Sample: refactor HEGUI modules

This is a major refactoring of the Hand Eye GUI.
- Improve loading and saving data. It now happens in parallel in
  background processes.
- Logs the choice of Hand Eye Configuration with the data, so you
  don't have to infer, remember, or guess.
- A loaded session cannot be modified anymore (can't add data to it).
- Reserve some more space for the residuals so they're not hidden
  (on many screens).
- Standardize the settings choice flow for Hand-Eye GUI.

Author: csu-bot-zivid

modules/zividsamples/gui/calibration/__init__.py

@@ -0,0 +1,53 @@
+from typing import List
+
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtWidgets import QApplication, QCheckBox, QGroupBox, QHBoxLayout, QPushButton, QWidget
+
+
+class HandEyeCalibrationButtonsWidget(QWidget):
+    calibrate_button_clicked = pyqtSignal()
+    use_fixed_objects_toggled = pyqtSignal(bool)
+
+    def __init__(self, parent=None):
+        super().__init__(parent)
+
+        # Define buttons
+        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.calibrate_button.clicked.connect(self.on_calibrate_button_clicked)
+        self.use_fixed_objects_checkbox.toggled.connect(self.on_use_fixed_objects_toggled)
+
+        # Add buttons to layout
+        calibrate_group_box = QGroupBox("Calibrate")
+        calibrate_group_box_layout = QHBoxLayout()
+        calibrate_group_box.setLayout(calibrate_group_box_layout)
+
+        calibrate_group_box_layout.addWidget(self.calibrate_button)
+        calibrate_group_box_layout.addWidget(self.use_fixed_objects_checkbox)
+
+        buttons_layout = QHBoxLayout()
+        buttons_layout.addWidget(calibrate_group_box)
+
+        self.setLayout(buttons_layout)
+
+    def on_calibrate_button_clicked(self):
+        self.calibrate_button.setStyleSheet("background-color: yellow;")
+        QApplication.processEvents()
+        self.calibrate_button_clicked.emit()
+        self.calibrate_button.setStyleSheet("")
+
+    def on_use_fixed_objects_toggled(self, checked: bool):
+        self.use_fixed_objects_toggled.emit(checked)
+
+    def disable_buttons(self):
+        self.calibrate_button.setEnabled(False)
+
+    def enable_buttons(self):
+        self.calibrate_button.setEnabled(True)
+
+    def get_tab_widgets_in_order(self) -> List[QWidget]:
+        return [self.calibrate_button]

modules/zividsamples/gui/calibration/calibration_buttons_widget.py

@@ -8,29 +8,35 @@
 
 import copy
 from pathlib import Path
-from typing import Dict, List, Optional
+from typing import Dict, List, Optional, Tuple
 
 import numpy as np
 import zivid
 from nptyping import NDArray, Shape, UInt8
 from PyQt5.QtCore import QSignalBlocker, pyqtSignal
 from PyQt5.QtWidgets import QHBoxLayout, QMessageBox, QPushButton, QVBoxLayout, QWidget
 from zivid.experimental.hand_eye_low_dof import calibrate_eye_in_hand_low_dof, calibrate_eye_to_hand_low_dof
-from zividsamples.gui.buttons_widget import HandEyeCalibrationButtonsWidget
-from zividsamples.gui.cv2_handler import CV2Handler
-from zividsamples.gui.detection_visualization import DetectionVisualizationWidget
-from zividsamples.gui.hand_eye_configuration import CalibrationObject, HandEyeConfiguration
-from zividsamples.gui.marker_widget import MarkerConfiguration
-from zividsamples.gui.pose_pair_selection_widget import PosePair, PosePairSelectionWidget
-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
-from zividsamples.gui.settings_selector import SettingsPixelMappingIntrinsics
-from zividsamples.gui.show_yaml_dialog import show_yaml_dialog
-from zividsamples.gui.tab_with_robot_support import TabWidgetWithRobotSupport
-from zividsamples.save_load_transformation_matrix import load_transformation_matrix, save_transformation_matrix
+from zividsamples.gui.calibration.calibration_buttons_widget import HandEyeCalibrationButtonsWidget
+from zividsamples.gui.calibration.pose_pair_selection_widget import (
+    PosePair,
+    PosePairSelectionWidget,
+    SessionCalibrationConfig,
+    load_calibration_config,
+    save_calibration_config,
+)
+from zividsamples.gui.calibration.set_fixed_objects import FixedCalibrationObjectsData, set_fixed_objects
+from zividsamples.gui.robot.robot_control import RobotTarget
+from zividsamples.gui.widgets.cv2_handler import CV2Handler
+from zividsamples.gui.widgets.detection_visualization import DetectionVisualizationWidget
+from zividsamples.gui.widgets.pose_widget import PoseWidget, PoseWidgetDisplayMode
+from zividsamples.gui.widgets.show_yaml_dialog import show_yaml_dialog
+from zividsamples.gui.widgets.tab_with_robot_support import TabWidgetWithRobotSupport
+from zividsamples.gui.wizard.hand_eye_configuration import CalibrationObject, HandEyeConfiguration
+from zividsamples.gui.wizard.marker_configuration import MarkerConfiguration
+from zividsamples.gui.wizard.robot_configuration import RobotConfiguration
+from zividsamples.gui.wizard.rotation_format_configuration import RotationInformation
+from zividsamples.gui.wizard.settings_selector import SettingsPixelMappingIntrinsics
+from zividsamples.save_load_transformation_matrix import save_transformation_matrix
 from zividsamples.save_residuals import save_residuals
 from zividsamples.transformation_matrix import TransformationMatrix
 
@@ -45,6 +51,7 @@ class HandEyeCalibrationGUI(TabWidgetWithRobotSupport):
     checkerboard_pose_in_camera_frame: Optional[TransformationMatrix] = None
     minimum_pose_pairs_for_calibration: int = 6
     calibration_finished = pyqtSignal(TransformationMatrix)
+    loading_finished = pyqtSignal()
     instructions_updated: pyqtSignal = pyqtSignal()
     description: List[str]
     fixed_objects: FixedCalibrationObjectsData
@@ -139,6 +146,13 @@ def connect_signals(self):
         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)
+        self.pose_pair_selection_widget.loading_finished.connect(self._on_pose_pairs_loading_finished)
+
+    def _on_pose_pairs_loading_finished(self) -> None:
+        self.loading_finished.emit()
+        if self.pose_pair_selection_widget.number_of_active_pose_pairs() >= self.minimum_pose_pairs_for_calibration:
+            save_to_disk = self.pose_pair_selection_widget.last_operation_was_reprocess
+            self._calibrate(save_to_disk=save_to_disk)
 
     def update_instructions(self, has_detection_result: bool, robot_pose_confirmed: bool, calibrated: bool):
         self.has_confirmed_robot_pose = robot_pose_confirmed
@@ -165,16 +179,68 @@ def update_instructions(self, has_detection_result: bool, robot_pose_confirmed:
         )
         self.confirm_robot_pose_button.setChecked(self.has_confirmed_robot_pose)
 
+    def _resolve_config_from_saved_session(
+        self,
+        saved_config: SessionCalibrationConfig,
+        calibration_object: CalibrationObject,
+        marker_configuration: MarkerConfiguration,
+    ) -> Tuple[CalibrationObject, MarkerConfiguration]:
+        """If saved config differs from current, ask user and return (calibration_object, marker_configuration)."""
+        mismatches = []
+        if saved_config.calibration_object != calibration_object:
+            mismatches.append(
+                f"Calibration object: session={saved_config.calibration_object.name}, "
+                f"current={calibration_object.name}"
+            )
+        if saved_config.eye_in_hand != self.hand_eye_configuration.eye_in_hand:
+            saved_label = "Eye-In-Hand" if saved_config.eye_in_hand else "Eye-To-Hand"
+            current_label = "Eye-In-Hand" if self.hand_eye_configuration.eye_in_hand else "Eye-To-Hand"
+            mismatches.append(f"Configuration: session={saved_label}, current={current_label}")
+        if not mismatches:
+            return (calibration_object, marker_configuration)
+        reply = QMessageBox.question(
+            self,
+            "Configuration Mismatch",
+            "The saved session was captured with a different configuration:\n\n"
+            + "\n".join(f"  - {m}" for m in mismatches)
+            + "\n\nLoad with saved configuration?",
+            QMessageBox.Yes | QMessageBox.No,
+        )
+        if reply != QMessageBox.Yes:
+            return (calibration_object, marker_configuration)
+        new_marker_config = marker_configuration
+        if saved_config.marker_ids is not None and saved_config.marker_dictionary is not None:
+            new_marker_config = MarkerConfiguration(
+                id_list=saved_config.marker_ids, dictionary=saved_config.marker_dictionary
+            )
+        return (saved_config.calibration_object, new_marker_config)
+
     def on_pending_changes(self):
-        if self.data_directory_has_data():
-            self.pose_pair_selection_widget.set_directory(self.data_directory)
-            self.pose_pair_selection_widget.load_pose_pairs(
-                calibration_object=self.hand_eye_configuration.calibration_object,
-                marker_configuration=self.marker_configuration,
+        self.pose_pair_selection_widget.clear()
+        self.pose_pair_selection_widget.set_directory(self.data_directory)
+        if not self.data_directory_has_data():
+            return
+        calibration_object = self.hand_eye_configuration.calibration_object
+        marker_configuration = self.marker_configuration
+        if self.session_info is not None:
+            saved_config = load_calibration_config(self.session_info)
+            if saved_config is not None and self.is_current_tab():
+                calibration_object, marker_configuration = self._resolve_config_from_saved_session(
+                    saved_config, calibration_object, marker_configuration
+                )
+            save_calibration_config(
+                self.session_info,
+                calibration_object,
+                self.hand_eye_configuration.eye_in_hand,
+                marker_configuration,
             )
-            self.calibration_finished.emit(load_transformation_matrix(self.data_directory / "hand_eye_transform.yaml"))
-        else:
-            self.pose_pair_selection_widget.set_directory(self.data_directory)
+        self.pose_pair_selection_widget.load_pose_pairs(
+            calibration_object=calibration_object,
+            marker_configuration=marker_configuration,
+        )
+
+    def is_loading(self) -> bool:
+        return self.pose_pair_selection_widget.is_loading()
 
     def on_tab_visibility_changed(self, is_current: bool):
         pass
@@ -187,10 +253,35 @@ def hand_eye_configuration_update(self, hand_eye_configuration: HandEyeConfigura
             4 if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard else 6
         )
         self.fixed_objects.update_hand_eye_configuration(self.hand_eye_configuration)
+        self._prompt_reprocess_if_needed()
 
     def marker_configuration_update(self, marker_configuration: MarkerConfiguration):
         self.marker_configuration = marker_configuration
         self.fixed_objects.update_marker_configuration(self.marker_configuration)
+        self._prompt_reprocess_if_needed()
+
+    def _prompt_reprocess_if_needed(self) -> None:
+        if self.pose_pair_selection_widget.number_of_active_pose_pairs() == 0:
+            return
+        reply = QMessageBox.question(
+            self,
+            "Reprocess Pose Pairs",
+            "Do you want to reload data with the new configuration?\n\n"
+            "Detection results will be recalculated from the captured frames.",
+            QMessageBox.Yes | QMessageBox.No,
+        )
+        if reply == QMessageBox.Yes:
+            self.pose_pair_selection_widget.reprocess_pose_pairs(
+                self.hand_eye_configuration.calibration_object,
+                self.marker_configuration,
+            )
+            if self.session_info is not None:
+                save_calibration_config(
+                    self.session_info,
+                    self.hand_eye_configuration.calibration_object,
+                    self.hand_eye_configuration.eye_in_hand,
+                    self.marker_configuration,
+                )
 
     def rotation_format_update(self, rotation_information: RotationInformation):
         self.robot_pose_widget.set_rotation_format(rotation_information)
@@ -289,6 +380,13 @@ def process_capture(self, frame: zivid.Frame, rgba: NDArray[Shape["N, M, 4"], UI
 
     def use_data(self):
         self.pose_pair_selection_widget.add_pose_pair(self.pose_pair)
+        if self.session_info is not None:
+            save_calibration_config(
+                self.session_info,
+                self.hand_eye_configuration.calibration_object,
+                self.hand_eye_configuration.eye_in_hand,
+                self.marker_configuration,
+            )
         self.update_instructions(
             has_detection_result=False,
             robot_pose_confirmed=False,
@@ -305,6 +403,9 @@ def on_use_fixed_objects_toggled(self, checked: bool):
                 self.fixed_objects = updated_fixed_objects
 
     def on_calibrate_button_clicked(self):
+        self._calibrate(save_to_disk=True)
+
+    def _calibrate(self, save_to_disk: bool = True) -> None:
         try:
             detection_results = self.pose_pair_selection_widget.get_detection_results()
             calibration_result = (
@@ -324,14 +425,17 @@ def on_calibrate_button_clicked(self):
                 print("Hand-Eye calibration OK")
                 print(f"Result:\n{calibration_result}")
                 hand_eye_transformation_matrix = TransformationMatrix.from_matrix(calibration_result.transform())
-                hand_eye_transform_path = self.data_directory / "hand_eye_transform.yaml"
-                save_transformation_matrix(hand_eye_transformation_matrix, hand_eye_transform_path)
 
-                hand_eye_residuals_path = self.data_directory / "hand_eye_residuals.yaml"
-                save_residuals(calibration_result.residuals(), hand_eye_residuals_path)
+                if save_to_disk:
+                    hand_eye_transform_path = self.data_directory / "hand_eye_transform.yaml"
+                    save_transformation_matrix(hand_eye_transformation_matrix, hand_eye_transform_path)
+                    hand_eye_residuals_path = self.data_directory / "hand_eye_residuals.yaml"
+                    save_residuals(calibration_result.residuals(), hand_eye_residuals_path)
 
                 self.pose_pair_selection_widget.set_residuals(calibration_result.residuals())
-                show_yaml_dialog(hand_eye_transform_path, "Hand Eye Calibration Transform")
+                if save_to_disk:
+                    hand_eye_transform_path = self.data_directory / "hand_eye_transform.yaml"
+                    show_yaml_dialog(hand_eye_transform_path, "Hand Eye Calibration Transform")
                 self.update_instructions(
                     has_detection_result=False,
                     robot_pose_confirmed=False,

…dsamples/gui/hand_eye_calibration_gui.py …/calibration/hand_eye_calibration_gui.pymodules/zividsamples/gui/hand_eye_calibration_gui.py renamed to modules/zividsamples/gui/calibration/hand_eye_calibration_gui.py modules/zividsamples/gui/hand_eye_calibration_gui.py renamed to modules/zividsamples/gui/calibration/hand_eye_calibration_gui.py

@@ -27,15 +27,15 @@
 from zivid.calibration import DetectionResult, DetectionResultFiducialMarkers, MarkerShape
 from zivid.experimental import PixelMapping
 from zividsamples.display import display_pointcloud
-from zividsamples.gui.buttons_widget import CameraButtonsWidget
-from zividsamples.gui.camera_selection import select_camera
-from zividsamples.gui.cv2_handler import CV2Handler
-from zividsamples.gui.hand_eye_configuration import CalibrationObject, HandEyeButtonsWidget, HandEyeConfiguration
-from zividsamples.gui.image_viewer import ImageViewer, ImageViewerDialog
-from zividsamples.gui.live_2d_widget import Live2DWidget
-from zividsamples.gui.marker_widget import MarkersWidget
 from zividsamples.gui.qt_application import ZividQtApplication
-from zividsamples.gui.settings_selector import SettingsForHandEyeGUI, select_settings_for_hand_eye
+from zividsamples.gui.widgets.camera_buttons_widget import CameraButtonsWidget
+from zividsamples.gui.widgets.cv2_handler import CV2Handler
+from zividsamples.gui.widgets.image_viewer import ImageViewer, ImageViewerDialog
+from zividsamples.gui.widgets.live_2d_widget import Live2DWidget
+from zividsamples.gui.wizard.camera_selection import select_camera
+from zividsamples.gui.wizard.hand_eye_configuration import CalibrationObject, HandEyeButtonsWidget, HandEyeConfiguration
+from zividsamples.gui.wizard.marker_configuration import MarkersWidget
+from zividsamples.gui.wizard.settings_selector import SettingsForHandEyeGUI, select_settings_for_hand_eye
 from zividsamples.transformation_matrix import TransformationMatrix