Merge pull request #212 from zivid/2025-09-03-update-python-samples

Samples: HandEyeGUI improvements and fixes

Author: Jorgen-ha

continuous-integration/setup.sh

@@ -13,6 +13,7 @@ apt-yes update || exit
 apt-yes dist-upgrade || exit
 
 apt-yes install \
+    git \
     python3-pip \
     wget ||
     exit $?

modules/pyproject.toml

@@ -27,7 +27,8 @@ dependencies = [
     "pyqtgraph",
     "robodk",
     "scipy",
-    "zivid"
+    "zivid",
+    "urrtde @ git+https://github.com/UniversalRobots/RTDE_Python_Client_Library.git@v2.7.12"
 ]
 
 [build-system]

modules/zividsamples/gui/buttons_widget.py

@@ -99,23 +99,19 @@ def get_tab_widgets_in_order(self) -> List[QWidget]:
 
 
 class HandEyeCalibrationButtonsWidget(QWidget):
-    use_data_button_clicked = pyqtSignal()
     calibrate_button_clicked = pyqtSignal()
     use_fixed_objects_toggled = pyqtSignal(bool)
 
     def __init__(self, parent=None):
         super().__init__(parent)
 
         # Define buttons
-        self.use_data_button = QPushButton("Use Data")
-        self.use_data_button.setObjectName("HandEye-use_data_button")
         self.calibrate_button = QPushButton("Calibrate")
         self.calibrate_button.setObjectName("HandEye-calibrate_button")
         self.use_fixed_objects_checkbox = QCheckBox("Fixed Objects - for low DOF systems")
         self.use_fixed_objects_checkbox.setObjectName("HandEye-fixed_objects_checkbox")
 
         # Connect signals
-        self.use_data_button.clicked.connect(self.on_use_data_button_clicked)
         self.calibrate_button.clicked.connect(self.on_calibrate_button_clicked)
         self.use_fixed_objects_checkbox.toggled.connect(self.on_use_fixed_objects_toggled)
 
@@ -124,7 +120,6 @@ def __init__(self, parent=None):
         calibrate_group_box_layout = QHBoxLayout()
         calibrate_group_box.setLayout(calibrate_group_box_layout)
 
-        calibrate_group_box_layout.addWidget(self.use_data_button)
         calibrate_group_box_layout.addWidget(self.calibrate_button)
         calibrate_group_box_layout.addWidget(self.use_fixed_objects_checkbox)
 
@@ -139,25 +134,17 @@ def on_calibrate_button_clicked(self):
         self.calibrate_button_clicked.emit()
         self.calibrate_button.setStyleSheet("")
 
-    def on_use_data_button_clicked(self):
-        self.use_data_button.setStyleSheet("background-color: yellow;")
-        QApplication.processEvents()
-        self.use_data_button_clicked.emit()
-        self.use_data_button.setStyleSheet("")
-
     def on_use_fixed_objects_toggled(self, checked: bool):
         self.use_fixed_objects_toggled.emit(checked)
 
     def disable_buttons(self):
-        self.use_data_button.setEnabled(False)
         self.calibrate_button.setEnabled(False)
 
     def enable_buttons(self):
-        self.use_data_button.setEnabled(True)
         self.calibrate_button.setEnabled(True)
 
     def get_tab_widgets_in_order(self) -> List[QWidget]:
-        return [self.use_data_button, self.calibrate_button]
+        return [self.calibrate_button]
 
 
 class HandEyeVerificationButtonsWidget(QWidget):

modules/zividsamples/gui/hand_eye_calibration_gui.py

@@ -23,6 +23,7 @@
 from zividsamples.gui.marker_widget import MarkerConfiguration
 from zividsamples.gui.pose_pair_selection_widget import PosePair, PosePairSelectionWidget, directory_has_pose_pair_data
 from zividsamples.gui.pose_widget import PoseWidget, PoseWidgetDisplayMode
+from zividsamples.gui.robot_configuration import RobotConfiguration
 from zividsamples.gui.robot_control import RobotTarget
 from zividsamples.gui.rotation_format_configuration import RotationInformation
 from zividsamples.gui.set_fixed_objects import FixedCalibrationObjectsData, set_fixed_objects
@@ -33,7 +34,7 @@
 
 class HandEyeCalibrationGUI(QWidget):
     data_directory: Path
-    use_robot: bool
+    robot_configuration: RobotConfiguration
     hand_eye_configuration: HandEyeConfiguration
     marker_configuration: MarkerConfiguration = MarkerConfiguration()
     pose_pair: PosePair
@@ -51,7 +52,7 @@ class HandEyeCalibrationGUI(QWidget):
     def __init__(
         self,
         data_directory: Path,
-        use_robot: bool,
+        robot_configuration: RobotConfiguration,
         hand_eye_configuration: HandEyeConfiguration,
         marker_configuration: MarkerConfiguration,
         cv2_handler: CV2Handler,
@@ -69,7 +70,7 @@ def __init__(
         ]
 
         self.data_directory = data_directory
-        self.use_robot = use_robot
+        self.robot_configuration = robot_configuration
         self.hand_eye_configuration = hand_eye_configuration
         self.marker_configuration = marker_configuration
         self.fixed_objects = FixedCalibrationObjectsData(
@@ -84,7 +85,6 @@ def __init__(
         self.update_instructions(
             has_detection_result=self.has_detection_result,
             robot_pose_confirmed=self.has_confirmed_robot_pose,
-            used_data=False,
             calibrated=False,
         )
 
@@ -98,15 +98,14 @@ def create_widgets(self, initial_rotation_information: RotationInformation):
         self.robot_pose_widget.setObjectName("HE-Calibration-robot_pose_widget")
         self.confirm_robot_pose_button = QPushButton("Confirm Robot Pose")
         self.confirm_robot_pose_button.setCheckable(True)
-        self.confirm_robot_pose_button.setVisible(not self.use_robot)
+        self.confirm_robot_pose_button.setVisible(self.robot_configuration.has_no_robot())
         self.confirm_robot_pose_button.setObjectName("HE-Calibration-confirm_robot_pose_button")
         self.detection_visualization_widget = DetectionVisualizationWidget(
             hand_eye_configuration=self.hand_eye_configuration
         )
         self.pose_pair_selection_widget = PosePairSelectionWidget(directory=self.data_directory)
         self.pose_pair_selection_widget.setVisible(False)
         self.hand_eye_calibration_buttons = HandEyeCalibrationButtonsWidget()
-        self.hand_eye_calibration_buttons.use_data_button.setEnabled(False)
         self.hand_eye_calibration_buttons.calibrate_button.setEnabled(False)
         self.hand_eye_calibration_buttons.setObjectName("HE-Calibration-hand_eye_calibration_buttons")
 
@@ -134,24 +133,21 @@ def setup_layout(self):
         self.setLayout(layout)
 
     def connect_signals(self):
-        self.hand_eye_calibration_buttons.use_data_button_clicked.connect(self.on_use_data_button_clicked)
         self.hand_eye_calibration_buttons.calibrate_button_clicked.connect(self.on_calibrate_button_clicked)
         self.hand_eye_calibration_buttons.use_fixed_objects_toggled.connect(self.on_use_fixed_objects_toggled)
         self.confirm_robot_pose_button.clicked.connect(self.on_confirm_robot_pose_button_clicked)
         self.robot_pose_widget.pose_updated.connect(self.on_robot_pose_manually_updated)
         self.pose_pair_selection_widget.pose_pair_clicked.connect(self.on_pose_pair_clicked)
         self.pose_pair_selection_widget.pose_pairs_updated.connect(self.on_pose_pairs_update)
 
-    def update_instructions(
-        self, has_detection_result: bool, robot_pose_confirmed: bool, used_data: bool, calibrated: bool
-    ):
+    def update_instructions(self, has_detection_result: bool, robot_pose_confirmed: bool, calibrated: bool):
         self.has_confirmed_robot_pose = robot_pose_confirmed
         self.has_detection_result = has_detection_result and self.has_confirmed_robot_pose
         minimum_captures_to_go = (
             self.minimum_pose_pairs_for_calibration - self.pose_pair_selection_widget.number_of_active_pose_pairs()
         )
         self.instruction_steps = {}
-        if self.use_robot:
+        if self.robot_configuration.can_control:
             self.instruction_steps[
                 "Move Robot (click 'Move to next target', 'Home' or Disconnect→manually move robot→Connect)"
             ] = self.has_confirmed_robot_pose
@@ -161,13 +157,9 @@ def update_instructions(
             self.instruction_steps[f"Capture (at least {minimum_captures_to_go} more)"] = self.has_detection_result
         else:
             self.instruction_steps["Capture"] = self.has_detection_result
-        self.instruction_steps["Use data"] = used_data
         if minimum_captures_to_go <= 0:
             self.instruction_steps["Calibrate"] = calibrated
         self.instructions_updated.emit()
-        self.hand_eye_calibration_buttons.use_data_button.setEnabled(
-            self.has_detection_result and self.has_confirmed_robot_pose
-        )
         self.confirm_robot_pose_button.setStyleSheet(
             "background-color: green;" if self.has_confirmed_robot_pose else ""
         )
@@ -189,6 +181,15 @@ def marker_configuration_update(self, marker_configuration: MarkerConfiguration)
     def rotation_format_update(self, rotation_format: RotationInformation):
         self.robot_pose_widget.set_rotation_format(rotation_format)
 
+    def robot_configuration_update(self, robot_configuration: RobotConfiguration):
+        self.robot_configuration = robot_configuration
+        self.confirm_robot_pose_button.setVisible(self.robot_configuration.has_no_robot())
+        self.update_instructions(
+            has_detection_result=self.has_detection_result,
+            robot_pose_confirmed=self.has_confirmed_robot_pose,
+            calibrated=False,
+        )
+
     def on_select_fixed_objects_action_triggered(self):
         updated_fixed_objects = set_fixed_objects(self.fixed_objects, self.robot_pose_widget.rotation_information)
         if updated_fixed_objects is not None:
@@ -197,16 +198,6 @@ def on_select_fixed_objects_action_triggered(self):
     def toggle_advanced_view(self, checked):
         self.robot_pose_widget.toggle_advanced_section(checked)
 
-    def toggle_use_robot(self, use_robot: bool):
-        self.use_robot = use_robot
-        self.confirm_robot_pose_button.setVisible(not self.use_robot)
-        self.update_instructions(
-            has_detection_result=self.has_detection_result,
-            robot_pose_confirmed=self.has_confirmed_robot_pose,
-            used_data=False,
-            calibrated=False,
-        )
-
     def on_start_auto_run(self) -> bool:
         if self.pose_pair_selection_widget.number_of_active_pose_pairs() == 0:
             return True
@@ -270,22 +261,23 @@ def process_capture(self, frame: zivid.Frame, rgba: NDArray[Shape["N, M, 4"], UI
                 detection_result=detection_result,
                 camera_pose=copy.deepcopy(camera_pose),
             )
-            self.update_instructions(
-                has_detection_result=True,
-                robot_pose_confirmed=self.has_confirmed_robot_pose,
-                used_data=False,
-                calibrated=False,
-            )
+            if self.has_confirmed_robot_pose:
+                self.use_data()
+            else:
+                self.update_instructions(
+                    has_detection_result=True,
+                    robot_pose_confirmed=self.has_confirmed_robot_pose,
+                    calibrated=False,
+                )
         except RuntimeError as ex:
             self.detection_visualization_widget.set_error_message(str(ex))
             raise ex
 
-    def on_use_data_button_clicked(self):
+    def use_data(self):
         self.pose_pair_selection_widget.add_pose_pair(self.pose_pair)
         self.update_instructions(
             has_detection_result=False,
             robot_pose_confirmed=False,
-            used_data=True,
             calibrated=False,
         )
 
@@ -325,7 +317,6 @@ def on_calibrate_button_clicked(self):
                 self.update_instructions(
                     has_detection_result=False,
                     robot_pose_confirmed=False,
-                    used_data=False,
                     calibrated=True,
                 )
                 self.calibration_finished.emit(TransformationMatrix.from_matrix(hand_eye_transform))
@@ -340,7 +331,6 @@ def confirm_robot_pose(self, confirmed: bool = True):
         self.update_instructions(
             has_detection_result=False,
             robot_pose_confirmed=confirmed,
-            used_data=False,
             calibrated=False,
         )
 

modules/zividsamples/gui/hand_eye_configuration.py

@@ -1,9 +1,11 @@
 from dataclasses import dataclass
 from enum import Enum
+from typing import Optional
 
-from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtCore import QSettings, pyqtSignal
 from PyQt5.QtWidgets import (
     QButtonGroup,
+    QCheckBox,
     QDialog,
     QDialogButtonBox,
     QGroupBox,
@@ -22,8 +24,31 @@ class CalibrationObject(Enum):
 
 @dataclass
 class HandEyeConfiguration:
-    eye_in_hand: bool = True
-    calibration_object: CalibrationObject = CalibrationObject.Checkerboard
+
+    def __init__(self, *, eye_in_hand: Optional[bool] = None, calibration_object: Optional[CalibrationObject] = None):
+        settings = QSettings("Zivid", "HandEyeGUI")
+        settings.beginGroup("hand_eye_configuration")
+        if eye_in_hand is not None:
+            self.eye_in_hand = eye_in_hand
+        else:
+            self.eye_in_hand = settings.value("eye_in_hand", True, type=bool)
+        if calibration_object is not None:
+            self.calibration_object = calibration_object
+        else:
+            calibration_object_name = settings.value(
+                "calibration_object", CalibrationObject.Checkerboard.name, type=str
+            )
+            self.calibration_object = CalibrationObject[calibration_object_name]
+        self.show_dialog = settings.value("show_dialog", True, type=bool)
+        settings.endGroup()
+
+    def save_choice(self):
+        settings = QSettings("Zivid", "HandEyeGUI")
+        settings.beginGroup("hand_eye_configuration")
+        settings.setValue("eye_in_hand", self.eye_in_hand)
+        settings.setValue("calibration_object", self.calibration_object.name)
+        settings.setValue("show_dialog", self.show_dialog)
+        settings.endGroup()
 
 
 class HandEyeButtonsWidget(QWidget):
@@ -147,25 +172,34 @@ def __init__(
         self.button_box = QDialogButtonBox(QDialogButtonBox.Ok)
         self.button_box.accepted.connect(self.accept)
 
+        self.remember_choice_checkbox = QCheckBox("Show this dialog")
+        self.remember_choice_checkbox.setChecked(self.hand_eye_configuration.show_dialog)
+
         layout = QVBoxLayout()
         layout.addWidget(self.hand_eye_buttons)
         layout.addWidget(self.button_box)
+        layout.addWidget(self.remember_choice_checkbox)
         self.setLayout(layout)
 
     def accept(self):
         self.hand_eye_configuration = self.hand_eye_buttons.hand_eye_configuration
+        self.hand_eye_configuration.show_dialog = self.remember_choice_checkbox.isChecked()
+        self.hand_eye_configuration.save_choice()
         super().accept()
 
 
 def select_hand_eye_configuration(
     initial_hand_eye_configuration: HandEyeConfiguration = HandEyeConfiguration(),
+    show_anyway: bool = False,
 ) -> HandEyeConfiguration:
+    if not show_anyway and not initial_hand_eye_configuration.show_dialog:
+        return initial_hand_eye_configuration
     dialog = HandEyeConfigurationSelection(initial_hand_eye_configuration)
     dialog.exec_()
     return dialog.hand_eye_configuration
 
 
 if __name__ == "__main__":  # NOLINT
     with ZividQtApplication():
-        hand_eye_configuration = select_hand_eye_configuration()
-        print(f"Selected settings: {hand_eye_configuration}")
+        hand_eye_configuration = select_hand_eye_configuration(show_anyway=True)
+        print(f"Selected Hand-Eye Configuration: {hand_eye_configuration}")