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Merged
blauer4 merged 1 commit into from
Jul 16, 2026
Merged

Samples: Improve Hand-Eye GUI usability and fix bugs #230

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47 changes: 34 additions & 13 deletions modules/zividsamples/gui/calibration/calibration_buttons_widget.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,16 @@
from typing import List, Optional

from PyQt5.QtCore import pyqtSignal
from PyQt5.QtWidgets import QApplication, QCheckBox, QGroupBox, QHBoxLayout, QPushButton, QWidget
from PyQt5.QtWidgets import (
QApplication,
QCheckBox,
QGroupBox,
QHBoxLayout,
QLabel,
QPushButton,
QVBoxLayout,
QWidget,
)


class HandEyeCalibrationButtonsWidget(QWidget):
Expand All @@ -11,38 +20,50 @@ class HandEyeCalibrationButtonsWidget(QWidget):
def __init__(self, parent: Optional[QWidget] = None) -> None:
super().__init__(parent)

# Define buttons
self.calibrate_button = QPushButton("Calibrate")
self.calibrate_button.setObjectName("HandEye-calibrate_button")
self.use_fixed_objects_checkbox = QCheckBox("Fixed Objects - for low DOF systems")
self.use_fixed_objects_checkbox.setObjectName("HandEye-fixed_objects_checkbox")
self._status_label = QLabel()
self._status_label.setWordWrap(True)
self._status_label.setVisible(False)

# Connect signals
self.calibrate_button.clicked.connect(self.on_calibrate_button_clicked)
self.use_fixed_objects_checkbox.toggled.connect(self.on_use_fixed_objects_toggled)

# Add buttons to layout
buttons_row = QHBoxLayout()
buttons_row.addWidget(self.calibrate_button)
buttons_row.addWidget(self.use_fixed_objects_checkbox)

calibrate_group_box = QGroupBox("Calibrate")
calibrate_group_box_layout = QHBoxLayout()
calibrate_group_box_layout = QVBoxLayout()
calibrate_group_box.setLayout(calibrate_group_box_layout)
calibrate_group_box_layout.addLayout(buttons_row)
calibrate_group_box_layout.addWidget(self._status_label)

calibrate_group_box_layout.addWidget(self.calibrate_button)
calibrate_group_box_layout.addWidget(self.use_fixed_objects_checkbox)

buttons_layout = QHBoxLayout()
buttons_layout.addWidget(calibrate_group_box)

self.setLayout(buttons_layout)
outer_layout = QHBoxLayout()
outer_layout.addWidget(calibrate_group_box)
self.setLayout(outer_layout)

def on_calibrate_button_clicked(self) -> None:
self.calibrate_button.setStyleSheet("background-color: yellow;")
self.calibrate_button.setEnabled(False)
self.calibrate_button.setStyleSheet("background-color: #C07800; color: white;")
QApplication.processEvents()
self.calibrate_button_clicked.emit()
self.calibrate_button.setStyleSheet("")
self.calibrate_button.setEnabled(True)

def on_use_fixed_objects_toggled(self, checked: bool) -> None:
self.use_fixed_objects_toggled.emit(checked)

def set_calibration_status(self, style: str, message: str) -> None:
self._status_label.setStyleSheet(style)
self._status_label.setText(message)
self._status_label.setVisible(True)

def hide_calibration_status(self) -> None:
self._status_label.setVisible(False)

def disable_buttons(self) -> None:
self.calibrate_button.setEnabled(False)

Expand Down
62 changes: 55 additions & 7 deletions modules/zividsamples/gui/calibration/hand_eye_calibration_gui.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
from zividsamples.gui.wizard.robot_configuration import RobotConfiguration
from zividsamples.gui.wizard.rotation_format_configuration import RotationInformation
from zividsamples.gui.wizard.settings_selector import SettingsPixelMappingIntrinsics
from zividsamples.save_load_transformation_matrix import save_transformation_matrix
from zividsamples.save_load_transformation_matrix import load_transformation_matrix, save_transformation_matrix
from zividsamples.save_residuals import save_residuals
from zividsamples.transformation_matrix import TransformationMatrix

Expand Down Expand Up @@ -111,7 +111,6 @@ def create_widgets(self, initial_rotation_information: RotationInformation) -> N
hand_eye_configuration=self.hand_eye_configuration
)
self.pose_pair_selection_widget = PosePairSelectionWidget(directory=self.data_directory)
self.pose_pair_selection_widget.setVisible(False)
self.hand_eye_calibration_buttons = HandEyeCalibrationButtonsWidget()
self.hand_eye_calibration_buttons.calibrate_button.setEnabled(False)
self.hand_eye_calibration_buttons.setObjectName("HE-Calibration-hand_eye_calibration_buttons")
Expand Down Expand Up @@ -147,6 +146,7 @@ def connect_signals(self) -> None:
self.pose_pair_selection_widget.pose_pair_clicked.connect(self.on_pose_pair_clicked)
self.pose_pair_selection_widget.pose_pairs_updated.connect(self.on_pose_pairs_update)
self.pose_pair_selection_widget.loading_finished.connect(self._on_pose_pairs_loading_finished)
self.pose_pair_selection_widget.load_from_disk_requested.connect(self.on_load_calibration_data_button_clicked)

def _on_pose_pairs_loading_finished(self) -> None:
self.loading_finished.emit()
Expand Down Expand Up @@ -227,8 +227,13 @@ def _resolve_config_from_saved_session(
def on_pending_changes(self) -> None:
self.pose_pair_selection_widget.clear()
self.pose_pair_selection_widget.set_directory(self.data_directory)
if not self.data_directory_has_data():
return
hand_eye_transform_path = self.data_directory / "hand_eye_transform.yaml"
if hand_eye_transform_path.exists():
hand_eye_transform = load_transformation_matrix(hand_eye_transform_path)
if not hand_eye_transform.is_identity():
self.calibration_finished.emit(hand_eye_transform)

def on_load_calibration_data_button_clicked(self) -> None:
calibration_object = self.hand_eye_configuration.calibration_object
marker_configuration = self.marker_configuration
if self.session_info is not None:
Expand Down Expand Up @@ -323,6 +328,7 @@ def on_start_auto_run(self) -> bool:
)
if reply == QMessageBox.Yes:
self.pose_pair_selection_widget.clear()
self.hand_eye_calibration_buttons.hide_calibration_status()
return True
return False

Expand All @@ -335,7 +341,8 @@ def on_pose_pairs_update(self, number_of_pose_pairs: int) -> None:
self.hand_eye_calibration_buttons.calibrate_button.setEnabled(
number_of_pose_pairs >= self.minimum_pose_pairs_for_calibration
)
self.pose_pair_selection_widget.setVisible(number_of_pose_pairs > 0)
if number_of_pose_pairs == 0:
self.hand_eye_calibration_buttons.hide_calibration_status()

def process_capture(self, frame: zivid.Frame, rgba: NDArray[Shape["N, M, 4"], UInt8], settings: SettingsPixelMappingIntrinsics) -> None: # type: ignore
try:
Expand Down Expand Up @@ -411,6 +418,35 @@ def on_use_fixed_objects_toggled(self, checked: bool) -> None:
self.hand_eye_calibration_buttons.use_fixed_objects_checkbox.setChecked(self.fixed_objects.has_data())
self.fixed_objects = updated_fixed_objects

def _update_calibration_status(self, calibration_result) -> None:
try:
status = calibration_result.status()
except RuntimeError:
self.hand_eye_calibration_buttons.set_calibration_status(
"background-color: #555555; color: white; padding: 6px; border-radius: 4px;",
"Calibration status not available. Feature available from Zivid SDK version 2.18.",
)
return
status_config = {
zivid.calibration.HandEyeStatus.ok: (
"background-color: #2d7a2d; color: white; padding: 6px; border-radius: 4px;",
"Calibration OK — open the Verify section to validate the accuracy of the hand-eye transform before deployment.",
),
zivid.calibration.HandEyeStatus.insufficient_motion: (
"background-color: #b86e00; color: white; padding: 6px; border-radius: 4px;",
"Insufficient motion: capture more poses with greater variation in position and rotation across all degrees of freedom.",
),
zivid.calibration.HandEyeStatus.insufficient_data_quality: (
"background-color: #a02020; color: white; padding: 6px; border-radius: 4px;",
"Poor data quality: check lighting, exposure, focus, and that the robot and calibration object remain stationary during capture.",
),
}
style, message = status_config.get(
status,
("background-color: gray; color: white; padding: 6px;", f"Status: {status}"),
)
self.hand_eye_calibration_buttons.set_calibration_status(style, message)

def on_calibrate_button_clicked(self) -> None:
self._calibrate(save_to_disk=True)

Expand Down Expand Up @@ -442,20 +478,24 @@ def _calibrate(self, save_to_disk: bool = True) -> None:
save_residuals(calibration_result.residuals(), hand_eye_residuals_path)

self.pose_pair_selection_widget.set_residuals(calibration_result.residuals())
self._update_calibration_status(calibration_result)
if save_to_disk:
hand_eye_transform_path = self.data_directory / "hand_eye_transform.yaml"
show_yaml_dialog(hand_eye_transform_path, "Hand Eye Calibration Transform")
show_yaml_dialog(
hand_eye_transform_path, "Hand Eye Calibration Transform", close_button_label="Continue"
)
self.update_instructions(
has_detection_result=False,
robot_pose_confirmed=False,
calibrated=True,
)
self.calibration_finished.emit(hand_eye_transformation_matrix)
else:
raise RuntimeError()
raise RuntimeError("Calibration returned an invalid result")
except RuntimeError as ex:
print(f"Failed to calibrate eye to hand: {ex}")
QMessageBox.critical(self, "Hand-Eye Calibration Error", str(ex))
self.hand_eye_calibration_buttons.hide_calibration_status()
self.calibration_finished.emit(TransformationMatrix())

def confirm_robot_pose(self, confirmed: bool = True) -> None:
Expand All @@ -466,6 +506,14 @@ def confirm_robot_pose(self, confirmed: bool = True) -> None:
)

def on_confirm_robot_pose_button_clicked(self, checked: bool) -> None:
rotation_warning = self.robot_pose_widget.check_rotation_warning() if checked else None
if rotation_warning:
QMessageBox.warning(
self, "Invalid Rotation", f"<b>Cannot uniquely determine rotation</b><br>{rotation_warning}"
)
self.confirm_robot_pose_button.setChecked(False)
self.confirm_robot_pose(False)
return
self.confirm_robot_pose(checked)

def on_robot_pose_manually_updated(self) -> None:
Expand Down
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