Got changing video sources working, along with showing the name of the active video feed

ground_station/Framework/VideoSystems/RoverVideoCoordinator.py

@@ -2,16 +2,10 @@
 # Imports
 #####################################
 # Python native imports
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt5 import QtCore, QtWidgets
 import logging
-import cv2
-import numpy as np
-import qimage2ndarray
-import pprint
 
 import rospy
-from cv_bridge import CvBridge
-from sensor_msgs.msg import CompressedImage
 
 # Custom Imports
 import RoverVideoReceiver
@@ -60,12 +54,9 @@ class RoverVideoCoordinator(QtCore.QThread):
         self.__setup_video_threads()
 
         self.primary_label_current_setting = 0
-        self.secondary_label_current_setting = 1
+        self.secondary_label_current_setting = 0
         self.tertiary_label_current_setting = 0
 
-        self.camera_data = {x: {"new_opencv": False} for x in self.valid_cameras}
-        print self.camera_data
-
     def run(self):
         self.logger.debug("Starting Video Coordinator Thread")
 
@@ -107,6 +98,10 @@ class RoverVideoCoordinator(QtCore.QThread):
         for thread in self.camera_threads:
             self.camera_threads[thread].image_ready_signal.connect(self.pixmap_ready__slot)
 
+        self.primary_video_display_label.mousePressEvent = self.__change_display_source_primary_mouse_press_event
+        self.secondary_video_display_label.mousePressEvent = self.__change_display_source_secondary_mouse_press_event
+        self.tertiary_video_display_label.mousePressEvent = self.__change_display_source_tertiary_mouse_press_event
+
     def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
         start_signal.connect(self.start)
         signals_and_slots_signal.connect(self.connect_signals_and_slots)
@@ -115,6 +110,24 @@ class RoverVideoCoordinator(QtCore.QThread):
         for camera in self.camera_threads:
             self.camera_threads[camera].setup_signals(start_signal, signals_and_slots_signal, kill_signal)
 
+    def __change_display_source_primary_mouse_press_event(self, event):
+        if event.button() == QtCore.Qt.LeftButton:
+            self.primary_label_current_setting = (self.primary_label_current_setting + 1) % len(self.valid_cameras)
+        elif event.button() == QtCore.Qt.RightButton:
+            self.camera_threads[self.valid_cameras[self.primary_label_current_setting]].toggle_video_display()
+
+    def __change_display_source_secondary_mouse_press_event(self, event):
+        if event.button() == QtCore.Qt.LeftButton:
+            self.secondary_label_current_setting = (self.secondary_label_current_setting + 1) % len(self.valid_cameras)
+        elif event.button() == QtCore.Qt.RightButton:
+            self.camera_threads[self.valid_cameras[self.secondary_label_current_setting]].toggle_video_display()
+
+    def __change_display_source_tertiary_mouse_press_event(self, event):
+        if event.button() == QtCore.Qt.LeftButton:
+            self.tertiary_label_current_setting = (self.tertiary_label_current_setting + 1) % len(self.valid_cameras)
+        elif event.button() == QtCore.Qt.RightButton:
+            self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].toggle_video_display()
+
     def pixmap_ready__slot(self, camera):
         if self.valid_cameras[self.primary_label_current_setting] == camera:
             self.primary_video_display_label.setPixmap(self.camera_threads[camera].pixmap_1280x720_image)

ground_station/Framework/VideoSystems/RoverVideoReceiver.py

@@ -7,7 +7,6 @@ import logging
 import cv2
 import numpy as np
 import qimage2ndarray
-import pprint
 
 import rospy
 from cv_bridge import CvBridge
@@ -64,8 +63,15 @@ class RoverVideoReceiver(QtCore.QThread):
         self.video_enabled = True
         self.new_frame = False
 
-        # Assign local callbacks
-        self.__set_local_callbacks()
+        # Text Drawing Variables
+        self.font = cv2.FONT_HERSHEY_TRIPLEX
+        self.font_thickness = 1
+        self.font_baseline = 0
+
+        self.camera_name_opencv_1280x720_image = None
+        self.camera_name_opencv_640x360_image = None
+
+        self.__create_camera_name_opencv_images()
 
     def run(self):
         self.logger.debug("Starting \"%s\" Camera Thread" % self.camera_title_name)
@@ -84,6 +90,21 @@ class RoverVideoReceiver(QtCore.QThread):
         if self.new_frame:
             opencv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")
 
+            self.__create_final_pixmaps(opencv_image)
+
+            self.image_ready_signal.emit(self.camera_name)
+            self.new_frame = False
+
+    def __show_video_disabled(self):
+        blank_frame = np.zeros((720, 1280, 3), np.uint8)
+
+        self.__create_final_pixmaps(blank_frame)
+
+        self.image_ready_signal.emit(self.camera_name)
+
+    def __create_final_pixmaps(self, opencv_image):
+
+
         height, width, _ = opencv_image.shape
 
         if width != 1280 and height != 720:
@@ -96,31 +117,45 @@ class RoverVideoReceiver(QtCore.QThread):
         else:
             self.opencv_640x360_image = opencv_image
 
+        self.__apply_camera_name(self.opencv_1280x720_image, self.camera_name_opencv_1280x720_image)
+        self.__apply_camera_name(self.opencv_640x360_image, self.camera_name_opencv_640x360_image)
+
         self.pixmap_1280x720_image = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(
             self.opencv_1280x720_image))
         self.pixmap_640x360_image = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(
             self.opencv_640x360_image))
 
-            self.image_ready_signal.emit(self.camera_name)
-            self.new_frame = False
-
-    def __show_video_disabled(self):
-        if self.new_frame:
-            fps_image = np.zeros((720, 1280, 3), np.uint8)
-
-            self.pixmap = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(fps_image))
-            self.image_ready_signal.emit(self.camera_name)
-            self.new_frame = False
-
     def __image_data_received_callback(self, raw_image):
         self.raw_image = raw_image
         self.new_frame = True
 
-    def __set_local_callbacks(self):
-        pass
-        # self.video_display_label.mouseDoubleClickEvent = self.toggle_video_display
+    def __create_camera_name_opencv_images(self):
+        camera_name_text_width, camera_name_text_height = \
+            cv2.getTextSize(self.camera_title_name, self.font, self.font_thickness, self.font_baseline)[0]
 
-    def toggle_video_display(self, _):
+        camera_name_width_buffered = camera_name_text_width + 10
+        camera_name_height_buffered = camera_name_text_height + 20
+
+        camera_name_opencv_image = np.zeros(
+            (camera_name_height_buffered, camera_name_width_buffered, 3), np.uint8)
+
+        cv2.putText(
+            camera_name_opencv_image,
+            self.camera_title_name,
+            ((camera_name_width_buffered - camera_name_text_width) / 2, int((camera_name_height_buffered * 2) / 3)),
+            self.font,
+            1,
+            (255, 255, 255),
+            1,
+            cv2.LINE_AA)
+
+        self.camera_name_opencv_1280x720_image = \
+            cv2.resize(camera_name_opencv_image, (camera_name_width_buffered, camera_name_height_buffered))
+
+        self.camera_name_opencv_640x360_image = \
+            cv2.resize(camera_name_opencv_image, (camera_name_width_buffered / 2, camera_name_height_buffered / 2))
+
+    def toggle_video_display(self):
         if self.video_enabled:
             self.video_subscriber.unregister()
             self.new_frame = True
@@ -140,3 +175,8 @@ class RoverVideoReceiver(QtCore.QThread):
 
     def on_kill_threads_requested__slot(self):
         self.run_thread_flag = False
+
+    @staticmethod
+    def __apply_camera_name(opencv_image, font_opencv_image):
+        opencv_image[0:0 + font_opencv_image.shape[0], 0:0 + font_opencv_image.shape[1]] = \
+            font_opencv_image