def showError(self, title, text):
self.showMessage(title, text)
if not self.quietModeCheckBox.checked:
box = QtGui.QMessageBox()
box.setWindowTitle(title)
box.setText(text)
box.exec_()
return
def __init__(self, name, geom, polyData, parentTransform):
self.polyDataItem = vis.PolyDataItem(name, polyData, view=None)
self.polyDataItem.setProperty('Alpha', geom.color[3])
self.polyDataItem.actor.SetTexture(
Geometry.TextureCache.get(Geometry.getTextureFileName(polyData)))
if self.polyDataItem.actor.GetTexture():
self.polyDataItem.setProperty('Color', QtGui.QColor(255, 255, 255))
else:
self.polyDataItem.setProperty(
'Color',
QtGui.QColor(geom.color[0] * 255, geom.color[1] * 255,
geom.color[2] * 255))
if USE_SHADOWS:
self.polyDataItem.shadowOn()
def __init__(self, handlers):
# Create widget and layouts
self._widget = QtGui.QWidget()
self._image_widgets = map(ImageWidget, handlers)
self._layout = QtGui.QHBoxLayout(self._widget)
for image_widget in self._image_widgets:
self._layout.addWidget(image_widget.get_widget())
self._layout.setContentsMargins(0, 0, 0, 0)
default_width = 640
default_height = 480
dim = [
default_width * len(self._image_widgets),
default_height]
self._widget.resize(*dim)
self._widget.show()
def getIcon(iconId):
'''
Return a QIcon given an icon id as a string or int.
'''
if type(iconId) == int:
return QtGui.QApplication.style().standardIcon(iconId)
else:
return QtGui.QIcon(iconId)
def _setupPropertiesPanel(self):
l = QtGui.QVBoxLayout(self.ui.propertyFrame)
l.setMargin(0)
self.propertiesPanel = PythonQt.dd.ddPropertiesPanel()
self.propertiesPanel.setBrowserModeToWidget()
l.addWidget(self.propertiesPanel)
self.panelConnector = propertyset.PropertyPanelConnector(
self.params.properties, self.propertiesPanel)
def showViewTabContextMenu(view, tabBar, menuPosition):
def onPopOut():
getViewManager().popOut(view)
menu = QtGui.QMenu(tabBar)
menu.addAction('Pop out').connect('triggered()', onPopOut)
menu.popup(menuPosition)
def setTableHeaders(self, table, columnNames):
columnNum = len(columnNames)
table.setColumnCount(columnNum)
for i in xrange(columnNum):
twi = QtGui.QTableWidgetItem(columnNames[i])
table.setHorizontalHeaderItem(i, twi)
self.twiHeadersList.append(twi)
return
def main(globalsDict=None):
from director import mainwindowapp
from PythonQt import QtCore, QtGui
app = mainwindowapp.construct()
app.gridObj.setProperty('Visible', True)
app.viewOptions.setProperty('Orientation widget', False)
app.viewOptions.setProperty('View angle', 30)
app.sceneBrowserDock.setVisible(False)
app.propertiesDock.setVisible(False)
app.mainWindow.setWindowTitle('Depth Scanner')
app.mainWindow.show()
app.mainWindow.resize(920, 600)
app.mainWindow.move(0, 0)
view = app.view
view.setParent(None)
mdiArea = QtGui.QMdiArea()
app.mainWindow.setCentralWidget(mdiArea)
subWindow = mdiArea.addSubWindow(view)
subWindow.setMinimumSize(300, 300)
subWindow.setWindowTitle('Camera image')
subWindow.resize(640, 480)
mdiArea.tileSubWindows()
#affordanceManager = affordancemanager.AffordanceObjectModelManager(view)
depthScanner = DepthScanner(view)
depthScanner.update()
dock = app.app.addWidgetToDock(depthScanner.imageView.view,
QtCore.Qt.RightDockWidgetArea)
dock.setMinimumWidth(300)
dock.setMinimumHeight(300)
dock = app.app.addWidgetToDock(depthScanner.pointCloudView,
QtCore.Qt.RightDockWidgetArea)
dock.setMinimumWidth(300)
dock.setMinimumHeight(300)
# add some test data
def addTestData():
d = DebugData()
d.addArrow((0, 0, 0), (0, 0, 1), color=[1, 0, 0])
d.addArrow((0, 0, 1), (0, .5, 1), color=[0, 1, 0])
vis.showPolyData(d.getPolyData(), 'debug data', colorByName='RGB255')
view.resetCamera()
addTestData()
# xvfb command
# /usr/bin/Xvfb :99 -ac -screen 0 1280x1024x16
if globalsDict is not None:
globalsDict.update(dict(app=app, view=view, depthScanner=depthScanner))
app.app.start(restoreWindow=False)
def buildTabWidget(self, jointGroups):
self.slidersMap = {}
self.labelMap = {}
for group in jointGroups:
groupName = group['name']
joints = group['joints']
labels = group['labels']
if groupName.lower() == 'base':
continue
if len(labels) != len(joints):
print 'error, joints/labels mismatch for joint group:', name
continue
jointGroupWidget = QtGui.QWidget()
gridLayout = QtGui.QGridLayout(jointGroupWidget)
gridLayout.setColumnStretch(0, 1)
for jointName, labelText in zip(joints, labels):
label = QtGui.QLabel(labelText)
numericLabel = QtGui.QLabel('0.0')
slider = QtGui.QSlider(QtCore.Qt.Vertical)
column = gridLayout.columnCount()
gridLayout.addWidget(label, 0, column)
gridLayout.addWidget(slider, 1, column)
gridLayout.addWidget(numericLabel, 2, column)
self.slidersMap[jointName] = slider
self.labelMap[slider] = numericLabel
gridLayout.setColumnStretch(gridLayout.columnCount(), 1)
self.widget.addTab(jointGroupWidget, groupName)
self.widget.usesScrollButtons = False
self.signalMapper = QtCore.QSignalMapper()
self.sliderMax = 1000.0
for jointName, slider in self.slidersMap.iteritems():
slider.connect('valueChanged(int)', self.signalMapper, 'map()')
self.signalMapper.setMapping(slider, jointName)
slider.setMaximum(self.sliderMax)
self.signalMapper.connect('mapped(const QString&)', self.sliderChanged)
def __init__ (self, parent):
super(_StepByStepSolverTab, self).__init__ (parent)
self.plugin = parent
box = QtGui.QVBoxLayout(self)
b = QtGui.QPushButton(self)
b.text = "Initialize step by step sequence"
box.addWidget(b)
b.connect("clicked()", self.prepareSolveStepByStep)
w = QtGui.QWidget(self)
hl = QtGui.QHBoxLayout(w)
self.stepCount = QtGui.QSpinBox(w)
self.stepCount.setRange(1, 1000)
self.value = 1
hl.addWidget(self.stepCount)
b = QtGui.QPushButton(self)
b.text = "Execute N step"
hl.addWidget(b)
b.connect("clicked()", self.executeOneStep)
box.addWidget(w)
b = QtGui.QPushButton(self)
b.text = "Finalize"
box.addWidget(b)
b.connect("clicked()", self.finishSolveStepByStep)
def updateLayout(self):
self.storeButtons = []
self.flyButtons = []
w = QtGui.QWidget()
l = QtGui.QGridLayout(w)
for i in range(self.numberOfBookmarks):
storeButton = QtGui.QPushButton('set')
flyButton = QtGui.QPushButton('fly')
textEdit = QtGui.QLineEdit('camera %d' % i)
storeButton.connect('clicked()', self.storeMapper, 'map()')
flyButton.connect('clicked()', self.flyMapper, 'map()')
self.storeMapper.setMapping(storeButton, storeButton)
self.flyMapper.setMapping(flyButton, flyButton)
self.storeButtons.append(storeButton)
self.flyButtons.append(flyButton)
l.addWidget(storeButton, i, 0)
l.addWidget(flyButton, i, 1)
l.addWidget(textEdit, i, 2)
flyButton.setEnabled(False)
self.flySpeedSpinner = QtGui.QDoubleSpinBox()
self.flySpeedSpinner.setMinimum(0)
self.flySpeedSpinner.setMaximum(60)
self.flySpeedSpinner.setDecimals(1)
self.flySpeedSpinner.setSingleStep(0.5)
self.flySpeedSpinner.setSuffix(' seconds')
self.flySpeedSpinner.setValue(1.0)
l.addWidget(QtGui.QLabel('Fly speed:'), i+1, 0, 2)
l.addWidget(self.flySpeedSpinner, i+1, 2)
self.widget.setWidget(w)
def showToolbarWidget(self):
if app.getMainWindow() is None:
return
if self.toolbarWidget:
self.execButton.setEnabled(True)
return
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
label = QtGui.QLabel('Walk plan:')
execButton = QtGui.QPushButton('')
execButton.setIcon(QtGui.QApplication.style().standardIcon(QtGui.QStyle.SP_MediaPlay))
clearButton = QtGui.QPushButton('')
clearButton.setIcon(QtGui.QApplication.style().standardIcon(QtGui.QStyle.SP_TrashIcon))
stopButton = QtGui.QPushButton('')
stopButton.setIcon(QtGui.QApplication.style().standardIcon(QtGui.QStyle.SP_MediaStop))
l.addWidget(label)
l.addWidget(execButton)
l.addWidget(stopButton)
l.addWidget(clearButton)
l.setContentsMargins(0, 0, 0, 0)
execButton.setShortcut(QtGui.QKeySequence('Ctrl+Return'))
execButton.connect('clicked()', self.onExecClicked)
clearButton.connect('clicked()', self.onClearClicked)
stopButton.connect('clicked()', self.sendStopWalking)
self.execButton = execButton
self.stopButton = stopButton
self.toolbarWidget = app.getMainWindow().toolBar().addWidget(w)
self.execButton.show()
def __init__(self):
self.active = False
if not PyQt4: self.start()
else:
self.win = win = QtGui.QWidget(
) # note, need to save pointer to win
win.setWindowTitle('pyvnc-client')
win.resize(320, 50)
win.move(400, 40)
b = _VNCClient_connect(win)
b._client = self
b.setText('connect')
b.setGeometry(10, 10, 70, 30)
e = QtGui.QLineEdit(win)
e.setText('localhost')
e.setGeometry(90, 10, 200, 24)
b._host = e
win.show()
def __init__(self, parent):
super(GraspFinder, self).__init__(parent)
self.plugin = parent
box = QtGui.QVBoxLayout(self)
# Create group
self.instructions = QtGui.QLabel("Click on Run")
box.addWidget(self.instructions)
runButton = self.makeButton("Run", True)
runButton.connect("toggled(bool)", self.run)
box.addWidget(runButton)
optimize = self.makeButton("Optimize", False)
optimize.connect("clicked()", self.optimize)
box.addWidget(optimize)
self.P = []
self.Q = []
self.names = []
def _makeTableWidgetItem(lbl, checkable, editable):
item = QtGui.QTableWidgetItem(lbl)
f = Qt.Qt.ItemIsEnabled | Qt.Qt.ItemIsSelectable
if editable:
f = f | Qt.Qt.ItemIsEditable
if checkable:
f = f | Qt.Qt.ItemIsUserCheckable
item.setFlags(f)
return item
def __init__(self, parent_item, folder_name):
"""
Initialize Folder Items unpopulated.
Args:
parent_item (ContainerItem): Container Item parent for Folder Item.
folder_name (str): A name for the folder item (e.g. SESSIONS).
"""
super(FolderItem, self).__init__()
self.source_dir = parent_item.source_dir
icon_path = "Resources/Icons/folder.png"
icon = QtGui.QIcon(str(self.source_dir / icon_path))
self.parent_item = parent_item
self.parent_container = parent_item.container
self.folderItem = QtGui.QStandardItem()
self.setText(folder_name)
self.setIcon(icon)
parent_item.appendRow(self)
def init(objectTree=None, propertiesPanel=None):
if _t._treeWidget:
return
objectTree = objectTree or QtGui.QTreeWidget()
propertiesPanel = propertiesPanel or PythonQt.dd.ddPropertiesPanel()
_t.init(objectTree, propertiesPanel)
def toQProperty(propertyName, propertyValue):
if 'color' in propertyName.lower() and isinstance(propertyValue, (list, tuple)) and len(propertyValue) == 3:
return QtGui.QColor(propertyValue[0]*255.0, propertyValue[1]*255.0, propertyValue[2]*255.0)
elif isinstance(propertyValue, np.float):
return float(propertyValue)
elif isinstance(propertyValue, (list, tuple, np.ndarray)) and len(propertyValue) and isinstance(propertyValue[0], np.float):
return [float(x) for x in propertyValue]
else:
return propertyValue
def addWidgetToDock(self, widget, dockArea, visible=True):
dock = QtGui.QDockWidget()
dock.setWidget(widget)
dock.setWindowTitle(widget.windowTitle)
dock.setObjectName(widget.windowTitle + ' Dock')
dock.setVisible(visible)
self.mainWindow.addDockWidget(dockArea, dock)
self.addWidgetToViewMenu(dock)
return dock
def updatePolyDataItemProperties(self, polyDataItem):
polyDataItem._updateColorByProperty()
polyDataItem.setProperty('Alpha', self.color[3])
polyDataItem.actor.SetTexture(
Geometry.TextureCache.get(
Geometry.getTextureFileName(self.polyData)))
if polyDataItem.actor.GetTexture():
polyDataItem.setProperty('Color',
QtGui.QColor(255, 255, 255))
else:
polyDataItem.setProperty(
'Color',
QtGui.QColor(*(255 * np.asarray(self.color[:3]))))
if USE_SHADOWS:
polyDataItem.shadowOn()
def _makeDebrisWizard(self):
debrisWizard = QtGui.QWidget()
lumberSelection = PythonQt.dd.ddLumberSelection()
lumberSelection.connect('lumberSelected(int)',
self.onDebrisLumberSelected)
l = QtGui.QVBoxLayout(debrisWizard)
l.addWidget(lumberSelection)
#l.addWidget(_makeButton('segment cinderblock wall', startSegmentDebrisWall))
#l.addWidget(_makeButton('segment cinderblock wall manual', startSegmentDebrisWallManual))
l.addWidget(_makeButton('segment truss', startTrussSegmentation))
self.lockAffordanceButton = _makeButton('lock affordance to hand',
self.onLockAffordanceToHand)
self.lockAffordanceButton.checkable = True
l.addWidget(self.lockAffordanceButton)
l.addStretch()
return debrisWizard
def __init__(self, maxStep):
super(ProgressDialog, self).__init__()
self.setWindowTitle('Exporting Images...')
self.cancelCpy = False
layout = QtGui.QVBoxLayout()
self.setLayout(layout)
self.pbar = QtGui.QProgressBar(self)
self.pbar.setRange(0, maxStep)
self.pbar.setGeometry(30, 40, 200, 25)
self.pbar.connect("valueChanged (int)", self.status)
layout.addWidget(self.pbar)
self.cBtn = QtGui.QPushButton("cancel")
self.cBtn.connect('clicked()', lambda: self.cancelCopy())
layout.addWidget(self.cBtn)
def showDialog(self):
self.d = QtGui.QDialog()
buttons = QtGui.QDialogButtonBox()
buttons.addButton("Yes", QtGui.QDialogButtonBox.AcceptRole)
buttons.addButton("No", QtGui.QDialogButtonBox.RejectRole)
buttons.connect("accepted()", self.d.accept)
buttons.connect("rejected()", self.d.reject)
l = QtGui.QVBoxLayout(self.d)
l.addWidget(QtGui.QLabel(self.message))
l.addWidget(buttons)
self.d.setAttribute(QtCore.Qt.WA_QuitOnClose, False)
self.d.show()
self.d.raise_()
self.d.connect("accepted()", self.onYes)
self.d.connect("rejected()", self.onNo)
def addToolBarAction(self, toolBar, text, icon=None, callback=None):
if isinstance(icon, str):
icon = QtGui.QIcon(icon)
action = toolBar.addAction(icon, text)
if callback:
action.connect('triggered()', callback)
return action
def testButton():
def makeSphere():
smp.Sphere()
smp.Show()
smp.ResetCamera()
smp.Render()
global button
button = QtGui.QPushButton('sphere')
button.connect('clicked()', makeSphere)
button.show()
def showDialog(self):
self.d = QtGui.QDialog()
buttons = QtGui.QDialogButtonBox()
buttons.addButton('Yes', QtGui.QDialogButtonBox.AcceptRole)
buttons.addButton('No', QtGui.QDialogButtonBox.RejectRole)
buttons.connect('accepted()', self.d.accept)
buttons.connect('rejected()', self.d.reject)
l = QtGui.QVBoxLayout(self.d)
l.addWidget(QtGui.QLabel(self.properties.message))
l.addWidget(buttons)
self.d.setAttribute(QtCore.Qt.WA_QuitOnClose, False)
self.d.show()
self.d.raise_()
self.d.connect('accepted()', self.accept)
self.d.connect('rejected()', self.reject)
def __init__(self, view):
self.bookmarks = CameraBookmarks(view)
self.widget = QtGui.QScrollArea()
self.widget.setWindowTitle('Camera Bookmarks')
self.storeMapper = QtCore.QSignalMapper()
self.flyMapper = QtCore.QSignalMapper()
self.storeMapper.connect('mapped(QObject*)', self.onStoreCamera)
self.flyMapper.connect('mapped(QObject*)', self.onFlyToCamera)
self.numberOfBookmarks = 8
self.updateLayout()
def __init__(self, statusBar):
self.label = QtGui.QLabel('')
statusBar.addPermanentWidget(self.label)
self.sub = lcmUtils.addSubscriber('IIWA_STATUS',
lcmdrake.lcmt_iiwa_status,
self.onIiwaStatus)
self.sub.setSpeedLimit(30)
self.label.text = '[waiting for sim status]'
def _makeDoorWizard(self):
wizard = QtGui.QWidget()
l = QtGui.QVBoxLayout(wizard)
l.addWidget(
_makeButton(
'segment door handle - left',
functools.partial(startDoorHandleSegmentation,
'door_handle_left')))
l.addWidget(
_makeButton(
'segment door handle - right',
functools.partial(startDoorHandleSegmentation,
'door_handle_right')))
l.addWidget(
_makeButton(
'segment door frame',
functools.partial(startDoorHandleSegmentation, 'doorframe')))
l.addStretch()
return wizard
def buildBYUSelf():
#Menu Shelf Creation Set
mari.actions.create("TestAction", "mari.utils.message("Test")")
mari.menus.addAction(action,"MariWindow/BYU Tools")
action.setShortcut("Ctrl + H")
#SubDirs that need to be created... Projectors, Project Maps(Bypass texture Tool!)?, TurnTabels, Refrence
#Palette Creation Set
gui = PythonQt.QtGui
mainPal = mari.palettes.create("BYU Mari Tools")
widget = gui.QWidget()
mainPal.setBodyWidget(widget)
layout = gui.QVBoxLayout()
widget.setLayout(layout)
layout.addWidget(qui.QLabel("Welcome to the palette"))
createProjectPB = qui.QPushButton("Create Project")
layout.addWidget(createProjectPB)
connect(createProjectPB.clicked, projectCreate)
mainPal.show
