} - dl.glossary dt { font-weight: bold; font-size: 1.1em; } +.field-list ul { + margin: 0; + padding-left: 1em; +} + +.field-list p { + margin: 0; +} + +.optional { + font-size: 1.3em; +} + +.sig-paren { + font-size: larger; +} + .versionmodified { font-style: italic; } @@ -722,13 +486,6 @@ dl.glossary dt { font-style: oblique; } -.classifier:before { - font-style: normal; - margin: 0 0.5em; - content: ":"; - display: inline-block; -} - abbr, acronym { border-bottom: dotted 1px; cursor: help; @@ -741,69 +498,22 @@ pre { overflow-y: hidden; /* fixes display issues on Chrome browsers */ } -pre, div[class*="highlight-"] { - clear: both; -} - -span.pre { - -moz-hyphens: none; - -ms-hyphens: none; - -webkit-hyphens: none; - hyphens: none; - white-space: nowrap; -} - -div[class*="highlight-"] { - margin: 1em 0; -} - td.linenos pre { + padding: 5px 0px; border: 0; background-color: transparent; color: #aaa; } table.highlighttable { - display: block; -} - -table.highlighttable tbody { - display: block; -} - -table.highlighttable tr { - display: flex; + margin-left: 0.5em; } table.highlighttable td { - margin: 0; - padding: 0; -} - -table.highlighttable td.linenos { - padding-right: 0.5em; -} - -table.highlighttable td.code { - flex: 1; - overflow: hidden; -} - -.highlight .hll { - display: block; -} - -div.highlight pre, -table.highlighttable pre { - margin: 0; -} - -div.code-block-caption + div { - margin-top: 0; + padding: 0 0.5em 0 0.5em; } div.code-block-caption { - margin-top: 1em; padding: 2px 5px; font-size: small; } @@ -812,14 +522,8 @@ div.code-block-caption code { background-color: transparent; } -table.highlighttable td.linenos, -span.linenos, -div.highlight span.gp { /* gp: Generic.Prompt */ - user-select: none; - -webkit-user-select: 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-2,155 +2,286 @@ * doctools.js * ~~~~~~~~~~~ * - * Base JavaScript utilities for all Sphinx HTML documentation. + * Sphinx JavaScript utilities for all documentation. * - * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :copyright: Copyright 2007-2016 by the Sphinx team, see AUTHORS. * :license: BSD, see LICENSE for details. * */ -"use strict"; - -const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([ - "TEXTAREA", - "INPUT", - "SELECT", - "BUTTON", -]); - -const _ready = (callback) => { - if (document.readyState !== "loading") { - callback(); - } else { - document.addEventListener("DOMContentLoaded", callback); + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + */ +jQuery.urldecode = function(x) { + return decodeURIComponent(x).replace(/\+/g, ' '); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s == 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; } + return result; }; +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node) { + if (node.nodeType == 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && !jQuery(node.parentNode).hasClass(className)) { + var span = document.createElement("span"); + span.className = className; + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this); + }); + } + } + return this.each(function() { + highlight(this); + }); +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + /** * Small JavaScript module for the documentation. */ -const Documentation = { - init: () => { - Documentation.initDomainIndexTable(); - Documentation.initOnKeyListeners(); +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + }, /** * i18n support */ - TRANSLATIONS: {}, - PLURAL_EXPR: (n) => (n === 1 ? 0 : 1), - LOCALE: "unknown", + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n == 1 ? 0 : 1; }, + LOCALE : 'unknown', // gettext and ngettext don't access this so that the functions // can safely bound to a different name (_ = Documentation.gettext) - gettext: (string) => { - const translated = Documentation.TRANSLATIONS[string]; - switch (typeof translated) { - case "undefined": - return string; // no translation - case "string": - return translated; // translation exists - default: - return translated[0]; // (singular, plural) translation tuple exists - } + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated == 'undefined') + return string; + return (typeof translated == 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated == 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; }, - ngettext: (singular, plural, n) => { - const translated = Documentation.TRANSLATIONS[singular]; - if (typeof translated !== "undefined") - return translated[Documentation.PLURAL_EXPR(n)]; - return n === 1 ? singular : plural; + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; }, - addTranslations: (catalog) => { - Object.assign(Documentation.TRANSLATIONS, catalog.messages); - Documentation.PLURAL_EXPR = new Function( - "n", - `return (${catalog.plural_expr})` - ); - Documentation.LOCALE = catalog.locale; + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); }, /** - * helper function to focus on search bar + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 */ - focusSearchBar: () => { - document.querySelectorAll("input[name=q]")[0]?.focus(); + fixFirefoxAnchorBug : function() { + if (document.location.hash) + window.setTimeout(function() { + document.location.href += ''; + }, 10); }, /** - * Initialise the domain index toggle buttons + * highlight the search words provided in the url in the text */ - initDomainIndexTable: () => { - const toggler = (el) => { - const idNumber = el.id.substr(7); - const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`); - if (el.src.substr(-9) === "minus.png") { - el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`; - toggledRows.forEach((el) => (el.style.display = "none")); - } else { - el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`; - toggledRows.forEach((el) => (el.style.display = "")); + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); } - }; + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

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') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) == 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, - const togglerElements = document.querySelectorAll("img.toggler"); - togglerElements.forEach((el) => - el.addEventListener("click", (event) => toggler(event.currentTarget)) - ); - togglerElements.forEach((el) => (el.style.display = "")); - if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler); + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox 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