feat: add camera window

draft/pyqt_avif.py

@@ -0,0 +1,131 @@
+import io
+import sys
+from pathlib import Path
+
+from PIL import Image
+from PyQt6.QtCore import Qt
+from PyQt6.QtGui import QImage, QPixmap
+from PyQt6.QtWidgets import (
+    QApplication,
+    QGraphicsPixmapItem,
+    QGraphicsScene,
+    QGraphicsView,
+    QMainWindow,
+    QPushButton,
+    QVBoxLayout,
+    QWidget,
+)
+
+# For PyQt5 users, change the imports above to this:
+# from PyQt5.QtWidgets import QApplication, QMainWindow, QGraphicsView, QGraphicsScene, QGraphicsPixmapItem, QVBoxLayout, QWidget, QPushButton, QFileDialog
+# from PyQt5.QtGui import QPixmap
+# from PyQt5.QtCore import Qt
+
+
+class ZoomableView(QGraphicsView):
+    """
+    A custom QGraphicsView that provides zoom functionality with the mouse wheel.
+    """
+
+    def __init__(self, scene):
+        super().__init__(scene)
+        # Set anchor points for zooming and resizing
+        self.setTransformationAnchor(QGraphicsView.ViewportAnchor.AnchorUnderMouse)
+        self.setResizeAnchor(QGraphicsView.ViewportAnchor.AnchorViewCenter)
+
+    def wheelEvent(self, event):
+        """
+        Handles mouse wheel events to zoom in or out.
+        """
+        # Get the amount of scroll
+        angle = event.angleDelta().y()
+
+        if angle > 0:
+            # Zoom in
+            factor = 1.25
+        else:
+            # Zoom out
+            factor = 0.8
+
+        self.scale(factor, factor)
+
+
+class ImageViewer(QMainWindow):
+    """
+    Main application window for viewing an image.
+    Includes loading, zooming, and panning functionality.
+    """
+
+    def __init__(self):
+        super().__init__()
+
+        self.setWindowTitle("PyQt Image Viewer (Load, Zoom, Pan)")
+        self.setGeometry(100, 100, 800, 700)
+
+        # Main widget and layout
+        central_widget = QWidget()
+        self.setCentralWidget(central_widget)
+        layout = QVBoxLayout(central_widget)
+
+        # 1. Create the QGraphicsScene
+        # The scene is the container for all 2D graphical items
+        self.scene = QGraphicsScene()
+
+        # 2. Create the custom QGraphicsView
+        # This is our custom view with zoom capabilities
+        self.view = ZoomableView(self.scene)
+
+        # 3. Enable panning (drag the scene with the mouse)
+        # The hand cursor will appear when you click and drag.
+        self.view.setDragMode(QGraphicsView.DragMode.ScrollHandDrag)
+
+        # Add a button to load an image
+        self.load_button = QPushButton("Load Image")
+        self.load_button.clicked.connect(self.load_image)
+
+        # Add widgets to the layout
+        layout.addWidget(self.load_button)
+        layout.addWidget(self.view)
+
+        # A variable to hold the currently displayed image item
+        self.pixmap_item = None
+
+    def load_image(self):
+        file_path = Path(
+            "/home/lambda/Downloads/f546ed6d35ee05338b8403d57dda10103ac3b1b8.jpg@672w_378h_1c_!web-home-common-cover.avif"
+        )
+        image_data = file_path.read_bytes()
+        im = Image.open(io.BytesIO(image_data))
+        pixmap = QPixmap.fromImage(
+            QImage(im.tobytes(), im.size[0], im.size[1], QImage.Format.Format_RGB888)
+        )
+        if pixmap.isNull():
+            print(f"Error: Failed to load image from {file_path}")
+            return
+        # If an image is already loaded, remove the old one first
+        if self.pixmap_item:
+            self.scene.removeItem(self.pixmap_item)
+
+        # 5. Create a QGraphicsPixmapItem to hold the image
+        self.pixmap_item = QGraphicsPixmapItem(pixmap)
+
+        # 6. Add the item to the scene
+        self.scene.addItem(self.pixmap_item)
+
+        # --- Optional: Improve the viewing experience ---
+        # Reset any previous transformations (like zoom/pan)
+        self.view.resetTransform()
+        # Fit the entire image within the view, maintaining aspect ratio
+        self.view.fitInView(self.pixmap_item, Qt.AspectRatioMode.KeepAspectRatio)
+
+
+if __name__ == "__main__":
+    # Create the application instance
+    app = QApplication(sys.argv)
+
+    # Create and show the main window
+    viewer = ImageViewer()
+    viewer.show()
+
+    # Start the application's event loop
+    sys.exit(app.exec())

draft/sync_time.py

@@ -1,16 +1,15 @@
 import json
-from pathlib import Path
 import subprocess
 import tempfile
+from pathlib import Path
 
-import matplotlib.pyplot as plt
 import numpy as np
 import numpy.typing as npt
 from tqdm import tqdm
 
+from flandre.utils.archive import to_zip
 from flandre.utils.RfFrame import b2t
 from flandre.utils.RfMeta import RfFrameMeta
-from flandre.utils.archive import to_zip
 from flandre.utils.robot import rtsi_float2int
 
 

flandre/launcher.py

@@ -44,6 +44,7 @@ class LaunchComponent(Enum):
     Mi = auto()
     Web = auto()
     VideoQt = auto()
+    CameraQt = auto()
 
 
 def launch(arg: dict[LaunchComponent, dict]):

flandre/nodes/CameraQt.py

@@ -0,0 +1,133 @@
+import io
+import logging
+import sys
+import threading
+from pathlib import Path
+
+import pillow_avif  # type: ignore
+from PIL import Image
+from PyQt6 import QtCore
+from PyQt6.QtCore import QByteArray, Qt
+from PyQt6.QtGui import QImage, QKeyEvent, QPixmap, QResizeEvent, QWheelEvent
+from PyQt6.QtWidgets import (
+    QApplication,
+    QGraphicsPixmapItem,
+    QGraphicsScene,
+    QMainWindow,
+)
+
+from flandre.nodes.Node import Node
+from flandre.pyqt.Image import Ui_MainWindow
+from flandre.pyqt.ZMQReceiver import ZMQReceiver
+from flandre.utils.archive import zip_to_bytes
+from flandre.utils.Msg import KillMsg, Msg, RfFrameMsg
+from flandre.utils.RfFrame import RfFrameFile
+
+pillow_avif.__all__
+
+logger = logging.getLogger(__name__)
+
+
+class Adv(QMainWindow, Ui_MainWindow):
+    ee2 = QtCore.pyqtSignal("QByteArray")
+
+    def __init__(self, p: Node, parent=None):
+        super(Adv, self).__init__(parent)
+        self.p = p
+        self.setupUi(self)
+        zmq_receiver = ZMQReceiver(self)
+        zmq_receiver.zmq_event.connect(self.on_zmq_event)
+        zmq_receiver.start()
+        self.g = QGraphicsPixmapItem()
+        self.s = QGraphicsScene()
+        self.s.addItem(self.g)
+        self.graphicsView.setScene(self.s)
+        self.grey = False
+        self.scale = False
+        self.watermark = True
+        self.zoom = 1.0
+        self.need_fit = False
+        self.frame1: RfFrameFile | None = None
+        self.ee2.connect(self.draw1)
+        threading.Thread(target=self.e1, daemon=True).start()
+
+    def keyPressEvent(self, a0: QKeyEvent):
+        t = a0.text()
+        match t:
+            case "m":
+                pass
+            case _:
+                pass
+
+    def resizeEvent(self, a0: QResizeEvent | None) -> None:
+        self.graphicsView.fitInView(
+            self.s.sceneRect(), Qt.AspectRatioMode.KeepAspectRatio
+        )
+
+    def wheelEvent(self, a0: QWheelEvent | None) -> None:
+        if a0 is None:
+            return
+        if a0.angleDelta().y() > 0:
+            self.zoom += 0.1
+        if a0.angleDelta().y() < 0:
+            self.zoom -= 0.1
+
+    def draw1(self, d: QByteArray):
+        image_data = d.data()
+        im = Image.open(io.BytesIO(image_data))
+        pixmap = QPixmap.fromImage(
+            QImage(im.tobytes(), im.size[0], im.size[1], QImage.Format.Format_RGB888)
+        )
+        self.g.setPixmap(pixmap)
+        # self.s.setSceneRect(0.0, 0.0, im.size[0], im.size[1])
+        self.graphicsView.fitInView(
+            self.s.sceneRect(), Qt.AspectRatioMode.KeepAspectRatio
+        )
+
+    def e1(self):
+        last_frame = self.frame1
+        while True:
+            if last_frame != self.frame1 and self.frame1 is not None:
+                b = zip_to_bytes(
+                    self.frame1.seq.path,
+                    Path(self.frame1.filename).with_suffix(".avif").__str__(),
+                )
+                self.ee2.emit(b)
+                last_frame = self.frame1
+
+    def on_zmq_event(self, raw_msg: QByteArray):
+        try:
+            msg: Msg = Msg.decode_msg(raw_msg.data())
+            match msg:
+                case KillMsg():
+                    if msg.name == "":
+                        self.close()
+                case RfFrameMsg():
+                    frame = msg.rf_frame
+                    match frame:
+                        case RfFrameFile():
+                            if frame.seq.type == "zip":
+                                self.frame1 = frame
+                                pass
+                        case _:
+                            pass
+                case _:
+                    pass
+
+        except Exception as e:
+            logger.warning(f"{e}")
+
+
+class CameraQt(Node):
+    topics = [RfFrameMsg]
+
+    def __init__(self):
+        super().__init__()
+
+    def loop(self):
+        app = QApplication(sys.argv)
+        MainWindow = Adv(self)
+        # MainWindow.move(int(px), int(py))
+        # MainWindow.resize(int(sx), int(sy))
+        MainWindow.show()
+        app.exec()

flandre/utils/Msg.py

@@ -353,7 +353,7 @@ class BMMsg(Msg):
 class RfFrameMsg(HeaderByteMsg):
     def __init__(self, sender: int, rf_frame: RfFrame):
         self.sender = sender
-        self.rf_frame = rf_frame
+        self.rf_frame: RfFrame = rf_frame
         if isinstance(rf_frame, RfFrameFile):
             super().__init__(
                 dict(

flandre/utils/RfFrame.py

@@ -28,10 +28,10 @@ class RfFrameFile(RfFrame):
             return self.data
         match self.seq.type:
             case "zip":
-                from flandre.utils.archive import zip_to_bytes
+                from flandre.utils.archive import zip_to_rfmat
 
                 if self.filename is not None:
-                    return zip_to_bytes(self.seq.path, int(Path(self.filename).stem))
+                    return zip_to_rfmat(self.seq.path, int(Path(self.filename).stem))
             case "dir":
                 return (self.seq.path / self.filename).read_bytes()
         raise NotImplementedError()

flandre/utils/archive.py

@@ -4,8 +4,8 @@ import subprocess
 import zipfile
 from pathlib import Path
 
-from tqdm import tqdm
 import zstd
+from tqdm import tqdm
 
 TEMP_FOLDER = Path("/mnt/16T/private_dataset/New Folder/temp")
 
@@ -66,12 +66,12 @@ def to_zip(
     subprocess.run(["zip", "-0", "-j", "-r", zipdst, temp_dst])
 
 
-def zip_to_bytes(file: Path, name: int):
+def zip_to_bytes(file: Path, name: str):
-    return zstd.loads(zipfile.ZipFile(file).open(f"{name}.zst").read())
+    return zipfile.ZipFile(file).open(name).read()
 
 
-def zip_to_bytes2(file: Path, name: str):
+def zip_to_rfmat(file: Path, frame_index: int):
-    return zstd.loads(zipfile.ZipFile(file).open(name).read())
+    return zstd.loads(zip_to_bytes(file, f"{frame_index}.zst"))
 
 
 if __name__ == "__main__":

flandre/utils/robot.py

@@ -1,6 +1,5 @@
 from typing import Mapping
 
-
 arg_map: dict[str, tuple[int, str]] = dict(
     x=(100000, "{v:.2f}"),
     y=(100000, "{v:.2f}"),

pyproject.toml

@@ -25,6 +25,7 @@ dependencies = [
     "matplotlib>=3.10.1",
     "fastapi[standard]>=0.115.12",
     "websockets>=15.0.1",
+    "pillow-avif-plugin>=1.5.2",
 ]
 
 [tool.setuptools] # configuration specific to the `setuptools` build backend.

uv.lock

@@ -490,6 +490,7 @@ dependencies = [
     { name = "matplotlib" },
     { name = "mido", extra = ["ports-rtmidi"] },
     { name = "opencv-python" },
+    { name = "pillow-avif-plugin" },
     { name = "platformdirs" },
     { name = "pyjoystick" },
     { name = "pyqt6" },
@@ -521,6 +522,7 @@ requires-dist = [
     { name = "mido", extras = ["ports-rtmidi"], specifier = ">=1.3.3" },
     { name = "nvidia-nvimgcodec-cu12", marker = "extra == 'to'", specifier = ">=0.5.0.13" },
     { name = "opencv-python", specifier = ">=4.10.0.84" },
+    { name = "pillow-avif-plugin", specifier = ">=1.5.2" },
     { name = "platformdirs", specifier = ">=4.3.6" },
     { name = "pyjoystick", specifier = ">=1.2.4" },
     { name = "pyqt6", specifier = ">=6.8.0" },
@@ -1331,6 +1333,23 @@ wheels = [
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 ]
 
+[[package]]
+name = "pillow-avif-plugin"
+version = "1.5.2"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/f9/32/a3bfad0537ba6f2accc6a8a2e53e09b266418347f58898f811ca2fb70bd9/pillow_avif_plugin-1.5.2.tar.gz", hash = "sha256:811e0dc8be1e44393d2e3865ec330a8a8a1194b94eb8cfca6fa778e3f476d649", size = 20571, upload-time = "2025-04-24T14:11:49.163Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/df/75/0ee9a2a55142183fd881d912bae912df36cf8fe84ba3be92c4530558732f/pillow_avif_plugin-1.5.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:0ec28185f536857965be2156e13231274d58a154504db3da4dcda772e391cf5f", size = 3900276, upload-time = "2025-04-24T14:10:32.128Z" },
+    { url = "https://files.pythonhosted.org/packages/8c/7e/f28e53b8c9e31e015c8923ff3dca4c577e38013d4dd5fb005182cd4631a8/pillow_avif_plugin-1.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:e36b3cbf5e61b15d2fa213508cf348251e7830ebeff1d97e4e18c55cc0c3b784", size = 2805833, upload-time = "2025-04-24T14:10:33.774Z" },
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+]
+
 [[package]]
 name = "platformdirs"
 version = "4.3.6"