Added Sliders

ros2/UI/pages/🛣 Lane_Detection.py

@@ -8,45 +8,41 @@
 import time
 from std_msgs.msg import String
 
-## This class currently subscribes to some topics in cam_publisher, which I used to test. Please rewrite for lane Detection.
+# This class currently subscribes to some topics in cam_publisher, which I used to test. Please rewrite for lane Detection.
+
+
 class Image_Handler(Node):
-    def __init__(self):
-        self._tabs = None
-        self._img = None
-        self._frame_containers = None
+
+    def __init__(self, containers):
+        self.topics = ["/raw_left", "/raw_right", "/tf_left",
+                       "/tf_right", "/sliding_left", "/sliding_right"]
         super().__init__('Streamlit_Image_Handler')
         self._bridge = CvBridge()
+        self._left_subscriber = self.create_subscription(Image, self.topics[0], lambda msg: self.camData_callback(msg,containers[0]),qos_profile_sensor_data)
+        self._right_subscriber = self.create_subscription(Image, self.topics[1], lambda msg: self.camData_callback(msg,containers[1]),qos_profile_sensor_data)
+        self._tf_left_subscriber = self.create_subscription(Image, self.topics[2], lambda msg: self.camData_callback(msg,containers[2]),qos_profile_sensor_data)
+        self._tf_right_subscriber = self.create_subscription(Image, self.topics[3], lambda msg: self.camData_callback(msg,containers[3]),qos_profile_sensor_data)
+        self._sliding_left_subscriber = self.create_subscription(Image, self.topics[4], lambda msg: self.camData_callback(msg,containers[4]),qos_profile_sensor_data)
+        self._sliding_right_subscriber = self.create_subscription(Image, self.topics[5], lambda msg: self.camData_callback(msg,containers[5]),qos_profile_sensor_data)
 
-        self.imgData_subscriber = self.create_subscription(
-            Image,
-            '/camera/image',
-            lambda msg: self.camData_callback(msg,(self._frame_containers[0][0], self._frame_containers[0][1])),
-            qos_profile_sensor_data)
-
-        self.hsvData_subscriber = self.create_subscription(
-            Image,
-            '/camera/image_hsv',
-            lambda msg: self.camData_callback(msg,(self._frame_containers[1][0], self._frame_containers[1][1])),
-            qos_profile_sensor_data)
-
-    def tabs(self, tabs):
-        self._tabs = tabs
-        self._frame_containers = [(tab.empty(),tab.empty()) for tab in self._tabs]
 
-    #self._frame_containers[] is a container corresponding to one of the tabs: You can create
-    def camData_callback(self, msg_in,args):
+    # self._frame_containers[] is a container corresponding to one of the tabs: You can create
+    def camData_callback(self, msg_in, img_location):
         raw = msg_in
-        img = self._bridge.imgmsg_to_cv2(raw)
-        args[0].image(img)
-        args[1].image(img)
+        img = self._bridge.imgmsg_to_cv2(raw, desired_encoding="passthrough")
+        img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
+        with img_location:
+            st.image(img)
 
 
-#This class is your publisher: Flesh it out and integrate accordingly
+# This class is your publisher: Flesh it out and integrate accordingly
 class Publisher(Node):
     def __init__(self):
-            super().__init__('Streamlit_Button_Publisher')
-            self.logger = self.get_logger()
-            self.button_pub = self.create_publisher(String, '/streamlit/button',10)
+        super().__init__('Streamlit_Button_Publisher')
+        self.logger = self.get_logger()
+        self.button_pub = self.create_publisher(
+            String, '/streamlit/button', 10)
+
 
 def demo_publish():
     msg = String()
@@ -55,12 +51,10 @@ def demo_publish():
     st.success("Message Published!")
 
 
-
-
 # See ../../ros2/src/lanefollowingtest/LaneDetection.py
 # This page should render ALL images in there, as well as publish important update data
 if __name__ == "__main__":
-    #How we Configure the page
+    # How we Configure the page
     st.set_page_config(
         page_title="Lane Detection",
         page_icon="🛣")
@@ -69,33 +63,42 @@ def demo_publish():
     render = st.checkbox("Render Video Feed")
     st.write(
         "This should render all of the images related to Lane Detection, and relevant parameters.")
-    tabs = st.tabs(["Original", "HSV", "Sliding Windows"])
-
-    #This hunk initializes the ROS2 nodes without breaking anything :)
-    #Should not need to be tuoched
+    #Creates the Structure
+    tabs = st.tabs(["Original", "Birds Eye View", "Sliding Windows"])
+    containers = []
+    frame_containers = []
+    for tab in tabs:
+        cols = tab.columns(2)
+        containers.append(cols[0])
+        containers.append(cols[1])
+        with cols[0]:
+            frame_containers.append(st.empty())
+        with cols[1]:
+            frame_containers.append(st.empty())
+
+    # This hunk initializes the ROS2 nodes without breaking anything :)
+    # Should not need to be tuoched
     if "sub_node" not in st.session_state:
         try:
             rclpy.init()
         except RuntimeError:
             st.warning(
                 "something went wrong performance may be degraded. Try restarting fully.")
         finally:
-            handler = Image_Handler()
-            handler.tabs(tabs)
+            handler = Image_Handler(frame_containers)
             st.session_state["sub_node"] = handler
-    if "pub_node" not in st.session_state:            
-            st.session_state["pub_node"] = Publisher()
+    if "pub_node" not in st.session_state:
+        st.session_state["pub_node"] = Publisher()
 
-#This should also not need to be modified
+# This should also not need to be modified
     if render:
         while (True):
-            try:                
-                rclpy.spin_once(st.session_state['sub_node'])
-                time.sleep(0.01)
-            except:
-                st.warning(
-                    "Something went wrong, perhaps tabs were clicked too quickly? Try restarting.")
-                break
+            # try:
+            rclpy.spin_once(st.session_state['sub_node'])
+            time.sleep(.01)
+            # except:
+            #     st.warning(
+            #         "Something went wrong, perhaps tabs were clicked too quickly? Try restarting.")
+            #     break
     else:
-            st.button("Ros Topic Publisher Demo!",on_click=demo_publish)
-
+        st.button("Ros Topic Publisher Demo!", on_click=demo_publish)

ros2/src/lanefollowingtest/LaneDetection.py

@@ -7,6 +7,7 @@
 from cv_bridge import CvBridge
 import cv2
 import numpy as np
+import streamlit as st
 
 
 # Inputs from both cameras
@@ -147,6 +148,39 @@ def Plot_Line(self, smoothen=False, prevFrameCount=6):
 matrix = cv2.getPerspectiveTransform(pts1, pts2)
 
 
+#sliders for constant values
+#lower HSV slider
+l_h = st.slider('lower_hue', min_value=0, max_value=255, value=0)
+l_s = st.slider('lower_saturation', min_value = 0, max_value=255, value=0)
+l_v = st.slider('lower_saturation', min_value = 0, max_value=255, value=200)
+
+#upper HSV slider
+l_h = st.slider('upper_hue', min_value=0, max_value=255, value=255)
+l_s = st.slider('upper_saturation', min_value = 0, max_value=255, value=50)
+l_v = st.slider('upper_saturation', min_value = 0, max_value=255, value=255)
+
+#coordinate input widget
+bl_x = st.number_input('bl_x', min_value = 0, None, 12)
+bl_y = st.number_input('bl_y', min_value = 0, None, 355)
+tl_x = st.number_input('tl_x', min_value = 0, None, 66)
+tl_y = st.number_input('tl_y', min_value = 0, None, 304)
+br_x = st.number_input('br_x', min_value = 0, None, 635)
+br_y = st.number_input('br_y', min_value = 0, None, 344)
+tr_x = st.number_input('tr_x', min_value = 0, None,595)
+tr_y = st.number_input('tr_y', min_value = 0, None,308)
+
+bl = (bl_x, bl_y)
+tl = (tl_x, tl_y)
+br = (br_x, br_y)
+tr = (tr_x, tr_y)
+
+#applying perspective transformation
+pts1 = np.float32([tl, bl, tr, br])
+pts2 = np.float32([[0, 0], [0, 480], [640, 0], [640, 480]])
+# Matrix to warp the image for birdseye window
+matrix = cv2.getPerspectiveTransform(pts1, pts2)
+
+
 class Lane_Follower(Node):
     GUI = True