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[GUI] Migrate to DearPyGUI #46

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[GUI] Migrate to DearPyGUI #46

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ff1f6cc
First version
HanaeRateau Oct 1, 2026
8994f95
Make GUI compatible with mutilple cameras in same process
HanaeRateau Oct 1, 2026
89f3a93
Renames gui file
HanaeRateau Oct 1, 2026
af54547
Adds file for test, To delete when merging
HanaeRateau Oct 1, 2026
7aa8661
Fixes context variable
HanaeRateau Oct 1, 2026
79badc3
Adds log when deatroying GUI
HanaeRateau Oct 1, 2026
840e2c6
Fixes calibration
HanaeRateau Nov 4, 2026
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2 changes: 1 addition & 1 deletion emioapi/__main__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,8 @@ def calibrate():
import emioapi
from emioapi._logging_config import logger

camera = emioapi.EmioCamera(show=True)
print("Available cameras:", emioapi.EmioCamera.listCameras())
camera = emioapi.EmioCamera(show=True, track_markers=True)

if camera.open():
print(f"Camera {camera.camera_serial} opened.")
Expand Down
68 changes: 0 additions & 68 deletions emioapi/_camerafeedwindow.py
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This file was deleted.

165 changes: 63 additions & 102 deletions emioapi/_depthcamera.py
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Original file line number Diff line number Diff line change
@@ -1,12 +1,14 @@
import json
import time
from enum import Enum
import threading
from types import SimpleNamespace

import numpy as np
import cv2 as cv
import pyrealsense2 as rs

from ._camerafeedwindow import CameraFeedWindow
from ._gui import EmioAPIGUI
from ._positionestimation import PositionEstimation, CONFIG_FILENAME
from emioapi._logging_config import logger

Expand Down Expand Up @@ -119,6 +121,10 @@ def __init__(self,
self._camera_serial = camera_serial
self.initialized = True

self.gui_object: SimpleNamespace = None
"""`gui_object`: holds references to the EmioAPIGUI instance itself `gui_handle` and to the running thread of the gui `gui_thread`"""
self.lock = threading.Lock()

if not self.initialized:
return

Expand Down Expand Up @@ -167,40 +173,13 @@ def set_depth_min(self, new_depth_min: int):


def create_feed_windows(self):
import tkinter as tk
from tkinter import ttk
self.rootWindow = tk.Tk()
self.rootWindow.resizable(False, False)

self.rootWindow.title("Camera Feed Manager")
ttk.Button(self.rootWindow, text="Close Windows", command=self.quit).pack(side=tk.BOTTOM, padx=5, pady=5)
ttk.Button(self.rootWindow, text="Save", command=lambda: json.dump(self.parameter, open(CONFIG_FILENAME, 'w'))).pack(side=tk.BOTTOM, padx=5, pady=5)
ttk.Button(self.rootWindow, text="Mask Window", command=self.create_mask_window).pack(side=tk.BOTTOM, padx=5, pady=5)
ttk.Button(self.rootWindow, text="Frame Window", command=self.create_frame_window).pack(side=tk.BOTTOM, padx=5, pady=5)
ttk.Button(self.rootWindow, text="HSV Window", command=self.create_HSV_window).pack(side=tk.BOTTOM, padx=5, pady=5)
ttk.Button(self.rootWindow, text="Depth Window", command=self.createDepthWindow).pack(side=tk.BOTTOM, padx=5, pady=5)

self.create_mask_window()
self.create_frame_window()

self.rootWindow.protocol("WM_DELETE_WINDOW", self.quit)
self.rootWindow.update_idletasks()

def create_mask_window(self):
if self.maskWindow is None or not self.maskWindow.running:
self.maskWindow = CameraFeedWindow(rootWindow=self.rootWindow, trackbarParams=self.parameter, name='Mask')

def create_frame_window(self):
if self.frameWindow is None or not self.frameWindow.running:
self.frameWindow = CameraFeedWindow(rootWindow=self.rootWindow, name='RGB Frame')
"""
Creates the GUI thread and the camera feed window. The GUI thread is created only once and the camera feed window is created in the GUI thread. The camera feed window is updated in the main thread."""

def create_HSV_window(self):
if self.hsvWindow is None or not self.hsvWindow.running:
self.hsvWindow = CameraFeedWindow(rootWindow=self.rootWindow, name='HSV Frame')
self.gui_object = EmioAPIGUI.start_in_thread()
self.gui_window = EmioAPIGUI.add_camera_feed(trackbarParams=self.parameter, save_callback=lambda: json.dump(self.parameter, open(CONFIG_FILENAME, 'w')))
""" EmioAPIGUI._CameraFeedWindow object. """

def createDepthWindow(self):
if self.depthWindow is None or not self.depthWindow.running:
self.depthWindow = CameraFeedWindow(rootWindow=self.rootWindow, name='Depth Frame')

def quit(self):
for window in [self.maskWindow, self.frameWindow, self.hsvWindow, self.depthWindow]:
Expand Down Expand Up @@ -259,8 +238,9 @@ def calibrate(self):
success = False
self.calibration_status = CalibrationStatusEnum.CALIBRATING

# Create the windows to display the binrary mask and the HSV frame
calibration_window = CameraFeedWindow(rootWindow=self.rootWindow, name='Calibration')
# Create the windows to display the binary mask and the HSV frame
if self.show_video_feed and self.gui_window:
calibration_window = self.gui_window

if self.position_estimator is not None:
while self.position_estimator.count_calibration_frames < 200 and time.time() - starttime < 300:
Expand All @@ -269,16 +249,11 @@ def calibrate(self):
if hasFrame:
success = self.position_estimator.calibrate(self.frame, self.depth_frame, first, calibration_window)
first = success if not first else first
if self.show_video_feed:
self.rootWindow.update()

if success:
self.position_estimator.compute_camera_to_simulation_transform()
logger.info(f"Camera {self.camera_serial} successfully calibrated.")

# Close the calibration window
calibration_window.closed()

self.calibration_status = CalibrationStatusEnum.CALIBRATED if success else CalibrationStatusEnum.NOT_CALIBRATED
return success

Expand All @@ -295,11 +270,12 @@ def get_frame(self):
return False

# Convert images to numpy arrays
self.depth_frame = np.asanyarray(depth_frame.get_data())
self.frame = np.asanyarray(color_frame.get_data())
self.depth_rsframe = depth_frame
with self.lock:
self.depth_frame = np.asanyarray(depth_frame.get_data())
self.frame = np.asanyarray(color_frame.get_data())
self.depth_rsframe = depth_frame

return True
return True


def update(self):
Expand All @@ -311,78 +287,63 @@ def update(self):
def process_frame(self):

# if frame is read correctly ret is True
with self.lock:
self.hsvFrame = cv.cvtColor(self.frame, cv.COLOR_BGR2HSV)

self.hsvFrame = cv.cvtColor(self.frame, cv.COLOR_BGR2HSV)
# color definition
red_lower = np.array([self.parameter['hue_l'], self.parameter['sat_l'], self.parameter['value_l']])
red_upper = np.array([self.parameter['hue_h'], self.parameter['sat_h'], self.parameter['value_h']])

# color definition
red_lower = np.array([self.parameter['hue_l'], self.parameter['sat_l'], self.parameter['value_l']])
red_upper = np.array([self.parameter['hue_h'], self.parameter['sat_h'], self.parameter['value_h']])
# red color mask (sort of thresholding, actually segmentation)
mask = cv.inRange(self.hsvFrame, red_lower, red_upper)
mask2 = cv.inRange(self.depth_frame, self.depth_min, self.depth_max)

# red color mask (sort of thresholding, actually segmentation)
mask = cv.inRange(self.hsvFrame, red_lower, red_upper)
mask2 = cv.inRange(self.depth_frame, self.depth_min, self.depth_max)
mask = cv.bitwise_and(mask, mask2, mask=mask)

mask = cv.bitwise_and(mask, mask2, mask=mask)
erosion_shape = cv.MORPH_RECT
erosion_size = self.parameter['erosion_size']
element = cv.getStructuringElement(erosion_shape, (2 * erosion_size + 1, 2 * erosion_size + 1),
(erosion_size, erosion_size))

erosion_shape = cv.MORPH_RECT
erosion_size = self.parameter['erosion_size']
element = cv.getStructuringElement(erosion_shape, (2 * erosion_size + 1, 2 * erosion_size + 1),
(erosion_size, erosion_size))
mask = cv.erode(mask, element, iterations=3)
mask = cv.dilate(mask, element, iterations=3)

mask = cv.erode(mask, element, iterations=3)
mask = cv.dilate(mask, element, iterations=3)
self.maskFrame = cv.bitwise_and(self.frame, self.frame, mask=mask)

self.maskFrame = cv.bitwise_and(self.frame, self.frame, mask=mask)
if self.tracking:
contours, _ = cv.findContours(mask, cv.RETR_EXTERNAL, cv.CHAIN_APPROX_SIMPLE)
if len(contours) != 0:
areas = [cv.contourArea(cnt) for cnt in contours]

if self.tracking:
contours, _ = cv.findContours(mask, cv.RETR_EXTERNAL, cv.CHAIN_APPROX_SIMPLE)
if len(contours) != 0:
areas = [cv.contourArea(cnt) for cnt in contours]
self.trackers_pos = []
self.trackers_pos_image = []
for i, a in enumerate(areas):
if a > self.parameter['area']:
x, y = compute_contour_center(contours[i])
marker_mask = np.zeros_like(mask)

self.trackers_pos = []
self.trackers_pos_image = []
for i, a in enumerate(areas):
if a > self.parameter['area']:
x, y = compute_contour_center(contours[i])
marker_mask = np.zeros_like(mask)
depth = compute_median_depth(contours[i], self.depth_frame) if self.depth_frame[y, x] == 0 else self.depth_frame[y, x]
worldx, worldy, worldz = self.position_estimator.camera_image_to_simulation(x, y, depth)
self.trackers_pos.append([worldx, worldy, worldz])
self.trackers_pos_image.append([x, y, depth])

depth = compute_median_depth(contours[i], self.depth_frame) if self.depth_frame[y, x] == 0 else self.depth_frame[y, x]
worldx, worldy, worldz = self.position_estimator.camera_image_to_simulation(x, y, depth)
self.trackers_pos.append([worldx, worldy, worldz])
self.trackers_pos_image.append([x, y, depth])
cv.drawContours(marker_mask, [contours[i]], -1, color=255, thickness=-1)
for frame in [self.hsvFrame, self.frame]:
cv.circle(frame, (x, y), 2, color=255, thickness=-1)
cv.putText(frame, f"{i} ({x}, {y}, {depth})", (x, y), cv.FONT_HERSHEY_SIMPLEX, 0.4, (255, 255, 255), 1)
cv.putText(frame, f"{i} ({worldx:.2f}, {worldy:.2f}, {worldz:.2f})", (x, y + 15), cv.FONT_HERSHEY_SIMPLEX, 0.4, (255, 255, 255), 1)

cv.drawContours(marker_mask, [contours[i]], -1, color=255, thickness=-1)
for frame in [self.hsvFrame, self.frame]:
cv.circle(frame, (x, y), 2, color=255, thickness=-1)
cv.putText(frame, f"{i} ({x}, {y}, {depth})", (x, y), cv.FONT_HERSHEY_SIMPLEX, 0.4, (255, 255, 255), 1)
cv.putText(frame, f"{i} ({worldx:.2f}, {worldy:.2f}, {worldz:.2f})", (x, y + 15), cv.FONT_HERSHEY_SIMPLEX, 0.4, (255, 255, 255), 1)
if self.show_video_feed:
cv.drawContours(self.frame, [contours[i]], -1, (255, 255, 0), 3)

if self.show_video_feed:
cv.drawContours(self.frame, [contours[i]], -1, (255, 255, 0), 3)
if self.compute_point_cloud:
points = self.pc.calculate(self.depth_rsframe)
v = points.get_vertices()
self.point_cloud = np.asanyarray(v).view(np.float32).reshape(-1, 3) # xyz

if self.compute_point_cloud:
points = self.pc.calculate(self.depth_rsframe)
v = points.get_vertices()
self.point_cloud = np.asanyarray(v).view(np.float32).reshape(-1, 3) # xyz

if self.show_video_feed:
if self.rootWindow is None:
self.create_feed_windows()

if self.maskWindow is not None and self.maskWindow.running:
self.maskWindow.set_frame(self.maskFrame)

if self.frameWindow is not None and self.frameWindow.running:
self.frameWindow.set_frame(self.frame)

if self.hsvWindow is not None and self.hsvWindow.running:
self.hsvWindow.set_frame(self.hsvFrame)

if self.depthWindow is not None and self.depthWindow.running:
if self.show_video_feed and self.gui_window and self.gui_object.gui_handle.is_running():
colorized = np.asanyarray(rs.colorizer().colorize(self.depth_rsframe).get_data())
self.depthWindow.set_frame(colorized)

self.rootWindow.update()
self.gui_window.set_frames(self.frame, colorized, self.maskFrame, self.hsvFrame)


def close(self):
Expand Down
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