Merge pull request #543 from mprib/540-scale-undistorted-image-to-imp…

…rove-viewability

scaling factor applied to undistorted image to improve visibility

dev/demo/demo_playback_widget.py

@@ -16,9 +16,6 @@
 original_workspace_dir = Path(
     __root__, "tests", "sessions", "prerecorded_calibration"
 )
-# workspace_dir = Path(
-#     __root__, "tests", "sessions_copy_delete", "prerecorded_calibration"
-# )
 
 # copy_contents(original_workspace_dir, workspace_dir)
 workspace_dir = Path(r"C:\Users\Mac Prible\OneDrive\pyxy3d\prerecorded_workflow")

pyxy3d/gui/frame_emitters/playback_frame_emitter.py

@@ -26,6 +26,10 @@ def __init__(self, recorded_stream: RecordedStream, pixmap_edge_length=500):
         super(PlaybackFrameEmitter, self).__init__()
         self.stream = recorded_stream
         self.port = self.stream.port
+
+        # Apply a safety margin to the scaling factors (e.g., 5%)
+        # used only when applying the undistortion
+        self.scaling_factor = 1
 
         self.frame_packet_q = Queue()
         self.stream.subscribe(self.frame_packet_q)
@@ -87,17 +91,25 @@ def run(self):
     def stop(self):
         self.keep_collecting = False
         self.quit()
+
+    def set_scale_factor(self, scaling_factor):
+        self.scaling_factor = scaling_factor
 
-    def update_distortion_params(self, undistort, matrix, distortions):
+        if hasattr(self, "matrix") and hasattr(self, "distortions"):
+            self.update_distortion_params(self.undistort,self.matrix, self.distortions)
+
+    def update_distortion_params(self, undistort=None, matrix=None, distortions=None):
         if matrix is None:
             logger.info(f"No camera matrix calculated yet at port {self.port}")
         else:
             logger.info(
                 f"Updating camera matrix and distortion parameters for frame emitter at port {self.port}"
             )
+
             self.undistort = undistort
             self.matrix = matrix
             self.distortions = distortions
+
             h, w = self.stream.size
             # h, w = original_image_size
             initial_new_matrix, valid_roi = cv2.getOptimalNewCameraMatrix(
@@ -133,8 +145,6 @@ def update_distortion_params(self, undistort, matrix, distortions):
             scale_x = (max_x - min_x) / w
             scale_y = (max_y - min_y) / h
 
-            # Apply a safety margin to the scaling factors (e.g., 5%)
-            self.scaling_factor = 0.95
             scale_x *= self.scaling_factor
             scale_y *= self.scaling_factor
 

pyxy3d/gui/prerecorded_intrinsic_calibration/playback_widget.py

@@ -4,6 +4,7 @@
 from pathlib import Path
 from PySide6.QtWidgets import (
     QApplication,
+    QSpinBox,
     QMainWindow,
     QCheckBox,
     QWidget,
@@ -98,7 +99,13 @@ def __init__(self, controller: Controller, port: int, parent=None):
         self.ccw_rotation_btn = QPushButton(QIcon(str(CAM_ROTATE_LEFT_PATH)), "")
         self.ccw_rotation_btn.setMaximumSize(35, 35)
 
-        # self.ccw_rotation_btn.setMaximumSize(35, 35)
+
+        # Create the spinbox
+        self.spin_box_label = QLabel("Undistorted Image Scale")
+        self.scaling_spinBox = QSpinBox(self)
+        self.scaling_spinBox.setRange(50, 150)
+        self.scaling_spinBox.setValue(100)
+        self.scaling_spinBox.setSingleStep(5)
 
         self.is_playing = False
 
@@ -120,16 +127,23 @@ def place_widgets(self):
         self.right_panel.addLayout(self.rotate_span)
 
         self.play_span = QHBoxLayout()
-        self.play_span.addWidget(self.play_button, stretch=1)
-        self.play_span.addWidget(self.slider, stretch=4)
+        self.play_span.addWidget(self.play_button)
+        self.play_button.setMaximumWidth(35)
+        self.play_span.addWidget(self.slider)
         self.right_panel.addLayout(self.play_span)
-        # self.right_panel.addWidget(self.play_button)
-        # self.right_panel.addWidget(self.slider)
-        self.right_panel.addWidget(self.add_grid_btn)
-        self.right_panel.addWidget(self.calibrate_btn)
-        self.right_panel.addWidget(self.clear_calibration_data_btn)
-        self.right_panel.addWidget(self.frame_index_label)
-        self.right_panel.addWidget(self.toggle_distortion)
+
+        self.calibration_control_span = QHBoxLayout()
+        self.calibration_control_span.addWidget(self.add_grid_btn)
+        self.calibration_control_span.addWidget(self.calibrate_btn)
+        self.calibration_control_span.addWidget(self.clear_calibration_data_btn)
+        self.right_panel.addLayout(self.calibration_control_span)
+
+        self.distortion_control_span = QHBoxLayout()
+        self.distortion_control_span.addWidget(self.frame_index_label)
+        self.distortion_control_span.addWidget(self.toggle_distortion)
+        self.distortion_control_span.addWidget(self.scaling_spinBox)
+        self.distortion_control_span.addWidget(self.spin_box_label)
+        self.right_panel.addLayout(self.distortion_control_span)
         self.layout.addLayout(self.right_panel)
 
     def connect_widgets(self):
@@ -142,7 +156,8 @@ def connect_widgets(self):
         self.toggle_distortion.stateChanged.connect(self.toggle_distortion_changed)
         self.ccw_rotation_btn.clicked.connect(self.rotate_ccw)
         self.cw_rotation_btn.clicked.connect(self.rotate_cw)
-
+
+        self.scaling_spinBox.valueChanged.connect(self.on_scale_change)
         # self.controller.connect_frame_emitter(self.port, self.update_image,self.update_index)
         self.controller.IntrinsicImageUpdate.connect(self.update_image)
         self.controller.IndexUpdate.connect(self.update_index)
@@ -206,6 +221,15 @@ def add_grid(self):
         self.controller.add_calibration_grid(self.port, self.index)
         self.controller.stream_jump_to(self.port, self.index)
 
+    def on_scale_change(self, value):
+        """
+        Way too much starting to happen here, but there we are...
+        """
+        new_scale = value/100
+        logger.info(f"Changing frame_emitter scale factor to {new_scale}")
+        self.controller.frame_emitters[self.port].set_scale_factor(new_scale) 
+        self.controller.stream_jump_to(self.port, self.index)
+
     def calibrate(self):
         self.controller.calibrate_camera(self.port)
         self.toggle_distortion_changed(2)