ikServer.infoFunc = app.displaySnoptInfo
ikServer.connectStartupCompleted(onIkStartup)
startIkServer()
if useAtlasDriver:
atlasdriver.systemStatus.outputConsole = app.getOutputConsole()
atlasdriverpanel.init(atlasDriver)
else:
app.removeToolbarMacro('ActionAtlasDriverPanel')
if usePerception:
segmentationpanel.init()
cameraview.init()
colorize.init()
cameraview.cameraView.initImageRotations(robotStateModel)
cameraview.cameraView.rayCallback = segmentation.extractPointsAlongClickRay
if useMultisense:
multisensepanel.init(perception.multisenseDriver)
else:
app.removeToolbarMacro('ActionMultisensePanel')
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'))
ikServer.outputConsole = app.getOutputConsole()
ikServer.infoFunc = app.displaySnoptInfo
ikServer.connectStartupCompleted(onIkStartup)
startIkServer()
if useAtlasDriver:
atlasdriver.systemStatus.outputConsole = app.getOutputConsole()
atlasdriverpanel.init(atlasDriver)
else:
app.removeToolbarMacro('ActionAtlasDriverPanel')
if usePerception:
segmentationpanel.init()
cameraview.init()
colorize.init()
cameraview.cameraView.initImageRotations(robotStateModel)
cameraview.cameraView.rayCallback = segmentation.extractPointsAlongClickRay
if useMultisense:
multisensepanel.init(perception.multisenseDriver)
else:
app.removeToolbarMacro('ActionMultisensePanel')
sensordatarequestpanel.init()
# for kintinuous, use 'CAMERA_FUSED', 'CAMERA_TSDF'
disparityPointCloud = segmentation.DisparityPointCloudItem(
'stereo point cloud', 'CAMERA', 'CAMERA_LEFT', cameraview.imageManager)
disparityPointCloud.addToView(view)