diff --git a/scripts/debug_tool/GUI_debug.py b/scripts/debug_tool/GUI_debug.py
index e599bc94348f228fbb659531a1f389b644d1b73b..670e565b89c522519e2f431080bad33db4b0419a 100644
--- a/scripts/debug_tool/GUI_debug.py
+++ b/scripts/debug_tool/GUI_debug.py
@@ -4,6 +4,7 @@ import os
from tabs.config_tab import ConfigTab
from tabs.shifter_tab import ShifterTab
+from tabs.depth_tab import DepthTab
from utils.config_reader import ConfigReader
class ModuleDebugGUI(QMainWindow):
@@ -36,6 +37,7 @@ class ModuleDebugGUI(QMainWindow):
# Initialize tabs
self.tabs.addTab(ConfigTab(self.config_reader), "Configuration")
self.tabs.addTab(ShifterTab(self.config_reader), "Image Shifter")
+ self.tabs.addTab(DepthTab(self.config_reader), "MonoDepth Estimation")
def main():
app = QApplication(sys.argv)
diff --git a/scripts/debug_tool/tabs/depth_tab.py b/scripts/debug_tool/tabs/depth_tab.py
index 62b81b2d065fe4343bc3069e33e39ea1af5a0108..30da9e51ae17ff8b1b2e3a9cddced0aa26365fb0 100644
--- a/scripts/debug_tool/tabs/depth_tab.py
+++ b/scripts/debug_tool/tabs/depth_tab.py
@@ -1,290 +1,158 @@
-import tkinter as tk
-from tkinter import ttk, messagebox, filedialog
+from PyQt6.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout,
+ QGroupBox, QMessageBox)
+from PyQt6.QtCore import Qt
import os
-from PIL import Image, ImageTk
-import subprocess
-import shutil
-class DepthTab:
- def __init__(self, notebook, config_reader):
- self.tab = ttk.Frame(notebook)
- notebook.add(self.tab, text='Depth Estimation')
-
+from utils.qt_widgets import (create_group_with_text, create_button_layout,
+ create_info_group, create_preview_group)
+from utils.file_handlers import select_file, clean_directory, copy_file, run_command
+from utils.image_handlers import update_preview
+
+class DepthTab(QWidget):
+ def __init__(self, config_reader):
+ super().__init__()
self.config_reader = config_reader
self.depth_input_path = None
- # Update paths
+ # Initialize paths
self.copy_dest_path = os.path.join(
self.config_reader.directories['monoDepthDir'],
'rgb.jpg'
)
self.depth_output_path = os.path.join(
self.config_reader.directories['edgeNetDir'],
- 'Data',
- 'Input',
- 'depth_e.png'
+ 'Data', 'Input', 'depth_e.png'
)
self.input_dir = os.path.join(
self.config_reader.directories['edgeNetDir'],
- 'Data',
- 'Input'
+ 'Data', 'Input'
)
self.setup_ui()
def setup_ui(self):
- # Split into left and right frames
- left_frame = ttk.Frame(self.tab)
- left_frame.pack(side=tk.LEFT, fill=tk.BOTH, expand=True, padx=5, pady=5)
-
- right_frame = ttk.Frame(self.tab)
- right_frame.pack(side=tk.RIGHT, fill=tk.BOTH, expand=True, padx=5, pady=5)
-
- self.setup_control_panel(left_frame)
- self.setup_preview_panel(right_frame)
+ main_layout = QHBoxLayout(self)
+ main_layout.setContentsMargins(10, 10, 10, 10)
+
+ # Left panel (controls)
+ left_layout = QVBoxLayout()
+ self.setup_control_panel(left_layout)
+ main_layout.addLayout(left_layout)
+
+ # Right panel (preview)
+ right_layout = QVBoxLayout()
+ self.setup_preview_panel(right_layout)
+ main_layout.addLayout(right_layout)
- def setup_control_panel(self, parent):
- # Control section
- control_frame = ttk.LabelFrame(parent, text="Controls", padding="5")
- control_frame.pack(fill=tk.X, pady=5)
-
- # Input file selection
- input_frame = ttk.Frame(control_frame)
- input_frame.pack(fill=tk.X, pady=5)
-
- ttk.Label(input_frame, text="Input file:").pack(side=tk.LEFT, padx=5)
- self.input_label = ttk.Label(input_frame, text="No file selected")
- self.input_label.pack(side=tk.LEFT, padx=5)
-
- # Copy destination display
- copy_frame = ttk.Frame(control_frame)
- copy_frame.pack(fill=tk.X, pady=5)
-
- ttk.Label(copy_frame, text="Will be copied to:").pack(side=tk.LEFT, padx=5)
- self.copy_dest_label = ttk.Label(copy_frame, text=self.copy_dest_path)
- self.copy_dest_label.pack(side=tk.LEFT, padx=5)
-
- # Output path display
- output_frame = ttk.Frame(control_frame)
- output_frame.pack(fill=tk.X, pady=5)
-
- ttk.Label(output_frame, text="Depth map will be saved to:").pack(side=tk.LEFT, padx=5)
- self.output_label = ttk.Label(output_frame, text=self.depth_output_path)
- self.output_label.pack(side=tk.LEFT, padx=5)
-
- # Control buttons
- button_frame = ttk.Frame(control_frame)
- button_frame.pack(fill=tk.X, pady=5)
-
- ttk.Button(
- button_frame,
- text="Select Input",
- command=self.select_depth_input
- ).pack(side=tk.LEFT, padx=5)
-
- ttk.Button(
- button_frame,
- text="Clean Input Directory",
- command=self.clean_input_directory
- ).pack(side=tk.LEFT, padx=5)
-
- ttk.Button(
- button_frame,
- text="Copy File",
- command=self.copy_for_depth
- ).pack(side=tk.LEFT, padx=5)
-
- self.run_depth_btn = ttk.Button(
- button_frame,
- text="Run Depth Estimation",
- command=self.run_depth_estimation,
- state='disabled' # Initially disabled until file is copied
- )
- self.run_depth_btn.pack(side=tk.LEFT, padx=5)
-
- ttk.Button(
- button_frame,
- text="Clear Status",
- command=self.clear_status
- ).pack(side=tk.RIGHT, padx=5)
-
- # Status section
- status_frame = ttk.LabelFrame(parent, text="Status", padding="5")
- status_frame.pack(fill=tk.BOTH, expand=True, pady=5)
-
- # Add scrollbar to status
- status_scroll = ttk.Scrollbar(status_frame)
- status_scroll.pack(side=tk.RIGHT, fill=tk.Y)
-
- self.status_text = tk.Text(
- status_frame,
- height=10,
- wrap=tk.WORD,
- yscrollcommand=status_scroll.set
- )
- self.status_text.pack(fill=tk.BOTH, expand=True)
- status_scroll.config(command=self.status_text.yview)
+ def setup_control_panel(self, layout):
+ # Info display
+ info_rows = [
+ ("Input file:", "No file selected"),
+ ("Copy destination:", self.copy_dest_path),
+ ("Depth map output:", self.depth_output_path)
+ ]
+ info_group, self.info_labels = create_info_group("Controls", info_rows)
+ layout.addWidget(info_group)
+
+ # Buttons
+ buttons = [
+ ("Select Input", self.handle_file_select, 'left'),
+ ("Clean Data/Input Dir", self.clean_input_dir, 'left'),
+ ("Remove rgb.png from dest path", self.remove_rgb, 'left'),
+ ("Copy File", self.copy_file, 'left'),
+ ("Run Depth Est.", self.run_depth_estimation, 'left'),
+ ("Clear Status", lambda: self.status_text.clear(), 'right')
+ ]
+ layout.addLayout(create_button_layout(*buttons))
+
+ # Status display
+ status_group, self.status_text = create_group_with_text("Status", 150)
+ layout.addWidget(status_group)
- def setup_preview_panel(self, parent):
- preview_frame = ttk.LabelFrame(parent, text="Image Preview", padding="5")
- preview_frame.pack(fill=tk.BOTH, expand=True)
-
- # Input image preview
- input_preview_frame = ttk.LabelFrame(preview_frame, text="RGB Image")
- input_preview_frame.pack(side=tk.LEFT, fill=tk.BOTH, expand=True, padx=5)
+ def setup_preview_panel(self, layout):
+ preview_group = QGroupBox("Image Previews")
+ preview_layout = QHBoxLayout(preview_group)
- self.input_preview = ttk.Label(input_preview_frame)
- self.input_preview.pack(padx=5, pady=5)
+ input_group, self.input_preview = create_preview_group("RGB Image")
+ output_group, self.output_preview = create_preview_group("Depth Map")
- # Output depth preview
- output_preview_frame = ttk.LabelFrame(preview_frame, text="Depth Map")
- output_preview_frame.pack(side=tk.LEFT, fill=tk.BOTH, expand=True, padx=5)
-
- self.output_preview = ttk.Label(output_preview_frame)
- self.output_preview.pack(padx=5, pady=5)
-
- def clean_input_directory(self):
- """Clean the edgenet input directory of any existing files"""
- try:
- if not os.path.exists(self.input_dir):
- os.makedirs(self.input_dir)
- self.update_status(f"Created input directory: {self.input_dir}")
- return
-
- # List all files in the directory
- files = os.listdir(self.input_dir)
- if not files:
- self.update_status("Input directory is already empty")
- return
-
- # Remove each file
- for file in files:
- file_path = os.path.join(self.input_dir, file)
- try:
- if os.path.isfile(file_path):
- os.remove(file_path)
- elif os.path.isdir(file_path):
- shutil.rmtree(file_path)
- except Exception as e:
- self.update_status(f"Error removing {file}: {str(e)}")
-
- self.update_status("Input directory cleaned successfully")
-
- # Clear the output preview as the depth map is now removed
- self.output_preview.configure(image='')
-
- except Exception as e:
- error_msg = f"Failed to clean input directory: {str(e)}"
- self.update_status(error_msg)
- messagebox.showerror("Error", error_msg)
+ preview_layout.addWidget(input_group)
+ preview_layout.addWidget(output_group)
+ layout.addWidget(preview_group)
- def select_depth_input(self):
- filepath = filedialog.askopenfilename(
- filetypes=[("Image files", "*.png *.jpg *.jpeg")]
+ def handle_file_select(self):
+ file_path = select_file(
+ self,
+ "Select Input Image",
+ "Images (*.png *.jpg *.jpeg)"
)
- if filepath:
- self.depth_input_path = os.path.normpath(filepath)
- self.input_label.config(text=os.path.basename(filepath))
- self.update_status(f"Selected input file: {filepath}")
- self.update_depth_preview()
-
- # Reset button state
- self.run_depth_btn.config(state='disabled')
+
+ if file_path:
+ self.depth_input_path = file_path
+ self.info_labels["Input file:"].setText(os.path.basename(file_path))
+ self.update_status(f"Selected input file: {file_path}")
+ update_preview(self.input_preview, file_path,
+ error_callback=self.update_status)
- def update_status(self, message):
- self.status_text.insert(tk.END, f"{message}\n")
- self.status_text.see(tk.END)
+ def remove_rgb(self):
+ rgb_path = self.copy_dest_path
+ if os.path.exists(rgb_path):
+ os.remove(rgb_path)
+ self.update_status("Removed rgb.png")
+ else:
+ self.update_status("rgb.png not found")
- def clear_status(self):
- self.status_text.delete(1.0, tk.END)
+ def clean_input_dir(self):
+ success = clean_directory(self.input_dir, self.update_status)
+ if success:
+ self.output_preview.clear()
+ else:
+ QMessageBox.critical(self, "Error", "Failed to clean input directory")
- def copy_for_depth(self):
+ def copy_file(self):
if not self.depth_input_path:
- messagebox.showwarning("Warning", "Please select an input file first")
+ QMessageBox.warning(self, "Warning", "Please select an input file first")
+ return
+
+ # Copy to monodepth directory
+ if not copy_file(self.depth_input_path, self.copy_dest_path, self.update_status):
+ QMessageBox.critical(self, "Error", "Failed to copy file to monodepth directory")
return
-
- try:
- # Create directories if they don't exist
- os.makedirs(self.config_reader.directories['monoDepthDir'], exist_ok=True)
- os.makedirs(self.input_dir, exist_ok=True)
-
- # Copy file
- shutil.copy2(self.depth_input_path, self.copy_dest_path)
-
- # Also copy to edgenet input directory as rgb.png
- rgb_copy_path = os.path.join(self.input_dir, 'rgb.png')
- shutil.copy2(self.depth_input_path, rgb_copy_path)
-
- self.update_status(f"Successfully copied file to:\n{self.copy_dest_path}\n{rgb_copy_path}")
- self.run_depth_btn.config(state='normal') # Enable depth estimation button
-
- except Exception as e:
- error_msg = f"Failed to copy file: {str(e)}"
- self.update_status(error_msg)
- messagebox.showerror("Error", error_msg)
+
+ # Copy to edgenet directory
+ edge_rgb_path = os.path.join(self.input_dir, 'rgb.png')
+ if not copy_file(self.depth_input_path, edge_rgb_path, self.update_status):
+ QMessageBox.critical(self, "Error", "Failed to copy file to edgenet directory")
def run_depth_estimation(self):
try:
self.update_status("Running depth estimation...")
- # Change to mono depth directory
+ # Change to mono depth directory and run script
original_dir = os.getcwd()
os.chdir(self.config_reader.directories['monoDepthDir'])
- # Run PowerShell script
- process = subprocess.Popen(
- ["powershell.exe", "-File", "masterscript.ps1"],
- stdout=subprocess.PIPE,
- stderr=subprocess.PIPE,
- text=True
+ success, output = run_command(
+ self,
+ "powershell.exe -File masterscript.ps1",
+ self.update_status
)
- stdout, stderr = process.communicate()
-
# Change back to original directory
os.chdir(original_dir)
- if process.returncode == 0:
- self.update_status("Depth estimation completed successfully")
- if stdout:
- self.update_status("Output:\n" + stdout)
-
- # Check for depth map in the correct location
- if os.path.exists(self.depth_output_path):
- self.update_status(f"Depth map generated at: {self.depth_output_path}")
- self.update_depth_preview()
- else:
- self.update_status("Warning: Depth map not found at expected location")
- else:
- self.update_status("Depth estimation failed with error:\n" + stderr)
- messagebox.showerror("Error", f"Command failed:\n\n{stderr}")
+ if success and os.path.exists(self.depth_output_path):
+ self.update_status(f"Depth map generated at: {self.depth_output_path}")
+ update_preview(self.output_preview, self.depth_output_path,
+ error_callback=self.update_status)
except Exception as e:
error_msg = f"Failed to run depth estimation: {str(e)}"
self.update_status(error_msg)
- messagebox.showerror("Error", error_msg)
+ QMessageBox.critical(self, "Error", error_msg)
- def update_depth_preview(self):
- preview_size = (300, 300) # Adjust size as needed
-
- # Update input preview
- if self.depth_input_path and os.path.exists(self.depth_input_path):
- try:
- input_img = Image.open(self.depth_input_path)
- input_img.thumbnail(preview_size)
- input_photo = ImageTk.PhotoImage(input_img)
- self.input_preview.configure(image=input_photo)
- self.input_preview.image = input_photo
- except Exception as e:
- self.update_status(f"Failed to load input preview: {str(e)}")
-
- # Update depth map preview if exists
- if os.path.exists(self.depth_output_path):
- try:
- depth_img = Image.open(self.depth_output_path)
- depth_img.thumbnail(preview_size)
- depth_photo = ImageTk.PhotoImage(depth_img)
- self.output_preview.configure(image=depth_photo)
- self.output_preview.image = depth_photo
- except Exception as e:
- self.update_status(f"Failed to load depth map preview: {str(e)}")
\ No newline at end of file
+ def update_status(self, message):
+ self.status_text.append(message)
+ # Scroll to bottom
+ scrollbar = self.status_text.verticalScrollBar()
+ scrollbar.setValue(scrollbar.maximum())
\ No newline at end of file
diff --git a/scripts/debug_tool/utils/file_handlers.py b/scripts/debug_tool/utils/file_handlers.py
index 9746b2feeb45d4d7ae00a80da8a0c7514b931ff2..43486fbbed9abcafa154c03226ddebaf51cf24b1 100644
--- a/scripts/debug_tool/utils/file_handlers.py
+++ b/scripts/debug_tool/utils/file_handlers.py
@@ -2,6 +2,7 @@
from PyQt6.QtWidgets import QFileDialog, QMessageBox
import subprocess
import os
+import shutil
def select_file(parent, title="Select File", file_types="All Files (*)", initial_dir=None):
"""
@@ -126,4 +127,70 @@ def run_command(parent, cmd, status_callback=None):
if status_callback:
status_callback(error_msg)
QMessageBox.critical(parent, "Error", error_msg)
- return False, error_msg
\ No newline at end of file
+ return False, error_msg
+
+def clean_directory(directory_path, status_callback=None):
+ """
+ Cleans all files in a directory.
+
+ Args:
+ directory_path: Directory to clean
+ status_callback: Optional callback for status updates
+ Returns:
+ bool: Success status
+ """
+ try:
+ if not os.path.exists(directory_path):
+ os.makedirs(directory_path)
+ if status_callback:
+ status_callback(f"Created directory: {directory_path}")
+ return True
+
+ files = os.listdir(directory_path)
+ if not files:
+ if status_callback:
+ status_callback("Directory is already empty")
+ return True
+
+ for file in files:
+ file_path = os.path.join(directory_path, file)
+ try:
+ if os.path.isfile(file_path):
+ os.remove(file_path)
+ elif os.path.isdir(file_path):
+ shutil.rmtree(file_path)
+ except Exception as e:
+ if status_callback:
+ status_callback(f"Error removing {file}: {str(e)}")
+ return False
+
+ if status_callback:
+ status_callback("Directory cleaned successfully")
+ return True
+
+ except Exception as e:
+ if status_callback:
+ status_callback(f"Failed to clean directory: {str(e)}")
+ return False
+
+def copy_file(src, dest, status_callback=None):
+ """
+ Copies a file to destination.
+
+ Args:
+ src: Source file path
+ dest: Destination file path
+ status_callback: Optional callback for status updates
+ Returns:
+ bool: Success status
+ """
+ try:
+ os.makedirs(os.path.dirname(dest), exist_ok=True)
+ shutil.copy2(src, dest)
+ if status_callback:
+ status_callback(f"Copied file to: {dest}")
+ return True
+ except Exception as e:
+ if status_callback:
+ status_callback(f"Failed to copy file: {str(e)}")
+ return False