Merge pull request #30 from shrimo/dev

Added ChessboardDrawer

README.md

@@ -121,14 +121,13 @@ python3 -m pip install --upgrade opencv-python
 
 ```bash
 cd SLAMBox
-chmod 777 slambox.sh
-./slambox.sh
+bash slambox.sh
 ```
 
 Or you can specify a custom version of Python
 
 ```bash
-/slambox.sh 3.10
+bash slambox.sh 3.10
 ```
 
 <br>

boxes/pipeline/graph_factory.py

@@ -8,7 +8,7 @@
 from dataclasses import dataclass, field
 from collections import defaultdict, Counter
 import numpy as np
-from cv2 import destroyAllWindows # pylint: disable=E0611
+from cv2 import destroyAllWindows  # pylint: disable=E0611
 
 from boxes import RootNode, plugins
 
@@ -46,6 +46,7 @@ def __init__(self, script: ActionScriptType, root_node: str):
             "stop": self.stop,
             "stop_flask": self.stop_flask,
         }
+        self.top_nodes = ["ChessboardDrawer", "Constant"]
 
     def execution_controller(self, input_script: ActionScriptType) -> None:
         """Controller for building a graph of nodes and control parameter updates"""
@@ -55,7 +56,7 @@ def graph_update(self, graph: RootNode, data_update: ScriptType) -> None:
         """Updating node graph in real time"""
         if graph.get_input():
             for node in graph.get_input():
-                if node.get_input():
+                if node.get_input() or node.type_ in self.top_nodes:
                     node_update = find_node_by_attr(data_update, node.id_, "id")
                     if node_update is None:
                         continue

boxes/plugins/draw.py

@@ -129,7 +129,7 @@ def out_frame(self):
         cv2.rectangle(frame, (20, height - 50), (180, height), (110, 50, 30), -1)
         cv2.putText(
             frame,
-            "frame:" + str(self.buffer.metadata['current_frame']),
+            "frame:" + str(self.buffer.metadata["current_frame"]),
             (int(30), int(height - 20)),
             self.font,
             0.75,
@@ -163,16 +163,74 @@ def create_blank(self, width, height, color):
 
     def update(self, param):
         self.color = self.color_reversed(param["constant_color"])
-        self.width = int(param["width"])
-        self.height = int(param["height"])
+        self.width = int(param["width_"])
+        self.height = int(param["height_"])
+
+
+class ChessboardDrawer(RootNode):
+    """ChessboardDrawer background with specified color"""
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.color1 = self.color_reversed(self.param["color1"])
+        self.color2 = self.color_reversed(self.param["color2"])
+        self.width = int(self.param["width_"])
+        self.height = int(self.param["height_"])
+        self.grid_size_w = int(self.param["grid_size_w"])
+        self.grid_size_h = int(self.param["grid_size_h"])
+        self.square_calc()
+
+    def square_calc(self):
+        square_width = self.width // self.grid_size_w
+        square_height = self.height // self.grid_size_h
+        self.square_size = min(square_width, square_height)  # Ensure square squares
+
+    def out_frame(self):
+        """
+        Draws the calibration chessboard with square squares.
+        """
+        rows, cols = self.grid_size_w, self.grid_size_h
+        img_height = rows * self.square_size
+        img_width = cols * self.square_size
+
+        # Create an empty image
+        chessboard_img = np.zeros((img_height, img_width, 3), dtype=np.uint8)
+
+        # Iterate through the grid and draw squares
+        for i in range(rows):
+            for j in range(cols):
+                # Determine the current square's color
+                if (i + j) % 2 == 0:
+                    color = self.color1
+                else:
+                    color = self.color2
+
+                # Calculate the top-left and bottom-right corners of the square
+                top_left = (j * self.square_size, i * self.square_size)
+                bottom_right = ((j + 1) * self.square_size, (i + 1) * self.square_size)
+
+                # Draw the square on the image
+                cv2.rectangle(chessboard_img, top_left, bottom_right, color, -1)
+
+        return chessboard_img
+
+    def update(self, param):
+        print("update")
+        self.color1 = self.color_reversed(param["color1"])
+        self.color2 = self.color_reversed(param["color2"])
+        self.width = int(param["width_"])
+        self.height = int(param["height_"])
+        self.grid_size_w = int(param["grid_size_w"])
+        self.grid_size_h = int(param["grid_size_h"])
+        self.square_calc()
 
 
 class Text(RootNode):
     """Show FPS Information"""
 
     def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
-        self.color = self.color_reversed(self.param["text_color_"])        
+        self.color = self.color_reversed(self.param["text_color_"])
         self.text = self.param["text"]
         self.px = int(self.param["px"])
         self.py = int(self.param["py"])
@@ -235,4 +293,3 @@ def update(self, param):
         self.size = int(param["size"])
         self.track_color = self.color_reversed(param["track_color"])
         self.variable = param["variable"]
-

boxes/utility/misc.py

@@ -48,6 +48,7 @@ class Color:
     kohlrabi: tuple = (101, 207, 156)
     red_orange: tuple = (39, 83, 239)
     high_visibility: tuple = (0, 199, 241)
+    scarlet_smile: tuple = (54, 36, 159)
 
 
 cc = Color()

build_graph.py

@@ -23,7 +23,7 @@ def build() -> None:
         "OpenCV": {
             "type": "Viewer",
             "name": "Viewport",
-            "version_color": utility.rgb2bgr(cc.strong_blue),
+            "version_color": utility.rgb2bgr(cc.scarlet_smile),
             "text_color": cc.white,
             "title_text": f"SLAM box. version: {version}",
             "builder": pipeline.GraphBuilder,

config.py

@@ -5,11 +5,11 @@
 port: int = 50001
 recv_size: int = 10240
 name: str = "SLAM Box"
-version: str = "0.7.7"
+version: str = "0.7.8"
 system: str = platform.system()
 gui: str = "Node-based UI"
 description: str = "Computer Vision Node Graph Editor"
-date: str = "(Sun Oct  6 05:27:06 AM EEST 2024)"
+date: str = "(Mon Oct  7 06:27:01 AM EEST 2024)"
 nodegraphqt: str = "./NodeGraphQt/"
 css_style: str = "QLabel {background-color: #363636; color: white; font-size: 11pt;}"
 g2opy_path: str = "/home/cds/github/g2o-pymem/build/lib"

plugins_ui/draw_gui_nodes.py

@@ -79,6 +79,27 @@ def __init__(self):
         self.add_text_input("width_", "Width", text="1280", tab="attributes")
         self.add_text_input("height_", "Height", text="720", tab="attributes")
 
+class ChessboardDrawer(BaseNode):
+    __identifier__ = "nodes.Draw"
+    NODE_NAME = "ChessboardDrawer"
+
+    def __init__(self):
+        super(ChessboardDrawer, self).__init__()
+        self.add_output("out")
+        self.set_color(*ncs.Draw)
+        self.create_property("label_color1", "Color1", widget_type=NODE_PROP_QLABEL)
+        self.create_property(
+            "color1", (0, 0, 0), widget_type=NODE_PROP_COLORPICKER
+        )
+        self.create_property("label_color2", "Color2", widget_type=NODE_PROP_QLABEL)
+        self.create_property(
+            "color2", (255, 255, 255), widget_type=NODE_PROP_COLORPICKER
+        )
+        self.add_text_input("width_", "Width", text="1280", tab="attributes")
+        self.add_text_input("height_", "Height", text="1280", tab="attributes")
+        self.add_text_input("grid_size_w", "Grid size Width", text="9", tab="attributes")
+        self.add_text_input("grid_size_h", "Grid size Height", text="16", tab="attributes")
+
 
 class Text(BaseNode):
     __identifier__ = "nodes.Draw"