else:
self.manager.hide()
imageOverlayManager = ImageOverlayManager()
imageWidget = cameraview.ImageWidget(cameraview.imageManager,
'CAMERA_LEFT',
view,
visible=False)
imageViewHandler = ToggleImageViewHandler(imageWidget)
setImageWidgetSource = imageWidget.setImageName
screengrabberpanel.init(view)
framevisualization.init(view)
affordancePanel = affordancepanel.init(view, affordanceManager,
robotStateJointController,
raycastDriver)
camerabookmarks.init(view)
cameraControlPanel = cameracontrolpanel.CameraControlPanel(view)
app.addWidgetToDock(cameraControlPanel.widget, action=None).hide()
def getLinkFrame(linkName, model=None):
model = model or robotStateModel
return model.getLinkFrame(linkName)
def getBotFrame(frameName):
t = vtk.vtkTransform()
t.PostMultiply()
def toggle(self):
if self.action.checked:
self.manager.show()
else:
self.manager.hide()
imageOverlayManager = ImageOverlayManager()
imageWidget = cameraview.ImageWidget(cameraview.imageManager, 'CAMERA_LEFT', view, visible=False)
imageViewHandler = ToggleImageViewHandler(imageWidget)
setImageWidgetSource = imageWidget.setImageName
screengrabberpanel.init(view)
framevisualization.init(view)
affordancePanel = affordancepanel.init(view, affordanceManager, robotStateJointController, raycastDriver)
camerabookmarks.init(view)
cameraControlPanel = cameracontrolpanel.CameraControlPanel(view)
app.addWidgetToDock(cameraControlPanel.widget, action=None).hide()
def getLinkFrame(linkName, model=None):
model = model or robotStateModel
return model.getLinkFrame(linkName)
def getBotFrame(frameName):
t = vtk.vtkTransform()
t.PostMultiply()
cameraview.imageManager.queue.getTransform(frameName, 'local', t)
for camera in directorConfig["sensors"]["camera"]["color"]
]
imageOverlayManager = ImageOverlayManager(cameras, robotSystem.robotName)
imageWidget = cameraview.ImageWidget(
cameraview.imageManager,
cameras,
view,
visible=False,
robotName=robotSystem.robotName,
)
imageViewHandler = ToggleImageViewHandler(imageWidget)
screengrabberpanel.init(view, imageWidget, robotSystem.robotName)
framevisualization.init(view, robotSystem)
affordancePanel = affordancepanel.init(
view, robotSystem.affordanceManager,
robotSystem.robotStateJointController)
def drawCenterOfMass(model):
stanceFrame = robotSystem.footstepsDriver.getFeetMidPoint(model)
com = list(model.model.getCenterOfMass())
com[2] = stanceFrame.GetPosition()[2]
d = DebugData()
d.addSphere(com, radius=0.015)
obj = vis.updatePolyData(
d.getPolyData(),
"COM %s" % model.getProperty("Name"),
color=[1, 0, 0],
visible=False,
parent=model,
)