def __init__(self, qtApp, close_callback = None, render3D=True, showRGB=True):
super(RGBDViewer, self).__init__()
self.mainLayout = QtGui.QHBoxLayout()
self.qtApp = qtApp
self.rgbLabel = QtGui.QLabel()
# A widget where there is some control over what is being displayed.
self.control_widget = QtGui.QWidget()
self.control_layout = QtGui.QVBoxLayout()
# An example of such control is the "pauseButton"
self.pauseButton = QtGui.QPushButton('Pause/Unpause')
# Whi is now added to the control widget
self.control_layout.addWidget(self.pauseButton)
self.control_widget.setLayout(self.control_layout)
self.mainLayout.addWidget(self.control_widget)
# Create the widget which allows to do OpenGL rendering
self.glWidget = InteractiveViewer()
self.glWidget.setFixedSize(600, 600)
self.glWidget.ambient = (0.5,0.5,0.5,1.0)
self.glWidget.position = (1.0,1.0,2.0)
self.glWidget.diffuse = (1.0,1.0,1.0,1.0)
self.glWidget.qtApp = qtApp
# Make the connection of the update signal
self.updateSignal.connect(self.glWidget.updateGL)
widget = QtGui.QWidget()
widget.setLayout(self.mainLayout)
self.setCentralWidget(widget)
# Whenever this "main window" is closed, then this function will be called
self.close_callback = close_callback
self.meshId = None
self.showRGB = showRGB
self.render3D = render3D
self.rgbLabel.setMinimumSize(QtCore.QSize(640, 480))
self.rgb_size = 400, 400
self.mainLayout.addWidget(self.rgbLabel)
self.glWidget.show()
if not render3D:
self.glWidget.hide()
class RGBDViewer(QtGui.QMainWindow):
"""
Class to visualize and render a stream of RGB-D data
"""
updateSignal = QtCore.Signal()
def __init__(self, qtApp, close_callback = None, render3D=True, showRGB=True):
super(RGBDViewer, self).__init__()
self.mainLayout = QtGui.QHBoxLayout()
self.qtApp = qtApp
self.rgbLabel = QtGui.QLabel()
# A widget where there is some control over what is being displayed.
self.control_widget = QtGui.QWidget()
self.control_layout = QtGui.QVBoxLayout()
# An example of such control is the "pauseButton"
self.pauseButton = QtGui.QPushButton('Pause/Unpause')
# Whi is now added to the control widget
self.control_layout.addWidget(self.pauseButton)
self.control_widget.setLayout(self.control_layout)
self.mainLayout.addWidget(self.control_widget)
# Create the widget which allows to do OpenGL rendering
self.glWidget = InteractiveViewer()
self.glWidget.setFixedSize(600, 600)
self.glWidget.ambient = (0.5,0.5,0.5,1.0)
self.glWidget.position = (1.0,1.0,2.0)
self.glWidget.diffuse = (1.0,1.0,1.0,1.0)
self.glWidget.qtApp = qtApp
# Make the connection of the update signal
self.updateSignal.connect(self.glWidget.updateGL)
widget = QtGui.QWidget()
widget.setLayout(self.mainLayout)
self.setCentralWidget(widget)
# Whenever this "main window" is closed, then this function will be called
self.close_callback = close_callback
self.meshId = None
self.showRGB = showRGB
self.render3D = render3D
self.rgbLabel.setMinimumSize(QtCore.QSize(640, 480))
self.rgb_size = 400, 400
self.mainLayout.addWidget(self.rgbLabel)
self.glWidget.show()
if not render3D:
self.glWidget.hide()
#self.mainLayout.addWidget(self.glWidget)
def setNewData(self, frameData, frameIndex):
frameMesh = frameData[4]
if self.meshId is not None:
self.glWidget.removeObject(self.meshId)
self.meshId = None
if self.render3D:
self.meshId = self.glWidget.addObject(frameMesh)
if self.showRGB:
rgb_numpy = frameData[0]
image = QtGui.QImage(rgb_numpy, rgb_numpy.shape[1], rgb_numpy.shape[0], QtGui.QImage.Format_RGB888)
self.rgbLabel.setPixmap(QtGui.QPixmap.fromImage(image))
if rgb_numpy.shape[1] != self.rgb_size[0] or rgb_numpy.shape[0] != self.rgb_size[1]:
self.rgb_size = rgb_numpy.shape[1], rgb_numpy.shape[0]
self.resize(QtCore.QSize(self.rgb_size[0]+200, self.rgb_size[1]))
self.rgbLabel.resize(QtCore.QSize(self.rgb_size[0], self.rgb_size[1]))
self.updateSignal.emit()
def closeEvent(self, ev):
""" Closes event"""
self.glWidget.close()
if self.close_callback is not None:
self.close_callback()
