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select camera #65

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ca47756
select camera
PhysicsRule Jul 18, 2025
6be7cb2
can change default camera to OakD
PhysicsRule Sep 1, 2025
aaac0d1
frame_result passes colornpy, depthnpy, color intel,depthintel arrays…
PhysicsRule Sep 1, 2025
a12c8f8
remove all Intel_realSense from libraries it is not in
PhysicsRule Sep 1, 2025
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13 changes: 12 additions & 1 deletion src/GUI_main_program.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -173,6 +173,11 @@ def __init__(self):
help_menu.addAction(help_action)
help_action.triggered.connect(self.open_help_window)

# Camera Combo Box
# Make default camera 0: Intel Realsense,1:oakDLite etc.
self.Select3DCamera.setCurrentIndex(0)
self.Select3DCamera.currentTextChanged.connect(self.on_camera_selected)

# Folder Options Hidden
self.folder_list.setHidden(True) # List of folders to put the data into
self.folder_name.setHidden(True)
Expand Down Expand Up @@ -297,6 +302,10 @@ def camera_options(self):
if os.path.isfile(f"{cwd}/cam_img_2.png"):
os.remove(f"{cwd}/cam_img_2.png")
'''
# Function to handle camera selection
def on_camera_selected(self, Select3DCamera):
self.Select3DCamera = Select3DCamera
print(Select3DCamera)

def open_help_window(self):
self.help_window = HelpWindow()
Expand Down Expand Up @@ -456,6 +465,7 @@ def define_objects_shown(self):


def color_button_pressed(self):

self.tracking_info = tracking(types_of_streams_saved = 'cd',
type_of_tracking = 'color',
input_folder = 'color_i',
Expand Down Expand Up @@ -965,6 +975,7 @@ def run_tracker(self):
image, color_ranges, min_radius_object, data_output_folder_path = self.get_settings()
# config by looking at the camera (remove this from tracking program below)
# find output folder here instead of
print(self.Select3DCamera)
if self.tracking_info.types_of_streams_saved =='cd':
# The color and depth streams need to be aligned for each frame slowing the tracking down
pipeline = find_and_config_device()
Expand All @@ -975,7 +986,7 @@ def run_tracker(self):
# The infrared and depth streams are already aligned
# object tracking at either 90 or 300 frames per second with infrared
pipeline, config = find_and_config_device_mult_stream(self.tracking_info.types_of_streams_saved)
pipeline.start(config)

GUI_obj_tracking(pipeline, image, color_ranges, min_radius_object, data_output_folder_path, self.tracking_info)


Expand Down
50 changes: 25 additions & 25 deletions src/tracker/lib/GUI_Base.ui
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -511,7 +511,7 @@ Select the additional variables you would like graphed</string>
<property name="geometry">
<rect>
<x>100</x>
<y>380</y>
<y>410</y>
<width>371</width>
<height>181</height>
</rect>
Expand Down Expand Up @@ -594,7 +594,7 @@ Select the additional variables you would like graphed</string>
<property name="geometry">
<rect>
<x>100</x>
<y>350</y>
<y>360</y>
<width>101</width>
<height>20</height>
</rect>
Expand All @@ -610,7 +610,7 @@ Select the additional variables you would like graphed</string>
<property name="geometry">
<rect>
<x>200</x>
<y>350</y>
<y>360</y>
<width>131</width>
<height>20</height>
</rect>
Expand All @@ -623,7 +623,7 @@ Select the additional variables you would like graphed</string>
<property name="geometry">
<rect>
<x>100</x>
<y>380</y>
<y>390</y>
<width>431</width>
<height>21</height>
</rect>
Expand Down Expand Up @@ -929,7 +929,7 @@ Low fps</string>
<property name="geometry">
<rect>
<x>100</x>
<y>60</y>
<y>70</y>
<width>120</width>
<height>55</height>
</rect>
Expand All @@ -943,7 +943,7 @@ Low fps</string>
<property name="geometry">
<rect>
<x>230</x>
<y>60</y>
<y>70</y>
<width>120</width>
<height>55</height>
</rect>
Expand All @@ -961,7 +961,7 @@ Object tracking
<property name="geometry">
<rect>
<x>100</x>
<y>140</y>
<y>150</y>
<width>381</width>
<height>22</height>
</rect>
Expand Down Expand Up @@ -1149,7 +1149,7 @@ Object tracking
<property name="geometry">
<rect>
<x>100</x>
<y>170</y>
<y>180</y>
<width>381</width>
<height>141</height>
</rect>
Expand Down Expand Up @@ -1320,7 +1320,7 @@ Object tracking
<property name="geometry">
<rect>
<x>360</x>
<y>60</y>
<y>70</y>
<width>120</width>
<height>55</height>
</rect>
Expand Down Expand Up @@ -1405,7 +1405,7 @@ Object Tracking
<property name="geometry">
<rect>
<x>340</x>
<y>350</y>
<y>360</y>
<width>141</width>
<height>17</height>
</rect>
Expand All @@ -1421,7 +1421,7 @@ Object Tracking
<property name="geometry">
<rect>
<x>100</x>
<y>400</y>
<y>410</y>
<width>431</width>
<height>181</height>
</rect>
Expand Down Expand Up @@ -1465,7 +1465,7 @@ Object Tracking
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
<pointsize>6</pointsize>
</font>
</property>
</column>
Expand All @@ -1475,7 +1475,7 @@ Object Tracking
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
<pointsize>6</pointsize>
</font>
</property>
</column>
Expand All @@ -1485,7 +1485,7 @@ Object Tracking
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
<pointsize>6</pointsize>
</font>
</property>
</column>
Expand All @@ -1505,7 +1505,7 @@ Object Tracking
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
<pointsize>6</pointsize>
</font>
</property>
</column>
Expand All @@ -1514,7 +1514,7 @@ Object Tracking
<property name="geometry">
<rect>
<x>100</x>
<y>380</y>
<y>390</y>
<width>101</width>
<height>21</height>
</rect>
Expand All @@ -1533,7 +1533,7 @@ Object Tracking
<property name="geometry">
<rect>
<x>380</x>
<y>380</y>
<y>390</y>
<width>151</width>
<height>23</height>
</rect>
Expand Down Expand Up @@ -1572,7 +1572,7 @@ Time, x,y, z (Skeletal Tracker)</string>
<property name="geometry">
<rect>
<x>620</x>
<y>60</y>
<y>70</y>
<width>151</width>
<height>55</height>
</rect>
Expand All @@ -1595,7 +1595,7 @@ and graph</string>
<property name="geometry">
<rect>
<x>490</x>
<y>60</y>
<y>70</y>
<width>120</width>
<height>55</height>
</rect>
Expand Down Expand Up @@ -1623,7 +1623,7 @@ and graph</string>
<property name="geometry">
<rect>
<x>100</x>
<y>40</y>
<y>50</y>
<width>641</width>
<height>21</height>
</rect>
Expand Down Expand Up @@ -1651,7 +1651,7 @@ and graph</string>
<property name="geometry">
<rect>
<x>100</x>
<y>310</y>
<y>320</y>
<width>571</width>
<height>41</height>
</rect>
Expand Down Expand Up @@ -1683,7 +1683,7 @@ Don't forget to enter the mass if you want momentum graphs.</string>
<property name="geometry">
<rect>
<x>100</x>
<y>120</y>
<y>130</y>
<width>571</width>
<height>21</height>
</rect>
Expand Down Expand Up @@ -1818,7 +1818,7 @@ then see it in 3D or find trendlines</string>
<property name="geometry">
<rect>
<x>100</x>
<y>400</y>
<y>410</y>
<width>431</width>
<height>181</height>
</rect>
Expand Down Expand Up @@ -1955,11 +1955,11 @@ Will record for a few seconds and stop</string>
<enum>Qt::PlainText</enum>
</property>
</widget>
<widget class="QComboBox" name="comboBox">
<widget class="QComboBox" name="Select3DCamera">
<property name="geometry">
<rect>
<x>100</x>
<y>28</y>
<y>30</y>
<width>171</width>
<height>18</height>
</rect>
Expand Down
13 changes: 4 additions & 9 deletions src/tracker/lib/GUI_real_time_color_tracker.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -139,7 +139,7 @@ def __init__(self, color, callback):
print('color in pipe', color)

#self.current_colormap = self.HSV_COLORMAP[color]
self.lower,self.upper, self.color, self.radius_meters, self.mass = color_ranges[0]
self.lower,self.upper, self.color, self.radius_meters, self.mass = color_ranges[0]
self.color = color
self.color_ranges = color_ranges
#self.current_colormap = self.HSV_COLORMAP[color]
Expand Down Expand Up @@ -181,7 +181,7 @@ def run(self):
if not frame_result:
continue

(cv_color, rs_color, rs_depth), timestamp = frame_result
(cv_color, npy_depth, _, _), timestamp= frame_result

# Start the timer
if first_time_check:
Expand All @@ -198,10 +198,6 @@ def run(self):
i +=1
continue

# Create a colormap from the depth data TODO add if desired
#depth_image = np.asanyarray(rs_depth.get_data())
#depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.10), cv2.COLORMAP_HSV)

#from https://github.com/IntelRealSense/librealsense/issues/2204#issuecomment-414497056

hsv = make_color_hsv(cv_color)
Expand All @@ -213,7 +209,7 @@ def run(self):
if x_pixel == -1:
continue
# get.distance is a little slower so only use if necessarycenter = round(aligned_depth_frame.get_distance(int(x),int(y)),4)
x_coord, y_coord, z_coord = get_depth_meters(x_pixel, y_pixel, self.radius_meters, rs_depth, rs_color, self.zeroed_x, self.zeroed_y, self.zeroed_z, self.z)
x_coord, y_coord, z_coord = get_depth_meters(x_pixel, y_pixel, self.radius_meters, frame_result, self.zeroed_x, self.zeroed_y, self.zeroed_z, self.z)
if x_coord == -1:
continue

Expand All @@ -223,8 +219,7 @@ def run(self):

# Create a colormap from the depth data
if image.show_depth or image.save_depth:
depth_image = np.asanyarray(rs_depth.get_data())
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.10), cv2.COLORMAP_HSV)
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(npy_depth, alpha=0.10), cv2.COLORMAP_HSV)
cv2.putText(depth_colormap, 'Time: ' + str(relative_timestamp), (0,20), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (50,170,50), 2)
cv2.circle(depth_colormap, (int(x_pixel), int(y_pixel)), int(radius), (255, 255, 255), 2)
# Show depth colormap & color feed
Expand Down
25 changes: 11 additions & 14 deletions src/tracker/lib/GUI_tracker.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ def find_lower_upper_bounds_on_screen(the_array):
# selecting your own color boundaries by tweeking the default
pipeline = find_and_config_device()
warm_up_camera(pipeline)
(cv_color, rs_color, rs_depth), timestamp = get_all_frames_color(pipeline)
(cv_color, npy_depth, _, _ ), timestamp = get_all_frames_color(pipeline)

output = GUI_find_hsv_bounds(the_array, cv_color)
return output
Expand Down Expand Up @@ -59,7 +59,6 @@ def what_to_do_with_images(i, x_pixel, y_pixel, radius,image,depth_colormap,cv_c
else:
print("Error: Image not loaded correctly")




def GUI_tracking(pipeline, image, color_ranges, min_radius_object, data_output_folder_path, tracking_info):
Expand Down Expand Up @@ -91,8 +90,9 @@ def GUI_tracking(pipeline, image, color_ranges, min_radius_object, data_output_f
# Get frames if valid
frame_result = get_all_frames_color(pipeline)
if not frame_result:
continue
(cv_color, rs_color, rs_depth), timestamp = frame_result
continue

(cv_color, npy_depth, _, _), timestamp = frame_result

# Start the timer
if first_time_check:
Expand All @@ -105,8 +105,8 @@ def GUI_tracking(pipeline, image, color_ranges, min_radius_object, data_output_f

## Color Tracking by making a mask for each color tracked
hsv = make_color_hsv(cv_color)
depth_image = np.asanyarray(rs_depth.get_data())
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.10), cv2.COLORMAP_HSV)# Create a colormap from the depth data
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(npy_depth, alpha=0.10), cv2.COLORMAP_HSV)# Create a colormap from the depth data


for (lower,upper, color_name, radius_meters, mass) in color_ranges:
# Find location of the object in x,y pixels using color masks
Expand All @@ -128,7 +128,7 @@ def GUI_tracking(pipeline, image, color_ranges, min_radius_object, data_output_f
continue
# get.distance is a little slower so only use if necessarycenter = round(aligned_depth_frame.get_distance(int(x),int(y)),4)

x_coord, y_coord, z_coord = get_depth_meters(x_pixel, y_pixel, radius_meters, rs_depth, rs_color, zeroed_x, zeroed_y, zeroed_z, clipping_distance)
x_coord, y_coord, z_coord = get_depth_meters(x_pixel, y_pixel, radius_meters, frame_result, zeroed_x, zeroed_y, zeroed_z, clipping_distance)
if x_coord == -1 or y_coord == -1:
continue
# Append to the file until there is an error at which it will close
Expand Down Expand Up @@ -231,7 +231,7 @@ def GUI_obj_tracking(pipeline, image, color_ranges, min_radius_object, data_outp
frame_result = get_all_frames_infrared(pipeline)
if not frame_result:
continue
(rs_depth, rs_infrared), timestamp = frame_result
(npy_infrared, npy_depth, _, _), timestamp = frame_result

# Start the timer
if first_time_check:
Expand All @@ -242,12 +242,9 @@ def GUI_obj_tracking(pipeline, image, color_ranges, min_radius_object, data_outp
# Converts time from milliseconds to seconds
relative_timestamp = round(((timestamp - start_time) / 1000),3)

## TODO use rs_infrared to see infrared from camera 1
depth_image = np.asanyarray(rs_depth.get_data())
infrared_image = np.array(rs_infrared.get_data())
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.10), cv2.COLORMAP_HSV)# Create a colormap from the depth data
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(npy_depth, alpha=0.10), cv2.COLORMAP_HSV)# Create a colormap from the depth data
# image the user sees as if it were color
cv_color = infrared_image
cv_color = npy_infrared
## Color Tracking by making a mask for each color tracked

for (lower,upper, color_name, radius_meters, mass) in color_ranges:
Expand All @@ -260,7 +257,7 @@ def GUI_obj_tracking(pipeline, image, color_ranges, min_radius_object, data_outp
continue
# get.distance is a little slower so only use if necessarycenter = round(aligned_depth_frame.get_distance(int(x),int(y)),4)

x_coord, y_coord, z_coord = get_depth_meters(x_pixel, y_pixel, radius_meters, rs_depth, rs_infrared, zeroed_x, zeroed_y, zeroed_z, clipping_distance)
x_coord, y_coord, z_coord = get_depth_meters(x_pixel, y_pixel, radius_meters, frame_result, zeroed_x, zeroed_y, zeroed_z, clipping_distance)
if x_coord == -1:
continue
# Append to the file until there is an error at which it will close
Expand Down
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