Merge pull request #188 from zivid/2024-11-05-update-python-samples

Samples: Automatic updates to public repository

Author: torbsorb

modules/zividsamples/gui/hand_eye_verification_gui.py

@@ -285,6 +285,9 @@ def on_hand_eye_configuration_updated(self):
         )
         self.markers_in_camera_frame_pose_widget.on_eye_in_hand_toggled(self.hand_eye_configuration.eye_in_hand)
         self.markers_in_robot_base_frame_pose_widget.on_eye_in_hand_toggled(self.hand_eye_configuration.eye_in_hand)
+        self.markers_in_robot_base_frame_pose_widget.set_title(
+            f"Marker Poses In Robot {('Base' if self.hand_eye_configuration.eye_in_hand else 'Tool')} Frame"
+        )
         self.detection_visualization_widget.on_hand_eye_configuration_updated(self.hand_eye_configuration)
 
     def confirm_robot_pose(self):

modules/zividsamples/gui/pose_widget.py

@@ -185,9 +185,6 @@ def setup_base_connections(self):
         if self.display_mode != PoseWidgetDisplayMode.OnlyPose:
             self.rotation_format_selection_widget.rotation_format_update.connect(self.on_rotation_format_update)
 
-    def set_title(self, title: str):
-        self.title = title
-
     def get_rotation_format(self) -> RotationInformation:
         return self.rotation_information
 
@@ -787,6 +784,9 @@ def update_layout(self):
         else:
             self.scroll_area.setVerticalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
 
+    def set_title(self, title: str):
+        self.group_box.setTitle(title)
+
     def update_markers(self):
         self.translation_parameters = {}
         self.rotation_parameters = {}
@@ -850,7 +850,7 @@ def MarkersInRobotFrame(
             "hand-eye-robot-and-calibration-board-ee-object-pose-low-res.png"
         )
         return cls(
-            title="Marker Poses In Robot Base Frame",
+            title=f"Marker Poses In Robot {('Base' if eye_in_hand else 'Tool')} Frame",
             initial_rotation_information=initial_rotation_information,
             eye_in_hand=eye_in_hand,
             display_mode=display_mode,

source/applications/advanced/hand_eye_calibration/hand_eye_gui.py

@@ -278,8 +278,8 @@ def connect_signals(self) -> None:
         self.load_from_directory.triggered.connect(self.on_load_from_data_directory_action_triggered)
         self.save_to_directory.triggered.connect(self.on_save_to_data_directory_action_triggered)
         self.save_frame_action.triggered.connect(self.on_save_last_frame_action_triggered)
-        self.select_eye_in_hand_action.triggered.connect(self.on_hand_eye_action_triggered)
-        self.select_eye_to_hand_action.triggered.connect(self.on_hand_eye_action_triggered)
+        self.select_eye_in_hand_action.triggered.connect(lambda: self.on_hand_eye_action_triggered(True))
+        self.select_eye_to_hand_action.triggered.connect(lambda: self.on_hand_eye_action_triggered(False))
         self.select_checkerboard_action.triggered.connect(
             lambda: self.on_calibration_object_action_triggered(CalibrationObject.Checkerboard)
         )
@@ -547,8 +547,8 @@ def on_select_hand_eye_settings_action_triggered(self) -> None:
         self.setup_settings()
         self.live2d_widget.settings_2d = self.settings.settings_2d
 
-    def on_hand_eye_action_triggered(self, action: QAction) -> None:
-        self.hand_eye_configuration.eye_in_hand = action == self.select_eye_in_hand_action
+    def on_hand_eye_action_triggered(self, eye_in_hand: bool) -> None:
+        self.hand_eye_configuration.eye_in_hand = eye_in_hand
         self.hand_eye_calibration_gui.hand_eye_configuration_update(self.hand_eye_configuration)
         self.hand_eye_verification_gui.hand_eye_configuration_update(self.hand_eye_configuration)