import sys
import math
import numpy as np
# NEW IMPORT
from scipy.signal import savgol_filter
from PyQt5.QtWidgets import (
QApplication, QMainWindow, QGraphicsView, QGraphicsScene,
QGraphicsEllipseItem, QGraphicsPixmapItem, QPushButton,
QHBoxLayout, QVBoxLayout, QWidget, QFileDialog, QGraphicsTextItem
)
from PyQt5.QtGui import QPixmap, QPen, QBrush, QColor, QFont
from PyQt5.QtCore import Qt, QRectF
from live_wire import compute_cost_image, find_path
class LabeledPointItem(QGraphicsEllipseItem):
def __init__(self, x, y, label="", radius=4, color=Qt.red, removable=True, z_value=0, parent=None):
super().__init__(0, 0, 2*radius, 2*radius, parent)
self._x = x
self._y = y
self._r = radius
self._removable = removable
pen = QPen(color)
brush = QBrush(color)
self.setPen(pen)
self.setBrush(brush)
self.setZValue(z_value)
self._text_item = None
if label:
self._text_item = QGraphicsTextItem(self)
self._text_item.setPlainText(label)
self._text_item.setDefaultTextColor(QColor("black"))
font = QFont("Arial", 14)
font.setBold(True)
self._text_item.setFont(font)
self._scale_text_to_fit()
self.set_pos(x, y)
def _scale_text_to_fit(self):
if not self._text_item:
return
self._text_item.setScale(1.0)
circle_diam = 2 * self._r
raw_rect = self._text_item.boundingRect()
text_w = raw_rect.width()
text_h = raw_rect.height()
if text_w > circle_diam or text_h > circle_diam:
scale_factor = min(circle_diam / text_w, circle_diam / text_h)
self._text_item.setScale(scale_factor)
self._center_label()
def _center_label(self):
if not self._text_item:
return
ellipse_w = 2 * self._r
ellipse_h = 2 * self._r
raw_rect = self._text_item.boundingRect()
scale_factor = self._text_item.scale()
scaled_w = raw_rect.width() * scale_factor
scaled_h = raw_rect.height() * scale_factor
tx = (ellipse_w - scaled_w) * 0.5
ty = (ellipse_h - scaled_h) * 0.5
self._text_item.setPos(tx, ty)
def set_pos(self, x, y):
self._x = x
self._y = y
self.setPos(x - self._r, y - self._r)
def get_pos(self):
return (self._x, self._y)
def distance_to(self, x_other, y_other):
return math.sqrt((self._x - x_other)**2 + (self._y - y_other)**2)
def is_removable(self):
return self._removable
class ImageGraphicsView(QGraphicsView):
def __init__(self, parent=None):
super().__init__(parent)
self.scene = QGraphicsScene(self)
self.setScene(self.scene)
# Allow zoom around mouse pointer
self.setTransformationAnchor(QGraphicsView.AnchorUnderMouse)
# Image display item
self.image_item = QGraphicsPixmapItem()
self.scene.addItem(self.image_item)
# Parallel lists
self.anchor_points = [] # List[(x, y)]
self.point_items = [] # List[LabeledPointItem]
self.editor_mode = False
self.dot_radius = 4
self.path_radius = 1
self.radius_cost_image = 2 # cost-lowering radius
self._img_w = 0
self._img_h = 0
# For pan/drag
self.setDragMode(QGraphicsView.ScrollHandDrag)
self.viewport().setCursor(Qt.ArrowCursor)
self._mouse_pressed = False
self._press_view_pos = None
self._drag_threshold = 5
self._was_dragging = False
self._dragging_idx = None
self._drag_offset = (0, 0)
# Keep original cost image to revert changes
self.cost_image_original = None
self.cost_image = None
# The path is displayed as small magenta circles in self.full_path_points
self.full_path_points = []
# --------------------------------------------------------------------
# LOADING
# --------------------------------------------------------------------
def load_image(self, path):
pixmap = QPixmap(path)
if not pixmap.isNull():
self.image_item.setPixmap(pixmap)
self.setSceneRect(QRectF(pixmap.rect()))
self._img_w = pixmap.width()
self._img_h = pixmap.height()
self._clear_all_points()
self.resetTransform()
self.fitInView(self.image_item, Qt.KeepAspectRatio)
# Create S/E
s_x, s_y = 0.15*self._img_w, 0.5*self._img_h
e_x, e_y = 0.85*self._img_w, 0.5*self._img_h
# S => not removable
self._insert_anchor_point(-1, s_x, s_y, label="S", removable=False, z_val=100, radius=6)
# E => not removable
self._insert_anchor_point(-1, e_x, e_y, label="E", removable=False, z_val=100, radius=6)
def set_editor_mode(self, mode: bool):
self.editor_mode = mode
# --------------------------------------------------------------------
# ANCHOR POINTS
# --------------------------------------------------------------------
def _insert_anchor_point(self, idx, x, y, label="", removable=True, z_val=0, radius=4):
"""
Insert at index=idx, or -1 => append just before E if E exists.
"""
if idx < 0:
# If we have at least 2 anchors, the last is E => insert before that
if len(self.anchor_points) >= 2:
idx = len(self.anchor_points) - 1
else:
idx = len(self.anchor_points)
self.anchor_points.insert(idx, (x, y))
color = Qt.green if label in ("S","E") else Qt.red
item = LabeledPointItem(x, y, label=label, radius=radius, color=color,
removable=removable, z_value=z_val)
self.point_items.insert(idx, item)
self.scene.addItem(item)
def _add_guide_point(self, x, y):
"""
User added a red guide point => lower cost, insert anchor, rebuild path.
"""
# 1) Revert cost
self._revert_cost_to_original()
# 2) Insert new anchor (removable)
self._insert_anchor_point(-1, x, y, label="", removable=True, z_val=1, radius=self.dot_radius)
# 3) Re-apply cost-lowering for all existing guide points
self._apply_all_guide_points_to_cost()
# 4) Rebuild path
self._rebuild_full_path()
# --------------------------------------------------------------------
# COST IMAGE
# --------------------------------------------------------------------
def _revert_cost_to_original(self):
"""self.cost_image <- copy of self.cost_image_original"""
if self.cost_image_original is not None:
self.cost_image = self.cost_image_original.copy()
def _apply_all_guide_points_to_cost(self):
"""Lower cost around every removable anchor."""
if self.cost_image is None:
return
for i, (ax, ay) in enumerate(self.anchor_points):
if self.point_items[i].is_removable():
self._lower_cost_in_circle(ax, ay, self.radius_cost_image)
def _lower_cost_in_circle(self, x_f, y_f, radius):
"""Set cost_image row,col in circle of radius -> global min."""
if self.cost_image is None:
return
h, w = self.cost_image.shape
row_c = int(round(y_f))
col_c = int(round(x_f))
if not (0 <= row_c < h and 0 <= col_c < w):
return
global_min = self.cost_image.min()
r_s = max(0, row_c - radius)
r_e = min(h, row_c + radius + 1)
c_s = max(0, col_c - radius)
c_e = min(w, col_c + radius + 1)
for rr in range(r_s, r_e):
for cc in range(c_s, c_e):
dist = math.sqrt((rr - row_c)**2 + (cc - col_c)**2)
if dist <= radius:
self.cost_image[rr, cc] = global_min
# --------------------------------------------------------------------
# PATH BUILDING
# --------------------------------------------------------------------
def _rebuild_full_path(self):
# Remove old path items
for item in self.full_path_points:
self.scene.removeItem(item)
self.full_path_points.clear()
# Build subpaths
if len(self.anchor_points) < 2 or self.cost_image is None:
return
big_xy = []
for i in range(len(self.anchor_points)-1):
xA, yA = self.anchor_points[i]
xB, yB = self.anchor_points[i+1]
sub_xy = self._compute_subpath_xy(xA, yA, xB, yB)
if i == 0:
big_xy.extend(sub_xy)
else:
# avoid duplicating the point between subpaths
if len(sub_xy) > 1:
big_xy.extend(sub_xy[1:])
# ---------------------------
# NEW: Smooth the path
# ---------------------------
# big_xy is a list of (x, y). We'll convert to numpy and run savgol_filter
if len(big_xy) >= 7:
arr_xy = np.array(big_xy) # shape (N, 2)
# Apply Savitzky-Golay filter along axis=0
# window_length=7, polyorder=1
smoothed = savgol_filter(arr_xy, window_length=7, polyorder=1, axis=0)
# Convert back to list of (x, y)
big_xy = smoothed.tolist()
# Draw them
for (px, py) in big_xy:
path_item = LabeledPointItem(px, py, label="", radius=self.path_radius,
color=Qt.magenta, removable=False, z_value=0)
self.full_path_points.append(path_item)
self.scene.addItem(path_item)
# Ensure S/E stay on top
for p_item in self.point_items:
if p_item._text_item:
p_item.setZValue(100)
def _compute_subpath_xy(self, xA, yA, xB, yB):
if self.cost_image is None:
return []
h, w = self.cost_image.shape
rA, cA = int(round(yA)), int(round(xA))
rB, cB = int(round(yB)), int(round(xB))
rA = max(0, min(rA, h-1))
cA = max(0, min(cA, w-1))
rB = max(0, min(rB, h-1))
cB = max(0, min(cB, w-1))
try:
path_rc = find_path(self.cost_image, [(rA, cA), (rB, cB)])
except ValueError as e:
print("Error in find_path:", e)
return []
return [(c, r) for (r, c) in path_rc]
# --------------------------------------------------------------------
# MOUSE EVENTS (dragging, adding, removing points)
# --------------------------------------------------------------------
def mousePressEvent(self, event):
if event.button() == Qt.LeftButton:
self._mouse_pressed = True
self._was_dragging = False
self._press_view_pos = event.pos()
if self.editor_mode:
idx = self._find_item_near(event.pos(), 10)
if idx is not None:
# drag existing anchor
self._dragging_idx = idx
scene_pos = self.mapToScene(event.pos())
px, py = self.point_items[idx].get_pos()
self._drag_offset = (scene_pos.x() - px, scene_pos.y() - py)
self.setDragMode(QGraphicsView.NoDrag)
self.viewport().setCursor(Qt.ClosedHandCursor)
return
else:
# If no anchor near, user might be panning
self.setDragMode(QGraphicsView.ScrollHandDrag)
self.viewport().setCursor(Qt.ClosedHandCursor)
else:
self.setDragMode(QGraphicsView.ScrollHandDrag)
self.viewport().setCursor(Qt.ClosedHandCursor)
elif event.button() == Qt.RightButton:
if self.editor_mode:
self._remove_point_by_click(event.pos())
super().mousePressEvent(event)
def mouseMoveEvent(self, event):
if self._dragging_idx is not None:
# dragging an anchor
scene_pos = self.mapToScene(event.pos())
x_new = scene_pos.x() - self._drag_offset[0]
y_new = scene_pos.y() - self._drag_offset[1]
r = self.point_items[self._dragging_idx]._r
x_clamped = self._clamp(x_new, r, self._img_w - r)
y_clamped = self._clamp(y_new, r, self._img_h - r)
self.point_items[self._dragging_idx].set_pos(x_clamped, y_clamped)
return
else:
# if movement > threshold => pan
if self._mouse_pressed and (event.buttons() & Qt.LeftButton):
dist = (event.pos() - self._press_view_pos).manhattanLength()
if dist > self._drag_threshold:
self._was_dragging = True
super().mouseMoveEvent(event)
def mouseReleaseEvent(self, event):
super().mouseReleaseEvent(event)
if event.button() == Qt.LeftButton and self._mouse_pressed:
self._mouse_pressed = False
self.viewport().setCursor(Qt.ArrowCursor)
if self._dragging_idx is not None:
idx = self._dragging_idx
self._dragging_idx = None
self._drag_offset = (0, 0)
self.setDragMode(QGraphicsView.ScrollHandDrag)
# update anchor_points
newX, newY = self.point_items[idx].get_pos()
# even if S/E => update coords
self.anchor_points[idx] = (newX, newY)
# revert + re-apply cost, rebuild path
self._revert_cost_to_original()
self._apply_all_guide_points_to_cost()
self._rebuild_full_path()
else:
if not self._was_dragging and self.editor_mode:
# user clicked an empty spot => add a guide point
scene_pos = self.mapToScene(event.pos())
x, y = scene_pos.x(), scene_pos.y()
self._add_guide_point(x, y)
self._was_dragging = False
def _remove_point_by_click(self, view_pos):
idx = self._find_item_near(view_pos, threshold=10)
if idx is None:
return
# check if removable => skip S/E
if not self.point_items[idx].is_removable():
return # do nothing
# remove anchor
self.scene.removeItem(self.point_items[idx])
self.point_items.pop(idx)
self.anchor_points.pop(idx)
# revert + re-apply cost, rebuild path
self._revert_cost_to_original()
self._apply_all_guide_points_to_cost()
self._rebuild_full_path()
def _find_item_near(self, view_pos, threshold=10):
scene_pos = self.mapToScene(view_pos)
x_click, y_click = scene_pos.x(), scene_pos.y()
min_dist = float('inf')
closest_idx = None
for i, itm in enumerate(self.point_items):
d = itm.distance_to(x_click, y_click)
if d < min_dist:
min_dist = d
closest_idx = i
if closest_idx is not None and min_dist <= threshold:
return closest_idx
return None
# --------------------------------------------------------------------
# ZOOM
# --------------------------------------------------------------------
def wheelEvent(self, event):
"""
Zoom in/out with mouse wheel
"""
zoom_in_factor = 1.25
zoom_out_factor = 1 / zoom_in_factor
# If the user scrolls upward => zoom in. Otherwise => zoom out.
if event.angleDelta().y() > 0:
self.scale(zoom_in_factor, zoom_in_factor)
else:
self.scale(zoom_out_factor, zoom_out_factor)
event.accept()
# --------------------------------------------------------------------
# UTILS
# --------------------------------------------------------------------
def _clamp(self, val, mn, mx):
return max(mn, min(val, mx))
def _clear_all_points(self):
for it in self.point_items:
self.scene.removeItem(it)
self.point_items.clear()
self.anchor_points.clear()
for p in self.full_path_points:
self.scene.removeItem(p)
self.full_path_points.clear()
def clear_guide_points(self):
"""
Removes all anchors that are 'removable' (guide points),
keeps S/E in place. Then reverts cost, re-applies, rebuilds path.
"""
i = 0
while i < len(self.anchor_points):
if self.point_items[i].is_removable():
self.scene.removeItem(self.point_items[i])
del self.point_items[i]
del self.anchor_points[i]
else:
i += 1
for item in self.full_path_points:
self.scene.removeItem(item)
self.full_path_points.clear()
self._revert_cost_to_original()
self._apply_all_guide_points_to_cost()
self._rebuild_full_path()
class MainWindow(QMainWindow):
def __init__(self):
super().__init__()
self.setWindowTitle("Test GUI")
main_widget = QWidget()
main_layout = QVBoxLayout(main_widget)
self.image_view = ImageGraphicsView()
main_layout.addWidget(self.image_view)
btn_layout = QHBoxLayout()
self.btn_load_image = QPushButton("Load Image")
self.btn_load_image.clicked.connect(self.load_image)
btn_layout.addWidget(self.btn_load_image)
self.btn_editor_mode = QPushButton("Editor Mode: OFF")
self.btn_editor_mode.setCheckable(True)
self.btn_editor_mode.setStyleSheet("background-color: lightgray;")
self.btn_editor_mode.clicked.connect(self.toggle_editor_mode)
btn_layout.addWidget(self.btn_editor_mode)
self.btn_export_points = QPushButton("Export Points")
self.btn_export_points.clicked.connect(self.export_points)
btn_layout.addWidget(self.btn_export_points)
self.btn_clear_points = QPushButton("Clear Points")
self.btn_clear_points.clicked.connect(self.clear_points)
btn_layout.addWidget(self.btn_clear_points)
main_layout.addLayout(btn_layout)
self.setCentralWidget(main_widget)
self.resize(900, 600)
def load_image(self):
options = QFileDialog.Options()
file_path, _ = QFileDialog.getOpenFileName(
self, "Open Image", "",
"Images (*.png *.jpg *.jpeg *.bmp *.tif)",
options=options
)
if file_path:
self.image_view.load_image(file_path)
cost_img = compute_cost_image(file_path)
self.image_view.cost_image_original = cost_img
self.image_view.cost_image = cost_img.copy()
def toggle_editor_mode(self):
is_checked = self.btn_editor_mode.isChecked()
self.image_view.set_editor_mode(is_checked)
if is_checked:
self.btn_editor_mode.setText("Editor Mode: ON")
self.btn_editor_mode.setStyleSheet("background-color: #ffcccc;")
else:
self.btn_editor_mode.setText("Editor Mode: OFF")
self.btn_editor_mode.setStyleSheet("background-color: lightgray;")
def export_points(self):
if not self.image_view.anchor_points:
print("No anchor points to export.")
return
options = QFileDialog.Options()
file_path, _ = QFileDialog.getSaveFileName(
self, "Export Points", "",
"NumPy Files (*.npy);;All Files (*)",
options=options
)
if file_path:
points_array = np.array(self.image_view.anchor_points)
np.save(file_path, points_array)
print(f"Exported {len(points_array)} points to {file_path}")
def clear_points(self):
"""Remove all removable anchors (guide points), keep S/E in place."""
self.image_view.clear_guide_points()
def closeEvent(self, event):
super().closeEvent(event)
def main():
app = QApplication(sys.argv)
window = MainWindow()
window.show()
sys.exit(app.exec_())
if __name__ == "__main__":
main()