def loadRobotModel(name, view=None, parent='planning', urdfFile=None, color=None, visible=True):
if not urdfFile:
urdfFile = urdfConfig['default']
if isinstance(parent, str):
parent = om.getOrCreateContainer(parent)
model = loadRobotModelFromFile(urdfFile)
if not model:
raise Exception('Error loading robot model from file: %s' % urdfFile)
obj = RobotModelItem(model)
om.addToObjectModel(obj, parent)
obj.setProperty('Visible', visible)
obj.setProperty('Name', name)
obj.setProperty('Color', color or getRobotGrayColor())
if view is not None:
obj.addToView(view)
jointController = jointcontrol.JointController([obj], fixedPointFile)
jointController.setNominalPose()
return obj, jointController
def promotePolyDataItem(cls, obj):
parent = obj.parent()
view = obj.views[0]
name = obj.getProperty('Name')
polyData = obj.polyData
props = obj.properties._properties
childFrame = obj.getChildFrame()
if childFrame:
t = transformUtils.copyFrame(childFrame.transform)
else:
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
polyData = filterUtils.transformPolyData(polyData,
t.GetLinearInverse())
children = [c for c in obj.children() if c is not childFrame]
meshId = cls.getMeshManager().add(polyData)
om.removeFromObjectModel(obj)
obj = MeshAffordanceItem(name, view)
obj.setProperty('Filename', meshId)
om.addToObjectModel(obj, parentObj=parent)
frame = vis.addChildFrame(obj)
frame.copyFrame(t)
for child in children:
om.addToObjectModel(child, parentObj=obj)
obj.syncProperties(props)
return obj
def promotePolyDataItem(cls, obj):
parent = obj.parent()
view = obj.views[0]
name = obj.getProperty('Name')
polyData = obj.polyData
props = obj.properties._properties
childFrame = obj.getChildFrame()
if childFrame:
t = transformUtils.copyFrame(childFrame.transform)
else:
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
polyData = filterUtils.transformPolyData(polyData, t.GetLinearInverse())
children = [c for c in obj.children() if c is not childFrame]
meshId = cls.getMeshManager().add(polyData)
om.removeFromObjectModel(obj)
obj = MeshAffordanceItem(name, view)
obj.setProperty('Filename', meshId)
om.addToObjectModel(obj, parentObj=parent)
frame = vis.addChildFrame(obj)
frame.copyFrame(t)
for child in children:
om.addToObjectModel(child, parentObj=obj)
obj.syncProperties(props)
return obj
def openUrdf(filename, view):
model = loadRobotModelFromFile(filename)
if model:
model = RobotModelItem(model)
om.addToObjectModel(model)
model.addToView(view)
return model
def loadRobotModel(name, view=None, parent='planning', urdfFile=None, color=None, visible=True):
if not urdfFile:
urdfFile = urdfConfig['default']
if isinstance(parent, str):
parent = om.getOrCreateContainer(parent)
model = loadRobotModelFromFile(urdfFile)
if not model:
raise Exception('Error loading robot model from file: %s' % urdfFile)
obj = RobotModelItem(model)
om.addToObjectModel(obj, parent)
obj.setProperty('Visible', visible)
obj.setProperty('Name', name)
obj.setProperty('Color', color or getRobotGrayColor())
if view is not None:
obj.addToView(view)
jointController = jointcontrol.JointController([obj], fixedPointFile)
jointController.setNominalPose()
return obj, jointController
def showPolyData(polyData, name, color=None, colorByName=None, colorByRange=None, alpha=1.0, visible=True, view=None, parent='segmentation', cls=None):
view = view or app.getCurrentRenderView()
assert view
cls = cls or PolyDataItem
item = cls(name, polyData, view)
if isinstance(parent, str):
parentObj = om.getOrCreateContainer(parent)
else:
parentObj = parent
om.addToObjectModel(item, parentObj)
item.setProperty('Visible', visible)
item.setProperty('Alpha', alpha)
if colorByName and colorByName not in item.getArrayNames():
print 'showPolyData(colorByName=%s): array not found' % colorByName
colorByName = None
if colorByName:
item.setProperty('Color By', colorByName)
item.colorBy(colorByName, colorByRange)
else:
color = [1.0, 1.0, 1.0] if color is None else color
item.setProperty('Color', [float(c) for c in color])
item.colorBy(None)
return item
def _addPlanItem(plan, name, itemClass):
assert plan is not None
item = itemClass(name)
item.plan = plan
om.removeFromObjectModel(om.findObjectByName(name))
om.addToObjectModel(item, om.getOrCreateContainer('segmentation'))
return item
def _addPlanItem(plan, name, itemClass):
assert plan is not None
item = itemClass(name)
item.plan = plan
om.removeFromObjectModel(om.findObjectByName(name))
om.addToObjectModel(item, om.getOrCreateContainer('segmentation'))
return item
def openUrdf(filename, view):
model = loadRobotModelFromFile(filename)
if model:
model = RobotModelItem(model)
om.addToObjectModel(model)
model.addToView(view)
return model
def _loadAffordanceFromDescription(self, desc):
className = desc['classname']
cls = getattr(affordanceitems, className)
aff = cls(desc['Name'], self.view)
om.addToObjectModel(aff, parentObj=om.getOrCreateContainer('affordances'))
vis.addChildFrame(aff)
aff.loadDescription(desc, copyMode=aff.COPY_MODE_ALL)
self.registerAffordance(aff, notify=False)
def __init__(self):
om.init()
self.view = PythonQt.dd.ddQVTKWidgetView()
# init grid
self.gridObj = vis.showGrid(self.view, parent='scene')
self.gridObj.setProperty('Surface Mode', 'Surface with edges')
self.gridObj.setProperty('Color', [0,0,0])
self.gridObj.setProperty('Alpha', 0.1)
# init view options
self.viewOptions = vis.ViewOptionsItem(self.view)
om.addToObjectModel(self.viewOptions, parentObj=om.findObjectByName('scene'))
self.viewOptions.setProperty('Background color', [0.3, 0.3, 0.35])
self.viewOptions.setProperty('Background color 2', [0.95,0.95,1])
# setup camera
applogic.setCameraTerrainModeEnabled(self.view, True)
applogic.resetCamera(viewDirection=[-1, 0, -0.3], view=self.view)
# add view behaviors
viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
applogic._defaultRenderView = self.view
self.mainWindow = QtGui.QMainWindow()
self.mainWindow.setCentralWidget(self.view)
self.mainWindow.resize(768 * (16/9.0), 768)
self.mainWindow.setWindowTitle('Drake Visualizer')
self.mainWindow.setWindowIcon(QtGui.QIcon(':/images/drake_logo.png'))
self.mainWindow.show()
self.drakeVisualizer = DrakeVisualizer(self.view)
self.lcmglManager = lcmgl.LCMGLManager(self.view) if lcmgl.LCMGL_AVAILABLE else None
self.screenGrabberPanel = ScreenGrabberPanel(self.view)
self.screenGrabberDock = self.addWidgetToDock(self.screenGrabberPanel.widget, QtCore.Qt.RightDockWidgetArea)
self.screenGrabberDock.setVisible(False)
self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(self.view)
self.cameraBookmarksDock = self.addWidgetToDock(self.cameraBookmarksPanel.widget, QtCore.Qt.RightDockWidgetArea)
self.cameraBookmarksDock.setVisible(False)
model = om.getDefaultObjectModel()
model.getTreeWidget().setWindowTitle('Scene Browser')
model.getPropertiesPanel().setWindowTitle('Properties Panel')
model.setActiveObject(self.viewOptions)
self.sceneBrowserDock = self.addWidgetToDock(model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea)
self.propertiesDock = self.addWidgetToDock(self.wrapScrollArea(model.getPropertiesPanel()), QtCore.Qt.LeftDockWidgetArea)
self.sceneBrowserDock.setVisible(False)
self.propertiesDock.setVisible(False)
applogic.addShortcut(self.mainWindow, 'Ctrl+Q', self.applicationInstance().quit)
applogic.addShortcut(self.mainWindow, 'F1', self._toggleObjectModel)
applogic.addShortcut(self.mainWindow, 'F2', self._toggleScreenGrabber)
applogic.addShortcut(self.mainWindow, 'F3', self._toggleCameraBookmarks)
applogic.addShortcut(self.mainWindow, 'F8', applogic.showPythonConsole)
def _loadAffordanceFromDescription(self, desc):
className = desc['classname']
cls = getattr(affordanceitems, className)
aff = cls(desc['Name'], self.view)
om.addToObjectModel(aff,
parentObj=om.getOrCreateContainer('affordances'))
vis.addChildFrame(aff)
aff.loadDescription(desc, copyMode=aff.COPY_MODE_ALL)
self.registerAffordance(aff, notify=False)
def init(view):
global KinectQueue, _kinectItem, _kinectSource
KinectQueue = PythonQt.dd.ddKinectLCM(lcmUtils.getGlobalLCMThread())
KinectQueue.init(lcmUtils.getGlobalLCMThread(), drcargs.args().config_file)
_kinectSource = KinectSource(view, KinectQueue)
_kinectSource.start()
sensorsFolder = om.getOrCreateContainer('sensors')
_kinectItem = KinectItem(_kinectSource)
om.addToObjectModel(_kinectItem, sensorsFolder)
def init(view):
global PointCloudQueue, _pointcloudItem, _pointcloudSource
PointCloudQueue = PythonQt.dd.ddPointCloudLCM(lcmUtils.getGlobalLCMThread())
PointCloudQueue.init(lcmUtils.getGlobalLCMThread(), drcargs.args().config_file)
_pointcloudSource = PointCloudSource(view, PointCloudQueue)
_pointcloudSource.start()
sensorsFolder = om.getOrCreateContainer('sensors')
_pointcloudItem = PointCloudItem(_pointcloudSource)
om.addToObjectModel(_pointcloudItem, sensorsFolder)
def newTerrainItem(self, tform, uid=None, region=None):
if uid is None:
uid = self.getNewUID()
elif uid in self.regions:
return self.regions[uid]
view = app.getCurrentRenderView()
item = TerrainRegionItem(uid, view, tform, self, region)
parentObj = om.getOrCreateContainer('Safe terrain regions')
om.addToObjectModel(item, parentObj)
self.regions[uid] = item
return item
def newTerrainItem(self, tform, uid=None, region=None):
if uid is None:
uid = self.getNewUID()
elif uid in self.regions:
return self.regions[uid]
view = app.getCurrentRenderView()
item = TerrainRegionItem(uid, view, tform, self, region)
parentObj = om.getOrCreateContainer('Safe terrain regions')
om.addToObjectModel(item, parentObj)
self.regions[uid] = item
return item
def init(view):
global KinectQueue, _kinectItem, _kinectSource
KinectQueue = PythonQt.dd.ddKinectLCM(lcmUtils.getGlobalLCMThread())
KinectQueue.init(lcmUtils.getGlobalLCMThread(), drcargs.args().config_file)
_kinectSource = KinectSource(view, KinectQueue)
_kinectSource.start()
sensorsFolder = om.getOrCreateContainer('sensors')
_kinectItem = KinectItem(_kinectSource)
om.addToObjectModel(_kinectItem, sensorsFolder)
def init(view):
global PointCloudQueue, _pointcloudItem, _pointcloudSource
PointCloudQueue = PythonQt.dd.ddPointCloudLCM(
lcmUtils.getGlobalLCMThread())
PointCloudQueue.init(lcmUtils.getGlobalLCMThread(),
drcargs.args().config_file)
_pointcloudSource = PointCloudSource(view, PointCloudQueue)
_pointcloudSource.start()
sensorsFolder = om.getOrCreateContainer('sensors')
_pointcloudItem = PointCloudItem(_pointcloudSource)
om.addToObjectModel(_pointcloudItem, sensorsFolder)
def addLink(self, link, robotNum, linkName):
self.robots.setdefault(robotNum, {})[linkName] = link
linkFolder = self.getLinkFolder(robotNum, linkName)
for geom in link.geometry:
geom.polyDataItem.addToView(self.view)
om.addToObjectModel(geom.polyDataItem, parentObj=linkFolder)
if linkName == 'world':
#geom.polyDataItem.actor.SetUseBounds(False)
#geom.polyDataItem.actor.GetProperty().LightingOff()
geom.polyDataItem.actor.GetProperty().SetSpecular(0.0)
else:
geom.polyDataItem.actor.GetProperty().SetSpecular(0.9)
geom.polyDataItem.actor.GetProperty().SetSpecularPower(20)
def showFrame(frame, name, view=None, parent='segmentation', scale=0.35, visible=True):
view = view or app.getCurrentRenderView()
assert view
if isinstance(parent, str):
parentObj = om.getOrCreateContainer(parent)
else:
parentObj = parent
item = FrameItem(name, frame, view)
om.addToObjectModel(item, parentObj)
item.setProperty('Visible', visible)
item.setProperty('Scale', scale)
return item
def showText(text, name, fontSize=18, position=(10, 10), parent=None, view=None):
view = view or app.getCurrentRenderView()
assert view
item = TextItem(name, text, view=view)
item.setProperty('Font Size', fontSize)
item.setProperty('Position', list(position))
if isinstance(parent, str):
parentObj = om.getOrCreateContainer(parent)
else:
parentObj = parent
om.addToObjectModel(item, parentObj)
return item
def main():
objectTree = QtGui.QTreeWidget()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
om.init(objectTree, propertiesPanel)
p = om.ObjectModelItem("test parent item")
p.addProperty("foo", 1)
p.addProperty("Visible", True)
om.addToObjectModel(p)
c = om.ObjectModelItem("test child item")
om.addToObjectModel(c, p)
assert om.findObjectByName("test parent item") == p
assert om.findObjectByName("test child item") == c
assert p.children()[0] == c
assert c.children() == []
objectTree.show()
propertiesPanel.show()
objectTree2 = QtGui.QTreeWidget()
propertiesPanel2 = PythonQt.dd.ddPropertiesPanel()
tree = om.ObjectModelTree()
tree.init(objectTree2, propertiesPanel2)
p2 = om.ObjectModelItem("test parent item 2")
p2.addProperty("foo2", 1)
p2.addProperty("Visible", True)
tree.addToObjectModel(p2)
c2 = om.ObjectModelItem("test child item 2")
tree.addToObjectModel(c2, p2)
assert tree.findObjectByName("test parent item 2") == p2
assert tree.findObjectByName("test child item 2") == c2
assert p2.children()[0] == c2
assert c2.children() == []
objectTree2.show()
propertiesPanel2.show()
startApplication(enableQuitTimer=True)
def main():
objectTree = QtGui.QTreeWidget()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
om.init(objectTree, propertiesPanel)
p = om.ObjectModelItem('test parent item')
p.addProperty('foo', 1)
p.addProperty('Visible', True)
om.addToObjectModel(p)
c = om.ObjectModelItem('test child item')
om.addToObjectModel(c, p)
assert om.findObjectByName('test parent item') == p
assert om.findObjectByName('test child item') == c
assert p.children()[0] == c
assert c.children() == []
objectTree.show()
propertiesPanel.show()
objectTree2 = QtGui.QTreeWidget()
propertiesPanel2 = PythonQt.dd.ddPropertiesPanel()
tree = om.ObjectModelTree()
tree.init(objectTree2, propertiesPanel2)
p2 = om.ObjectModelItem('test parent item 2')
p2.addProperty('foo2', 1)
p2.addProperty('Visible', True)
tree.addToObjectModel(p2)
c2 = om.ObjectModelItem('test child item 2')
tree.addToObjectModel(c2, p2)
assert tree.findObjectByName('test parent item 2') == p2
assert tree.findObjectByName('test child item 2') == c2
assert p2.children()[0] == c2
assert c2.children() == []
objectTree2.show()
propertiesPanel2.show()
startApplication(enableQuitTimer=True)
def __init__(self, view, _PointCloudQueue):
self.view = view
self.PointCloudQueue = _PointCloudQueue
self.visible = True
self.p = vtk.vtkPolyData()
utime = PointCloudQueue.getPointCloudFromPointCloud(self.p)
self.polyDataObj = vis.PolyDataItem('pointcloud source', shallowCopy(self.p), view)
self.polyDataObj.actor.SetPickable(1)
self.polyDataObj.initialized = False
om.addToObjectModel(self.polyDataObj)
self.queue = PythonQt.dd.ddBotImageQueue(lcmUtils.getGlobalLCMThread())
self.queue.init(lcmUtils.getGlobalLCMThread(), drcargs.args().config_file)
self.targetFps = 30
self.timerCallback = TimerCallback(targetFps=self.targetFps)
self.timerCallback.callback = self._updateSource
def init(view):
global _multisenseItem
global multisenseDriver
m = MultiSenseSource(view)
m.start()
multisenseDriver = m
sensorsFolder = om.getOrCreateContainer('sensors')
_multisenseItem = MultisenseItem(m)
om.addToObjectModel(_multisenseItem, sensorsFolder)
useMapServer = hasattr(drc, 'vtkMapServerSource')
if useMapServer:
mapServerSource = MapServerSource(view, callbackFunc=view.render)
mapsServerContainer = om.ObjectModelItem('Map Server', icon=om.Icons.Robot)
mapsServerContainer.source = mapServerSource
om.addToObjectModel(mapsServerContainer, parentObj=sensorsFolder)
mapServerSource.start()
else:
mapServerSource = None
spindleDebug = SpindleAxisDebug(multisenseDriver)
spindleDebug.addToView(view)
om.addToObjectModel(spindleDebug, sensorsFolder)
return multisenseDriver, mapServerSource
def __init__(self, view, _KinectQueue):
self.view = view
self.KinectQueue = _KinectQueue
self.visible = True
self.p = vtk.vtkPolyData()
utime = KinectQueue.getPointCloudFromKinect(self.p)
self.polyDataObj = vis.PolyDataItem('kinect source',
shallowCopy(self.p), view)
self.polyDataObj.actor.SetPickable(1)
self.polyDataObj.initialized = False
om.addToObjectModel(self.polyDataObj)
self.queue = PythonQt.dd.ddBotImageQueue(lcmUtils.getGlobalLCMThread())
self.queue.init(lcmUtils.getGlobalLCMThread(),
drcargs.args().config_file)
self.targetFps = 30
self.timerCallback = TimerCallback(targetFps=self.targetFps)
self.timerCallback.callback = self._updateSource
def createView(self, useGrid=True):
view = PythonQt.dd.ddQVTKWidgetView()
view.resize(600, 400)
applogic.setCameraTerrainModeEnabled(view, True)
if useGrid:
self.gridObj = vis.showGrid(view, parent='scene')
self.viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(self.viewOptions, parentObj=om.findObjectByName('scene'))
applogic.resetCamera(viewDirection=[-1,-1,-0.3], view=view)
viewBehaviors = viewbehaviors.ViewBehaviors(view)
applogic._defaultRenderView = view
applogic.addShortcut(view, 'Ctrl+Q', self.quit)
applogic.addShortcut(view, 'F8', self.showPythonConsole)
applogic.addShortcut(view, 'F1', self.showObjectModel)
view.setWindowIcon(om.Icons.getIcon(om.Icons.Robot))
view.setWindowTitle('View')
return view
def updatePolyData(self, viewId, polyData):
obj = self.polyDataObjects.get(viewId)
if obj not in om.getObjects():
obj = None
if not obj:
hiddenMapIds = [9999]
visibleDefault = False if viewId in hiddenMapIds else True
obj = vis.PolyDataItem(self.getNameForViewId(viewId), polyData, self.view)
obj.setProperty('Visible', visibleDefault)
if obj._isPointCloud():
obj.setProperty('Color', [1, 1, 1])
obj.setProperty('Alpha', 0.5)
else:
obj.setProperty('Color', [0, 0.68, 1])
if viewId == lcmdrc.data_request_t.HEIGHT_MAP_SCENE:
obj.setProperty('Surface Mode', 'Wireframe')
folder = om.findObjectByName('Map Server')
folder.addProperty('Min Range', self.reader.GetDistanceRange()[0],
attributes=om.PropertyAttributes(decimals=2, minimum=0.0, maximum=100.0, singleStep=0.25, hidden=False))
folder.addProperty('Max Range', self.reader.GetDistanceRange()[1],
attributes=om.PropertyAttributes(decimals=2, minimum=0.0, maximum=100.0, singleStep=0.25, hidden=False))
folder.addProperty('Edge Filter Angle', self.reader.GetEdgeAngleThreshold(),
attributes=om.PropertyAttributes(decimals=0, minimum=0.0, maximum=60.0, singleStep=1, hidden=False))
om.addToObjectModel(obj, folder)
om.expand(folder)
self.folder = folder
self.polyDataObjects[viewId] = obj
else:
obj.setPolyData(polyData)
if self.colorizeCallback:
self.colorizeCallback(obj)
def createView(self, useGrid=True):
view = PythonQt.dd.ddQVTKWidgetView()
view.resize(600, 400)
applogic.setCameraTerrainModeEnabled(view, True)
if useGrid:
self.gridObj = vis.showGrid(view, parent='scene')
self.viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(self.viewOptions,
parentObj=om.findObjectByName('scene'))
applogic.resetCamera(viewDirection=[-1, -1, -0.3], view=view)
viewBehaviors = viewbehaviors.ViewBehaviors(view)
applogic._defaultRenderView = view
applogic.addShortcut(view, 'Ctrl+Q', self.quit)
applogic.addShortcut(view, 'F8', self.showPythonConsole)
applogic.addShortcut(view, 'F1', self.showObjectModel)
view.setWindowIcon(om.Icons.getIcon(om.Icons.Robot))
view.setWindowTitle('View')
return view
def addDrawObject(self, name, msgBytes):
actor = vtk.vtkLCMGLProp()
obj = LCMGLObject(name, actor)
om.addToObjectModel(obj, om.getOrCreateContainer('LCM GL'))
obj.addToView(self.view)
return obj
def openOtdf(filename, view):
model = OtdfModelItem(filename)
om.addToObjectModel(model)
model.addToView(view)
return model
def openOtdf(filename, view):
model = OtdfModelItem(filename)
om.addToObjectModel(model)
model.addToView(view)
return model
def main():
om.init(QtGui.QTreeWidget(), PythonQt.dd.ddPropertiesPanel())
# create a frame
t1 = vtk.vtkTransform()
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
# test object model lookup
assert om.findObjectByName('frame 1')
assert om.findObjectByName('frame 2') is None
# test reference cleanup
f1Ref = weakref.ref(f1)
assert f1Ref() is f1
om.removeFromObjectModel(f1)
del f1
assert f1Ref() is None
# add frame again
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
# create second frame
t2 = vtk.vtkTransform()
f2 = vis.FrameItem('frame 2', t2, view=None)
om.addToObjectModel(f2)
# test transform reference is input transform
assert f2.transform is t2
# test frame sync
frameSync = vis.FrameSync()
frameSync.addFrame(f1)
frameSync.addFrame(f2)
t1.Translate(10,0,0)
t1.Modified()
assert t2.GetPosition() == (10.0, 0.0, 0.0)
# test frame sync cleanup
f1Ref = weakref.ref(f1)
assert f1Ref() is f1
assert len(frameSync.frames) == 2
om.removeFromObjectModel(f1)
del f1
assert f1Ref() is None
assert len(frameSync.frames) == 2
t2.Translate(10,0,0)
t2.Modified()
assert t2.GetPosition() == (20.0, 0.0, 0.0)
assert len(frameSync.frames) == 1
# add frame again
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
frameSync.addFrame(f1)
t1.Translate(0,5,0)
t1.Modified()
assert t1.GetPosition() == (10.0, 5.0, 0.0)
assert t2.GetPosition() == (20.0, 5.0, 0.0)
frameSync.removeFrame(f1)
t1.Translate(0,5,0)
t1.Modified()
assert t1.GetPosition() == (10.0, 10.0, 0.0)
assert t2.GetPosition() == (20.0, 5.0, 0.0)
# this has to be wrapped in a function, otherwise the exception
# handling holds a reference to the FrameSync object which breaks
# the delete test at the end
def testException(fs):
try:
fs.removeFrame('test')
except KeyError:
pass
else:
assert False
testException(frameSync)
# test cleanup
f1Ref = weakref.ref(f1)
om.removeFromObjectModel(f1)
del f1
assert f1Ref() is None
t1Ref = weakref.ref(t1)
del t1
assert t1Ref() is None
# add frame again
t1 = vtk.vtkTransform()
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
frameSync.addFrame(f1)
t1.Translate(0,0,10)
t1.Modified()
assert t2.GetPosition() == (20.0, 5.0, 10.0)
# verify FrameSync object can be deleted
frameSyncRef = weakref.ref(frameSync)
del frameSync
assert frameSyncRef() is None
# verify frames are no longer synced after FrameSync is deleted
t1.Translate(0,0,10)
t1.Modified()
assert t2.GetPosition() == (20.0, 5.0, 10.0)
sys.exit(0)
def addDrawObject(self, name, msgBytes):
actor = vtk.vtkLCMGLProp()
obj = LCMGLObject(name, actor)
om.addToObjectModel(obj, om.getOrCreateContainer('LCM GL'))
obj.addToView(self.view)
return obj
if usePerception:
segmentationpanel.init()
cameraview.init()
colorize.init()
cameraview.cameraView.rayCallback = segmentation.extractPointsAlongClickRay
multisensepanel.init(perception.multisenseDriver, neckDriver)
sensordatarequestpanel.init()
# for kintinuous, use 'CAMERA_FUSED', 'CAMERA_TSDF'
disparityPointCloud = segmentation.DisparityPointCloudItem('stereo point cloud', 'CAMERA', 'CAMERA_LEFT', cameraview.imageManager)
disparityPointCloud.addToView(view)
om.addToObjectModel(disparityPointCloud, parentObj=om.findObjectByName('sensors'))
def createPointerTracker():
return trackers.PointerTracker(robotStateModel, disparityPointCloud)
if useGrid:
grid = vis.showGrid(view, color=[0,0,0], alpha=0.1)
grid.setProperty('Surface Mode', 'Surface with edges')
app.setBackgroundColor([0.3, 0.3, 0.35], [0.95,0.95,1])
viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors'))
class ViewBackgroundLightHandler(object):
