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Add Ball Candidate Panel to Twix (#1394)
* Move grayscale sample extraction * Add sample boxes to ball detection overlay * Implement ball detection panel * Bump Twix version
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,208 @@ | ||
| use std::sync::Arc; | ||
|
|
||
| use coordinate_systems::Pixel; | ||
| use eframe::{ | ||
| egui::{Color32, Pos2, Rect, Response, Stroke, Ui, Vec2, Widget}, | ||
| emath::RectTransform, | ||
| }; | ||
| use geometry::circle::Circle; | ||
| use linear_algebra::{point, vector}; | ||
| use serde_json::{json, Value}; | ||
| use types::{ | ||
| ball_detection::CandidateEvaluation, | ||
| ycbcr422_image::{YCbCr422Image, SAMPLE_SIZE}, | ||
| }; | ||
|
|
||
| use crate::{ | ||
| nao::Nao, | ||
| panel::Panel, | ||
| twix_painter::{Orientation, TwixPainter}, | ||
| value_buffer::BufferHandle, | ||
| }; | ||
|
|
||
| use super::image::cycler_selector::{VisionCycler, VisionCyclerSelector}; | ||
|
|
||
| pub struct BallCandidatePanel { | ||
| nao: Arc<Nao>, | ||
| cycler: VisionCycler, | ||
| ball_radius_enlargement_factor: BufferHandle<f32>, | ||
| ball_candidates: BufferHandle<Option<Vec<CandidateEvaluation>>>, | ||
| image: BufferHandle<YCbCr422Image>, | ||
| } | ||
|
|
||
| impl Panel for BallCandidatePanel { | ||
| const NAME: &'static str = "Ball Candidates"; | ||
|
|
||
| fn new(nao: Arc<Nao>, value: Option<&Value>) -> Self { | ||
| let cycler = value | ||
| .and_then(|value| { | ||
| let string = value.get("cycler")?.as_str()?; | ||
| VisionCycler::try_from(string).ok() | ||
| }) | ||
| .unwrap_or(VisionCycler::Top); | ||
|
|
||
| let cycler_path = cycler.as_snake_case_path(); | ||
| let ball_radius_enlargement_factor = nao.subscribe_value(format!( | ||
| "parameters.ball_detection.{cycler_path}.ball_radius_enlargement_factor", | ||
| )); | ||
| let cycler_path = cycler.as_path(); | ||
| let ball_candidates = | ||
| nao.subscribe_value(format!("{cycler_path}.additional_outputs.ball_candidates")); | ||
| let image = nao.subscribe_value(format!("{cycler_path}.main_outputs.image")); | ||
| Self { | ||
| nao, | ||
| cycler, | ||
| ball_radius_enlargement_factor, | ||
| ball_candidates, | ||
| image, | ||
| } | ||
| } | ||
|
|
||
| fn save(&self) -> Value { | ||
| json!({ | ||
| "cycler": self.cycler.as_path(), | ||
| }) | ||
| } | ||
| } | ||
|
|
||
| impl Widget for &mut BallCandidatePanel { | ||
| fn ui(self, ui: &mut Ui) -> Response { | ||
| ui.vertical(|ui| { | ||
| ui.horizontal(|ui| { | ||
| let mut cycler_selector = VisionCyclerSelector::new(&mut self.cycler); | ||
| if cycler_selector.ui(ui).changed() { | ||
| self.resubscribe(); | ||
| } | ||
| }); | ||
| ui.separator(); | ||
| if let Some((ball_radius_enlargement_factor, ball_candidates, image)) = self | ||
| .ball_radius_enlargement_factor | ||
| .get_last_value() | ||
| .ok() | ||
| .flatten() | ||
| .and_then(|ball_radius_enlargement_factor| { | ||
| self.ball_candidates | ||
| .get_last_value() | ||
| .ok() | ||
| .flatten() | ||
| .flatten() | ||
| .map(|ball_candidates| (ball_radius_enlargement_factor, ball_candidates)) | ||
| }) | ||
| .and_then(|(ball_radius_enlargement_factor, ball_candidates)| { | ||
| self.image | ||
| .get_last_value() | ||
| .ok() | ||
| .flatten() | ||
| .map(|image| (ball_radius_enlargement_factor, ball_candidates, image)) | ||
| }) | ||
| { | ||
| ui.horizontal_wrapped(|ui| { | ||
| for candidate in ball_candidates { | ||
| ui.add(CandidateSample { | ||
| ball_radius_enlargement_factor, | ||
| candidate, | ||
| image: image.clone(), | ||
| }); | ||
| } | ||
| }); | ||
| } else { | ||
| ui.label("Some outputs are missing"); | ||
| } | ||
| }) | ||
| .response | ||
| } | ||
| } | ||
|
|
||
| impl BallCandidatePanel { | ||
| fn resubscribe(&mut self) { | ||
| let cycler_path = self.cycler.as_snake_case_path(); | ||
| self.ball_radius_enlargement_factor = self.nao.subscribe_value(format!( | ||
| "parameters.ball_detection.{cycler_path}.ball_radius_enlargement_factor", | ||
| )); | ||
| let cycler_path = self.cycler.as_path(); | ||
| self.ball_candidates = self | ||
| .nao | ||
| .subscribe_value(format!("{cycler_path}.additional_outputs.ball_candidates")); | ||
| self.image = self | ||
| .nao | ||
| .subscribe_value(format!("{cycler_path}.main_outputs.image")); | ||
| } | ||
| } | ||
|
|
||
| struct CandidateSample { | ||
| ball_radius_enlargement_factor: f32, | ||
| candidate: CandidateEvaluation, | ||
| image: YCbCr422Image, | ||
| } | ||
|
|
||
| impl Widget for CandidateSample { | ||
| fn ui(self, ui: &mut Ui) -> Response { | ||
| let enlarged_candidate = Circle { | ||
| center: self.candidate.candidate_circle.center, | ||
| radius: self.candidate.candidate_circle.radius * self.ball_radius_enlargement_factor, | ||
| }; | ||
|
|
||
| let sample = self.image.sample_grayscale(enlarged_candidate); | ||
|
|
||
| const SAMPLE_SIZE_F32: f32 = SAMPLE_SIZE as f32; | ||
| const SCALING: f32 = 3.0; | ||
| ui.allocate_ui( | ||
| Vec2::new(SAMPLE_SIZE_F32 * SCALING, SAMPLE_SIZE_F32 * SCALING), | ||
| |ui| { | ||
| let (response, painter) = TwixPainter::<Pixel>::allocate( | ||
| ui, | ||
| vector![SAMPLE_SIZE_F32, SAMPLE_SIZE_F32], | ||
| point![0.0, 0.0], | ||
| Orientation::LeftHanded, | ||
| ); | ||
|
|
||
| for (y, sample_row) in sample.iter().enumerate() { | ||
| let y = y as f32; | ||
| for (x, sample_value) in sample_row.iter().enumerate() { | ||
| let x = x as f32; | ||
| painter.rect_filled( | ||
| point![x, y], | ||
| point![x + 1.0, y + 1.0], | ||
| Color32::from_gray(*sample_value as u8), | ||
| ); | ||
| } | ||
| } | ||
|
|
||
| if let Some(corrected_circle) = self.candidate.corrected_circle { | ||
| let candidate_circle = self.candidate.candidate_circle; | ||
| let transform = RectTransform::from_to( | ||
| Rect::from_center_size( | ||
| Pos2::new(candidate_circle.center.x(), candidate_circle.center.y()), | ||
| Vec2::new( | ||
| candidate_circle.radius * 2.0 * self.ball_radius_enlargement_factor, | ||
| candidate_circle.radius * 2.0 * self.ball_radius_enlargement_factor, | ||
| ), | ||
| ), | ||
| Rect::from_min_size( | ||
| Pos2::ZERO, | ||
| Vec2::new(SAMPLE_SIZE_F32, SAMPLE_SIZE_F32), | ||
| ), | ||
| ); | ||
| let corrected_center_in_sample = transform.transform_pos(Pos2::new( | ||
| corrected_circle.center.x(), | ||
| corrected_circle.center.y(), | ||
| )); | ||
| let corrected_center_in_sample = | ||
| point![corrected_center_in_sample.x, corrected_center_in_sample.y]; | ||
| let corrected_radius_in_sample = corrected_circle.radius | ||
| / (self.candidate.candidate_circle.radius | ||
| * self.ball_radius_enlargement_factor) | ||
| * (SAMPLE_SIZE_F32 / 2.0); | ||
| painter.circle_stroke( | ||
| corrected_center_in_sample, | ||
| corrected_radius_in_sample, | ||
| Stroke::new(0.5, Color32::GREEN), | ||
| ); | ||
| } | ||
|
|
||
| response | ||
| }, | ||
| ) | ||
| .response | ||
| } | ||
| } |
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