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"""
motion_capture/window.py
Floating tool window for the Motion Capture plugin.
Layout:
[Title bar]
[Video feed — live camera or simulation, click to select tracking point]
[Status bar — position, fps, tracking state]
[Controls — camera index, connect, click-to-track, clear, calibration]
"""
from __future__ import annotations
from PyQt6.QtCore import Qt, QTimer, pyqtSignal
from PyQt6.QtGui import QCloseEvent, QImage, QMouseEvent, QPixmap
from PyQt6.QtWidgets import (
QComboBox, QDoubleSpinBox, QFrame, QHBoxLayout, QLabel, QPushButton,
QSizePolicy, QVBoxLayout, QWidget,
)
import numpy as np
class MotionCaptureWindow(QWidget):
closed = pyqtSignal()
def __init__(self, tracker, parent=None):
super().__init__(parent, Qt.WindowType.Window | Qt.WindowType.Tool)
self._tracker = tracker
self._connected = False
self._arming = False # waiting for click-to-set-ROI
self.setWindowTitle("Motion Capture")
self.setMinimumSize(680, 560)
self.resize(720, 580)
self._build()
self._refresh = QTimer(self)
self._refresh.timeout.connect(self._update)
self._refresh.start(33) # ~30 fps display
# ── UI ────────────────────────────────────────────────────────────────
def _build(self):
root = QVBoxLayout(self)
root.setContentsMargins(0, 0, 0, 0)
root.setSpacing(0)
# Title bar
hdr = QWidget(); hdr.setObjectName("devWindowTitleBar")
hdr.setFixedHeight(44)
hl = QHBoxLayout(hdr); hl.setContentsMargins(14, 0, 14, 0)
self._title_lbl = QLabel("MOTION CAPTURE")
self._title_lbl.setObjectName("devWindowTitle")
hl.addWidget(self._title_lbl)
hl.addStretch()
self._sim_badge = QLabel("SIMULATION")
self._sim_badge.setObjectName("traceSource")
self._sim_badge.setVisible(False)
hl.addWidget(self._sim_badge)
root.addWidget(hdr)
div = QFrame(); div.setFrameShape(QFrame.Shape.HLine)
div.setObjectName("devWindowDivider")
root.addWidget(div)
# Feed
self._feed = QLabel()
self._feed.setObjectName("motionFeed")
self._feed.setAlignment(Qt.AlignmentFlag.AlignCenter)
self._feed.setSizePolicy(
QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Expanding)
self._feed.setMinimumSize(480, 320)
self._feed.setStyleSheet("background: #0b0e13;")
self._feed.setText("Connect a camera to begin.")
self._feed.mousePressEvent = self._on_feed_click
root.addWidget(self._feed, 1)
# Status bar
self._status = QLabel("Not connected")
self._status.setObjectName("traceSource")
self._status.setAlignment(Qt.AlignmentFlag.AlignCenter)
self._status.setFixedHeight(24)
root.addWidget(self._status)
# Controls bar
ctrl_frame = QWidget(); ctrl_frame.setObjectName("cfgBottomBar")
ctrl = QHBoxLayout(ctrl_frame)
ctrl.setContentsMargins(10, 6, 10, 6); ctrl.setSpacing(6)
ctrl.addWidget(QLabel("Camera:"))
self._cam_combo = QComboBox()
self._cam_combo.setObjectName("channelPickerCb")
self._cam_combo.setMinimumWidth(200)
ctrl.addWidget(self._cam_combo)
self._refresh_btn = QPushButton("⟳")
self._refresh_btn.setObjectName("configButton")
self._refresh_btn.setFixedWidth(28)
self._refresh_btn.setToolTip("Rescan cameras")
self._refresh_btn.clicked.connect(self._scan_cameras)
ctrl.addWidget(self._refresh_btn)
self._scan_cameras() # populate on open
self._conn_btn = QPushButton("Connect")
self._conn_btn.setObjectName("applyButton")
self._conn_btn.clicked.connect(self._toggle_connect)
ctrl.addWidget(self._conn_btn)
sep = QFrame(); sep.setFrameShape(QFrame.Shape.VLine)
sep.setObjectName("devWindowDivider"); ctrl.addWidget(sep)
self._track_btn = QPushButton("🎯 Click to Track")
self._track_btn.setObjectName("toolbarSectionBtn")
self._track_btn.setEnabled(False)
self._track_btn.clicked.connect(self._arm_tracking)
ctrl.addWidget(self._track_btn)
self._clear_btn = QPushButton("✕ Clear")
self._clear_btn.setObjectName("configButton")
self._clear_btn.setEnabled(False)
self._clear_btn.clicked.connect(self._clear_tracking)
ctrl.addWidget(self._clear_btn)
sep2 = QFrame(); sep2.setFrameShape(QFrame.Shape.VLine)
sep2.setObjectName("devWindowDivider"); ctrl.addWidget(sep2)
ctrl.addWidget(QLabel("px/mm:"))
self._pxmm_spin = QDoubleSpinBox()
self._pxmm_spin.setRange(0.01, 100_000)
self._pxmm_spin.setValue(10.0)
self._pxmm_spin.setDecimals(2)
self._pxmm_spin.setSuffix(" px/mm")
self._pxmm_spin.setObjectName("cfgGlobalSpin")
self._pxmm_spin.setFixedWidth(130)
ctrl.addWidget(self._pxmm_spin)
ctrl.addStretch()
root.addWidget(ctrl_frame)
# ── Actions ───────────────────────────────────────────────────────────
def _scan_cameras(self):
from tracker import list_cameras
current_idx = self.get_camera_index()
self._cam_combo.blockSignals(True)
self._cam_combo.clear()
self._cameras = list_cameras() # [(index, label), ...]
for _, label in self._cameras:
self._cam_combo.addItem(label)
# Restore selection by index if still present
for i, (idx, _) in enumerate(self._cameras):
if idx == current_idx:
self._cam_combo.setCurrentIndex(i)
break
self._cam_combo.blockSignals(False)
def _toggle_connect(self):
if self._connected:
self._tracker.stop()
self._connected = False
self._arming = False
self._conn_btn.setText("Connect")
self._track_btn.setEnabled(False)
self._track_btn.setText("🎯 Click to Track")
self._clear_btn.setEnabled(False)
self._feed.setPixmap(QPixmap())
self._feed.setText("Connect a camera to begin.")
self._sim_badge.setVisible(False)
self._status.setText("Disconnected")
else:
ok = self._tracker.start(self.get_camera_index())
if ok:
self._connected = True
self._conn_btn.setText("Disconnect")
self._track_btn.setEnabled(True)
self._clear_btn.setEnabled(True)
self._sim_badge.setVisible(self._tracker.simulated)
else:
self._status.setText("Could not open camera")
def _arm_tracking(self):
self._arming = True
self._track_btn.setText("⊹ Click on target…")
self._feed.setCursor(Qt.CursorShape.CrossCursor)
def _clear_tracking(self):
self._arming = False
self._tracker.clear_roi()
self._track_btn.setText("🎯 Click to Track")
self._feed.unsetCursor()
def _on_feed_click(self, event: QMouseEvent):
if not self._arming or not self._connected:
return
frame = self._tracker.get_frame()
if frame is None:
return
lw = self._feed.width()
lh = self._feed.height()
fh, fw = frame.shape[:2]
scale = min(lw / fw, lh / fh)
off_x = (lw - int(fw * scale)) // 2
off_y = (lh - int(fh * scale)) // 2
fx = int((event.position().x() - off_x) / scale)
fy = int((event.position().y() - off_y) / scale)
if 0 <= fx < fw and 0 <= fy < fh:
self._tracker.set_roi(fx, fy)
self._arming = False
self._track_btn.setText("🎯 Click to Track")
self._feed.unsetCursor()
# ── Display update ────────────────────────────────────────────────────
def _update(self):
if not self._connected:
return
frame = self._tracker.get_frame()
if frame is not None:
self._show_frame(frame)
pos = self._tracker.get_position()
fps = self._tracker.fps
px_per_mm = self._pxmm_spin.value()
if self._tracker.is_lost():
self._status.setText(
f"Tracking lost — click 'Click to Track' to reselect | {fps:.0f} FPS")
elif pos is not None:
xmm = pos[0] / px_per_mm
ymm = pos[1] / px_per_mm
self._status.setText(
f"X: {pos[0]:.1f} px ({xmm:.2f} mm) "
f"Y: {pos[1]:.1f} px ({ymm:.2f} mm) | {fps:.0f} FPS")
elif self._arming:
self._status.setText("Click on the object you want to track")
else:
sim = " [SIMULATION]" if self._tracker.simulated else ""
self._status.setText(
f"Live{sim} | {fps:.0f} FPS | Click 'Click to Track' to begin")
def _show_frame(self, rgb: np.ndarray):
h, w = rgb.shape[:2]
bytes_per_line = 3 * w
qi = QImage(
rgb.data, w, h, bytes_per_line,
QImage.Format.Format_RGB888,
)
pix = QPixmap.fromImage(qi).scaled(
self._feed.width(), self._feed.height(),
Qt.AspectRatioMode.KeepAspectRatio,
Qt.TransformationMode.FastTransformation,
)
self._feed.setPixmap(pix)
# ── State accessors (used by plugin for save/restore) ─────────────────
def get_camera_index(self) -> int:
i = self._cam_combo.currentIndex()
cameras = getattr(self, "_cameras", [])
if 0 <= i < len(cameras):
return cameras[i][0]
return 0
def set_camera_index(self, v: int):
cameras = getattr(self, "_cameras", [])
for i, (idx, _) in enumerate(cameras):
if idx == v:
self._cam_combo.setCurrentIndex(i)
return
def get_px_per_mm(self) -> float:
return self._pxmm_spin.value()
def set_px_per_mm(self, v: float):
self._pxmm_spin.setValue(v)
# ── Close ─────────────────────────────────────────────────────────────
def closeEvent(self, e: QCloseEvent):
self._refresh.stop()
self.closed.emit()
e.accept()
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