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Add map gen gui #144

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merged 14 commits into from
Dec 28, 2023
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Add map gen gui #144

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d474b29
Add map gen gui
Flova Dec 18, 2023
60e2a9c
Add save logic
Flova Dec 19, 2023
7f1e5a8
Add more info to the tooltips
Flova Dec 19, 2023
2950896
Add load, save and tooltips
Flova Dec 19, 2023
4e1834a
Move tooltip to seperate file
Flova Dec 19, 2023
f6e46d6
Cleanup distance decay
Flova Dec 19, 2023
41ebccd
Also add cli
Flova Dec 19, 2023
9d05cff
Make ros package step 1
Flova Dec 19, 2023
b6024f7
Rename package
Flova Dec 19, 2023
141e71a
Move code to src
Flova Dec 19, 2023
6344b17
Split cli from generator
Flova Dec 19, 2023
85795bb
Add deps
Flova Dec 19, 2023
588613d
Use black
Flova Dec 19, 2023
5fa0d82
Remove map generator
Flova Dec 21, 2023
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Use black
@Flova
Flova committed Dec 19, 2023
commit 588613de930cfa1dc003c406ab4b4cc20dddf78c
33 changes: 21 additions & 12 deletions soccer_field_map_generator/soccer_field_map_generator/cli.py
View file
Original file line number Diff line number Diff line change
@@ -4,18 +4,25 @@
import yaml
import argparse

from soccer_field_map_generator.generator import generate_map_image, generate_metadata, load_config_file
from soccer_field_map_generator.generator import (
generate_map_image,
generate_metadata,
load_config_file,
)


def main():
parser = argparse.ArgumentParser(description="Generate maps for localization")
parser.add_argument('output',
help="Output file name")
parser.add_argument('config',
help="Config file for the generator that specifies the parameters for the map generation")
parser.add_argument('--metadata',
help="Also generates a 'map_server.yaml' file with the metadata for the map",
action='store_true')
parser.add_argument("output", help="Output file name")
parser.add_argument(
"config",
help="Config file for the generator that specifies the parameters for the map generation",
)
parser.add_argument(
"--metadata",
help="Also generates a 'map_server.yaml' file with the metadata for the map",
action="store_true",
)
args = parser.parse_args()

# Check if the config file exists
@@ -24,7 +31,7 @@ def main():
sys.exit(1)

# Load config file
with open(args.config, 'r') as config_file:
with open(args.config, "r") as config_file:
parameters = load_config_file(config_file)

# Check if the config file is valid
@@ -49,10 +56,12 @@ def main():
# Generate the metadata
if args.metadata:
metadata = generate_metadata(parameters, os.path.basename(output_path))
metadata_file_name = os.path.join(os.path.dirname(output_path), "map_server.yaml")
with open(metadata_file_name, 'w') as metadata_file:
metadata_file_name = os.path.join(
os.path.dirname(output_path), "map_server.yaml"
)
with open(metadata_file_name, "w") as metadata_file:
yaml.dump(metadata, metadata_file, sort_keys=False)


if __name__ == '__main__':
if __name__ == "__main__":
main()
654 changes: 453 additions & 201 deletions soccer_field_map_generator/soccer_field_map_generator/generator.py
View file

Large diffs are not rendered by default.

378 changes: 212 additions & 166 deletions soccer_field_map_generator/soccer_field_map_generator/gui.py
View file
Original file line number Diff line number Diff line change
@@ -7,12 +7,21 @@
from tkinter import filedialog
from tkinter import ttk

from soccer_field_map_generator.generator import MapTypes, MarkTypes, FieldFeatureStyles, generate_map_image, generate_metadata, load_config_file
from soccer_field_map_generator.generator import (
MapTypes,
MarkTypes,
FieldFeatureStyles,
generate_map_image,
generate_metadata,
load_config_file,
)
from soccer_field_map_generator.tooltip import Tooltip


class MapGeneratorParamInput(tk.Frame):
def __init__(self, parent, update_hook: callable, parameter_definitions: dict[str, dict]):
def __init__(
self, parent, update_hook: callable, parameter_definitions: dict[str, dict]
):
tk.Frame.__init__(self, parent)

# Keep track of parameter definitions, GUI elements and the input values
@@ -26,7 +35,9 @@ def __init__(self, parent, update_hook: callable, parameter_definitions: dict[st
label = ttk.Label(self, text=parameter_definition["label"])
if parameter_definition["type"] == bool:
variable = tk.BooleanVar(value=parameter_definition["default"])
ui_element = ttk.Checkbutton(self, command=update_hook, variable=variable)
ui_element = ttk.Checkbutton(
self, command=update_hook, variable=variable
)
elif parameter_definition["type"] == int:
variable = tk.IntVar(value=parameter_definition["default"])
ui_element = ttk.Entry(self, textvariable=variable)
@@ -50,20 +61,26 @@ def __init__(self, parent, update_hook: callable, parameter_definitions: dict[st
# Add ui elements to the dict
self.parameter_ui_elements[parameter_name] = {
"label": label,
"ui_element": ui_element
"ui_element": ui_element,
}

# Store variable for later state access
self.parameter_values[parameter_name] = variable


# Create layout
for i, parameter_name in enumerate(parameter_definitions.keys()):
self.parameter_ui_elements[parameter_name]["label"].grid(row=i, column=0, sticky="e")
self.parameter_ui_elements[parameter_name]["ui_element"].grid(row=i, column=1, sticky="w")
self.parameter_ui_elements[parameter_name]["label"].grid(
row=i, column=0, sticky="e"
)
self.parameter_ui_elements[parameter_name]["ui_element"].grid(
row=i, column=1, sticky="w"
)

def get_parameters(self):
return {parameter_name: parameter_value.get() for parameter_name, parameter_value in self.parameter_values.items()}
return {
parameter_name: parameter_value.get()
for parameter_name, parameter_value in self.parameter_values.items()
}

def get_parameter(self, parameter_name):
return self.parameter_values[parameter_name].get()
@@ -73,7 +90,7 @@ class MapGeneratorGUI:
def __init__(self, root: tk.Tk):
# Set ttk theme
s = ttk.Style()
s.theme_use('clam')
s.theme_use("clam")

# Set window title and size
self.root = root
@@ -83,154 +100,168 @@ def __init__(self, root: tk.Tk):
# Create GUI elements

# Title
self.title = ttk.Label(self.root, text="Soccer Map Generator", font=("TkDefaultFont", 16))
self.title = ttk.Label(
self.root, text="Soccer Map Generator", font=("TkDefaultFont", 16)
)

# Parameter Input
self.parameter_input = MapGeneratorParamInput(self.root, self.update_map, {
"map_type": {
"type": MapTypes,
"default": MapTypes.LINE,
"label": "Map Type",
"tooltip": "Type of the map we want to generate"
},
"penalty_mark": {
"type": bool,
"default": True,
"label": "Penalty Mark",
"tooltip": "Whether or not to draw the penalty mark"
},
"center_point": {
"type": bool,
"default": True,
"label": "Center Point",
"tooltip": "Whether or not to draw the center point"
},
"goal_back": {
"type": bool,
"default": True,
"label": "Goal Back",
"tooltip": "Whether or not to draw the back area of the goal"
},
"stroke_width": {
"type": int,
"default": 5,
"label": "Stoke Width",
"tooltip": "Width (in px) of the shapes we draw"
},
"field_length": {
"type": int,
"default": 900,
"label": "Field Length",
"tooltip": "Length of the field in cm"
},
"field_width": {
"type": int,
"default": 600,
"label": "Field Width",
"tooltip": "Width of the field in cm"
},
"goal_depth": {
"type": int,
"default": 60,
"label": "Goal Depth",
"tooltip": "Depth of the goal in cm"
},
"goal_width": {
"type": int,
"default": 260,
"label": "Goal Width",
"tooltip": "Width of the goal in cm"
},
"goal_area_length": {
"type": int,
"default": 100,
"label": "Goal Area Length",
"tooltip": "Length of the goal area in cm"
},
"goal_area_width": {
"type": int,
"default": 300,
"label": "Goal Area Width",
"tooltip": "Width of the goal area in cm"
},
"penalty_mark_distance": {
"type": int,
"default": 150,
"label": "Penalty Mark Distance",
"tooltip": "Distance of the penalty mark from the goal line in cm"
},
"center_circle_diameter": {
"type": int,
"default": 150,
"label": "Center Circle Diameter",
"tooltip": "Diameter of the center circle in cm"
},
"border_strip_width": {
"type": int,
"default": 100,
"label": "Border Strip Width",
"tooltip": "Width of the border strip around the field in cm"
},
"penalty_area_length": {
"type": int,
"default": 200,
"label": "Penalty Area Length",
"tooltip": "Length of the penalty area in cm"
},
"penalty_area_width": {
"type": int,
"default": 500,
"label": "Penalty Area Width",
"tooltip": "Width of the penalty area in cm"
},
"field_feature_size": {
"type": int,
"default": 30,
"label": "Field Feature Size",
"tooltip": "Size of the field features in cm"
},
"mark_type": {
"type": MarkTypes,
"default": MarkTypes.CROSS,
"label": "Mark Type",
"tooltip": "Type of the marks (penalty mark, center point)"
},
"field_feature_style": {
"type": FieldFeatureStyles,
"default": FieldFeatureStyles.EXACT,
"label": "Field Feature Style",
"tooltip": "Style of the field features"
},
"distance_map": {
"type": bool,
"default": False,
"label": "Distance Map",
"tooltip": "Whether or not to draw the distance map"
},
"distance_decay": {
"type": float,
"default": 0.0,
"label": "Distance Decay",
"tooltip": "Exponential decay applied to the distance map"
self.parameter_input = MapGeneratorParamInput(
self.root,
self.update_map,
{
"map_type": {
"type": MapTypes,
"default": MapTypes.LINE,
"label": "Map Type",
"tooltip": "Type of the map we want to generate",
},
"penalty_mark": {
"type": bool,
"default": True,
"label": "Penalty Mark",
"tooltip": "Whether or not to draw the penalty mark",
},
"center_point": {
"type": bool,
"default": True,
"label": "Center Point",
"tooltip": "Whether or not to draw the center point",
},
"goal_back": {
"type": bool,
"default": True,
"label": "Goal Back",
"tooltip": "Whether or not to draw the back area of the goal",
},
"stroke_width": {
"type": int,
"default": 5,
"label": "Stoke Width",
"tooltip": "Width (in px) of the shapes we draw",
},
"field_length": {
"type": int,
"default": 900,
"label": "Field Length",
"tooltip": "Length of the field in cm",
},
"field_width": {
"type": int,
"default": 600,
"label": "Field Width",
"tooltip": "Width of the field in cm",
},
"goal_depth": {
"type": int,
"default": 60,
"label": "Goal Depth",
"tooltip": "Depth of the goal in cm",
},
"goal_width": {
"type": int,
"default": 260,
"label": "Goal Width",
"tooltip": "Width of the goal in cm",
},
"goal_area_length": {
"type": int,
"default": 100,
"label": "Goal Area Length",
"tooltip": "Length of the goal area in cm",
},
"goal_area_width": {
"type": int,
"default": 300,
"label": "Goal Area Width",
"tooltip": "Width of the goal area in cm",
},
"penalty_mark_distance": {
"type": int,
"default": 150,
"label": "Penalty Mark Distance",
"tooltip": "Distance of the penalty mark from the goal line in cm",
},
"center_circle_diameter": {
"type": int,
"default": 150,
"label": "Center Circle Diameter",
"tooltip": "Diameter of the center circle in cm",
},
"border_strip_width": {
"type": int,
"default": 100,
"label": "Border Strip Width",
"tooltip": "Width of the border strip around the field in cm",
},
"penalty_area_length": {
"type": int,
"default": 200,
"label": "Penalty Area Length",
"tooltip": "Length of the penalty area in cm",
},
"penalty_area_width": {
"type": int,
"default": 500,
"label": "Penalty Area Width",
"tooltip": "Width of the penalty area in cm",
},
"field_feature_size": {
"type": int,
"default": 30,
"label": "Field Feature Size",
"tooltip": "Size of the field features in cm",
},
"mark_type": {
"type": MarkTypes,
"default": MarkTypes.CROSS,
"label": "Mark Type",
"tooltip": "Type of the marks (penalty mark, center point)",
},
"field_feature_style": {
"type": FieldFeatureStyles,
"default": FieldFeatureStyles.EXACT,
"label": "Field Feature Style",
"tooltip": "Style of the field features",
},
"distance_map": {
"type": bool,
"default": False,
"label": "Distance Map",
"tooltip": "Whether or not to draw the distance map",
},
"distance_decay": {
"type": float,
"default": 0.0,
"label": "Distance Decay",
"tooltip": "Exponential decay applied to the distance map",
},
"invert": {
"type": bool,
"default": True,
"label": "Invert",
"tooltip": "Invert the final image",
},
},
"invert": {
"type": bool,
"default": True,
"label": "Invert",
"tooltip": "Invert the final image"
}
})
)

# Generate Map Button
self.save_map_button = ttk.Button(self.root, text="Save Map", command=self.save_map)
self.save_map_button = ttk.Button(
self.root, text="Save Map", command=self.save_map
)

# Save metadata checkbox
self.save_metadata = tk.BooleanVar(value=True)
self.save_metadata_checkbox = ttk.Checkbutton(self.root, text="Save Metadata", variable=self.save_metadata)
self.save_metadata_checkbox = ttk.Checkbutton(
self.root, text="Save Metadata", variable=self.save_metadata
)

# Load and save config buttons
self.load_config_button = ttk.Button(self.root, text="Load Config", command=self.load_config)
self.save_config_button = ttk.Button(self.root, text="Save Config", command=self.save_config)
self.load_config_button = ttk.Button(
self.root, text="Load Config", command=self.load_config
)
self.save_config_button = ttk.Button(
self.root, text="Save Config", command=self.save_config
)

# Canvas to display the generated map
self.canvas = tk.Canvas(self.root, width=800, height=600)
@@ -258,9 +289,10 @@ def __init__(self, root: tk.Tk):
def load_config(self):
# Prompt the user to select a file (force yaml)
file = filedialog.askopenfile(
mode='r',
mode="r",
defaultextension=".yaml",
filetypes=(("yaml file", "*.yaml"), ("All Files", "*.*")))
filetypes=(("yaml file", "*.yaml"), ("All Files", "*.*")),
)
if file:
# Load the config file
config = load_config_file(file)
@@ -270,7 +302,9 @@ def load_config(self):
return
# Set the parameters in the gui
for parameter_name, parameter_value in config.items():
self.parameter_input.parameter_values[parameter_name].set(parameter_value)
self.parameter_input.parameter_values[parameter_name].set(
parameter_value
)
# Update the map
self.update_map()

@@ -279,28 +313,31 @@ def save_config(self):
parameters = self.parameter_input.get_parameters()
# Open a file dialog to select the file
file = filedialog.asksaveasfile(
mode='w',
mode="w",
defaultextension=".yaml",
filetypes=(("yaml file", "*.yaml"), ("All Files", "*.*")))
filetypes=(("yaml file", "*.yaml"), ("All Files", "*.*")),
)
if file:
# Add header
file.write("# Map Generator Config\n")
file.write("# This file was generated by the map generator GUI\n\n")
# Save the parameters in this format:
yaml.dump({
"header": {
"version": "1.0",
"type": "map_generator_config"
yaml.dump(
{
"header": {"version": "1.0", "type": "map_generator_config"},
"parameters": parameters,
},
"parameters": parameters
}, file, sort_keys=False)
file,
sort_keys=False,
)
print(f"Saved config to {file.name}")

def save_map(self):
file = filedialog.asksaveasfile(
mode='w',
mode="w",
defaultextension=".png",
filetypes=(("png file", "*.png"), ("All Files", "*.*")))
filetypes=(("png file", "*.png"), ("All Files", "*.*")),
)
if file:
print(f"Saving map to {file.name}")

@@ -311,18 +348,24 @@ def save_map(self):
# Save metadata
if self.save_metadata.get():
# Save the metadata in this format:
metadata = generate_metadata(parameters, os.path.basename(file.name))
metadata = generate_metadata(
parameters, os.path.basename(file.name)
)
# Save metadata in the same folder as the map
metadata_file = os.path.join(os.path.dirname(file.name), "map_server.yaml")
metadata_file = os.path.join(
os.path.dirname(file.name), "map_server.yaml"
)
with open(metadata_file, "w") as f:
yaml.dump(metadata, f, sort_keys=False)
print(f"Saved metadata to {metadata_file}")


# Show success box and ask if we want to open it with the default image viewer
if tk.messagebox.askyesno("Success", "Map saved successfully. Do you want to open it?"):
if tk.messagebox.askyesno(
"Success", "Map saved successfully. Do you want to open it?"
):
import platform
import subprocess

if platform.system() == "Windows":
subprocess.Popen(["start", file.name], shell=True)
elif platform.system() == "Darwin":
@@ -345,7 +388,10 @@ def display_map(self, image):
# Display the generated map on the canvas
img = Image.fromarray(image)
# Resize to fit canvas while keeping aspect ratio
img.thumbnail((self.canvas.winfo_width(), self.canvas.winfo_height()), Image.Resampling.LANCZOS)
img.thumbnail(
(self.canvas.winfo_width(), self.canvas.winfo_height()),
Image.Resampling.LANCZOS,
)
img = ImageTk.PhotoImage(img)
self.canvas.create_image(0, 0, anchor=tk.NW, image=img)
self.canvas.image = img # To prevent garbage collection
@@ -357,5 +403,5 @@ def main():
root.mainloop()


if __name__ == '__main__':
if __name__ == "__main__":
main()
62 changes: 30 additions & 32 deletions soccer_field_map_generator/soccer_field_map_generator/tooltip.py
View file
Original file line number Diff line number Diff line change
@@ -2,7 +2,7 @@


class Tooltip:
'''
"""
It creates a tooltip for a given widget as the mouse goes on it.
see:
@@ -30,16 +30,18 @@ class Tooltip:
Tested on Ubuntu 16.04/16.10, running Python 3.5.2
TODO: themes styles support
'''

def __init__(self, widget,
*,
bg='#FFFFEA',
pad=(5, 3, 5, 3),
text='widget info',
waittime=400,
wraplength=250):

"""

def __init__(
self,
widget,
*,
bg="#FFFFEA",
pad=(5, 3, 5, 3),
text="widget info",
waittime=400,
wraplength=250
):
self.waittime = waittime # in miliseconds, originally 500
self.wraplength = wraplength # in pixels, originally 180
self.widget = widget
@@ -70,16 +72,15 @@ def unschedule(self):
self.widget.after_cancel(id_)

def show(self):
def tip_pos_calculator(widget, label,
*,
tip_delta=(10, 5), pad=(5, 3, 5, 3)):

def tip_pos_calculator(widget, label, *, tip_delta=(10, 5), pad=(5, 3, 5, 3)):
w = widget

s_width, s_height = w.winfo_screenwidth(), w.winfo_screenheight()

width, height = (pad[0] + label.winfo_reqwidth() + pad[2],
pad[1] + label.winfo_reqheight() + pad[3])
width, height = (
pad[0] + label.winfo_reqwidth() + pad[2],
pad[1] + label.winfo_reqheight() + pad[3],
)

mouse_x, mouse_y = w.winfo_pointerxy()

@@ -96,7 +97,6 @@ def tip_pos_calculator(widget, label,
offscreen = (x_delta, y_delta) != (0, 0)

if offscreen:

if x_delta:
x1 = mouse_x - tip_delta[0] - width

@@ -126,20 +126,18 @@ def tip_pos_calculator(widget, label,
# Leaves only the label and removes the app window
self.tw.wm_overrideredirect(True)

win = tk.Frame(self.tw,
background=bg,
borderwidth=0)
label = tk.Label(win,
text=self.text,
justify=tk.LEFT,
background=bg,
relief=tk.SOLID,
borderwidth=0,
wraplength=self.wraplength)

label.grid(padx=(pad[0], pad[2]),
pady=(pad[1], pad[3]),
sticky=tk.NSEW)
win = tk.Frame(self.tw, background=bg, borderwidth=0)
label = tk.Label(
win,
text=self.text,
justify=tk.LEFT,
background=bg,
relief=tk.SOLID,
borderwidth=0,
wraplength=self.wraplength,
)

label.grid(padx=(pad[0], pad[2]), pady=(pad[1], pad[3]), sticky=tk.NSEW)
win.grid()

x, y = tip_pos_calculator(widget, label)