def createCameraView(self, channel):
self.imageManager.queue.addCameraStream(channel)
self.imageManager.addImage(channel)
view = PythonQt.dd.ddQVTKWidgetView()
view.orientationMarkerWidget().Off()
view.backgroundRenderer().SetBackground([0, 0, 0])
view.backgroundRenderer().SetBackground2([0, 0, 0])
cameraview.CameraImageView(self.imageManager, channel, view=view)
return view
def __init__(self, imageView=None, numberOfPoints=1):
self.imageView = imageView or cameraview.CameraImageView(cameraview.imageManager, 'CAMERA_LEFT', 'image view')
self.imagePicker = ImagePointPicker(self.imageView, numberOfPoints=numberOfPoints)
self.imagePicker.connectDoubleClickEvent(self.onImageViewDoubleClick)
self.imagePicker.annotationFunc = self.onImageAnnotation
self.imagePicker.start()
self.pointCloudSource = 'lidar'
self.pickLineRadius = 0.05
self.pickNearestToCamera = True
def newCameraView(imageManager, channelName='OPENNI_FRAME', cameraName='OPENNI_FRAME_LEFT', viewName='OpenNI Frame'):
view = PythonQt.dd.ddQVTKWidgetView()
view.orientationMarkerWidget().Off()
view.backgroundRenderer().SetBackground([0,0,0])
view.backgroundRenderer().SetBackground2([0,0,0])
imageManager.queue.addCameraStream(channelName, cameraName, lcmbotcore.images_t.LEFT)
imageManager.addImage(cameraName)
cameraView = cameraview.CameraImageView(imageManager, cameraName, viewName=viewName, view=view)
cameraView.eventFilterEnabled = False
view.renderWindow().GetInteractor().SetInteractorStyle(vtk.vtkInteractorStyleImage())
return cameraView
def setupImageStreams(self):
streams = [CAPTURE_CHANNEL, 'VIDEO_PLAYBACK_IMAGE']
self.imageManager = cameraview.ImageManager()
for channelName in streams:
self.imageManager.queue.addCameraStream(channelName)
self.imageManager.addImage(channelName)
self.currentStream = streams[0]
self.cameraView = cameraview.CameraImageView(self.imageManager,
self.currentStream,
view=self.view)
self.cameraView.eventFilterEnabled = False
self.view.renderWindow().GetInteractor().SetInteractorStyle(
vtk.vtkInteractorStyleImage())
def main():
app = ConsoleApp()
view = app.createView(useGrid=False)
view.orientationMarkerWidget().Off()
view.backgroundRenderer().SetBackground([0, 0, 0])
view.backgroundRenderer().SetBackground2([0, 0, 0])
cameraChannel = parseChannelArgument()
imageManager = cameraview.ImageManager()
imageManager.queue.addCameraStream(cameraChannel)
imageManager.addImage(cameraChannel)
cameraView = cameraview.CameraImageView(imageManager,
cameraChannel,
view=view)
cameraView.eventFilterEnabled = False
view.renderWindow().GetInteractor().SetInteractorStyle(
vtk.vtkInteractorStyleImage())
view.show()
app.start()
def setup(self):
args = self.parseArgs()
imageManager = cameraview.ImageManager()
self.imageManager = imageManager
channel = args.channel
imageType = args.imageType
self.app = consoleapp.ConsoleApp()
self.views = []
if imageType == 'rgb':
imageName = channel
imageManager.queue.addCameraStream(channel, imageName, -1)
imageManager.addImage(imageName)
cameraView = cameraview.CameraImageView(
imageManager, imageName, view=PythonQt.dd.ddQVTKWidgetView())
cameraView.eventFilterEnabled = False
cameraView.view.renderWindow().GetInteractor().SetInteractorStyle(
vtk.vtkInteractorStyleImage())
cameraView.view.resize(640, 480)
self.views.append(cameraView.view)
self.cameraView = cameraView
elif imageType == 'rgbd':
imageName = channel + '_LEFT'
imageManager.queue.addCameraStream(channel, imageName, 0)
imageManager.addImage(imageName)
cameraView = cameraview.CameraImageView(
imageManager, imageName, view=PythonQt.dd.ddQVTKWidgetView())
cameraView.eventFilterEnabled = False
cameraView.view.renderWindow().GetInteractor().SetInteractorStyle(
vtk.vtkInteractorStyleImage())
self.views.append(cameraView.view)
imageName2 = channel + '_D'
if args.disparity:
imageManager.queue.addCameraStream(
channel, imageName2, lcmbotcore.images_t.DISPARITY_ZIPPED)
else:
imageManager.queue.addCameraStream(
channel, imageName2, lcmbotcore.images_t.DEPTH_MM_ZIPPED)
imageManager.addImage(imageName2)
cameraView2 = cameraview.CameraImageView(
imageManager, imageName2, view=PythonQt.dd.ddQVTKWidgetView())
cameraView2.eventFilterEnabled = False
cameraView2.useImageColorMap = True
cameraView2.view.renderWindow().GetInteractor().SetInteractorStyle(
vtk.vtkInteractorStyleImage())
self.views.append(cameraView2.view)
if args.pointcloud:
from director import segmentation
cameraview.imageManager = imageManager
pointCloudObj = segmentation.DisparityPointCloudItem(
'Point cloud', channel, imageName, imageManager)
view = PythonQt.dd.ddQVTKWidgetView()
pointCloudObj.addToView(view)
om.addToObjectModel(pointCloudObj)
pointCloudObj.setProperty('Visible', True)
pointCloudObj.setProperty('Target FPS', 30)
pointCloudObj.setProperty('Max Range', 30)
pointCloudObj.setProperty('Remove Size', 0)
viewBehaviors = viewbehaviors.ViewBehaviors(view)
view.camera().SetPosition([0, 0, 0])
view.camera().SetFocalPoint([0, 0, 1])
view.camera().SetViewUp([0, -1, 0])
view.camera().SetViewAngle(45)
self.views.append(view)
self.cameraView = cameraView
self.cameraView2 = cameraView2
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
for view in self.views:
l.addWidget(view)
l.setContentsMargins(0, 0, 0, 0)
w.resize(640 * len(self.views), 480)
w.show()
self.addShortcuts(w)
self.widget = w
playbackJointController,
robotStateModel,
robotStateJointController,
manipPlanner)
manipPlanner.connectPlanReceived(playbackPanel.setPlan)
# initialize pointcloud lcm
pointcloudlcm.init(view)
# initialize camera view
cameraChannel = 'MULTISENSE_CAMERA_LEFT'
imageManager = cameraview.ImageManager()
imageManager.queue.addCameraStream(cameraChannel)
imageManager.addImage(cameraChannel)
cameraView = cameraview.CameraImageView(imageManager,
cameraChannel,
view=app.createView(useGrid=False))
# show widgets with a grid layout
w = QtGui.QWidget()
l = QtGui.QGridLayout(w)
l.addWidget(view, 0, 0)
l.addWidget(cameraView.view, 0, 1)
l.addWidget(playbackPanel.widget, 1, 0, 1,
2) # row, column, row span, column span
l.setContentsMargins(0, 0, 0, 0)
w.resize(1024, 600)
w.show()
# add lcm logplayer keyboard shortcuts
logCommander = robotviewbehaviors.KeyPressLogCommander(view)