def main():
app = consoleapp.ConsoleApp()
meshCollection = lcmobjectcollection.LCMObjectCollection(
'MESH_COLLECTION_COMMAND')
affordanceCollection = lcmobjectcollection.LCMObjectCollection(
'AFFORDANCE_COLLECTION_COMMAND')
meshCollection.sendEchoRequest()
affordanceCollection.sendEchoRequest()
def printCollection():
print
print '----------------------------------------------------'
print datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
print '%d affordances' % len(affordanceCollection.collection)
for desc in affordanceCollection.collection.values():
print
print 'name:', desc['Name']
print 'type:', desc['classname']
timer = TimerCallback(targetFps=0.2)
timer.callback = printCollection
timer.start()
#app.showPythonConsole()
app.start()
from director import visualization as vis
from director import consoleapp
from director import vtkAll as vtk
import numpy as np
app = consoleapp.ConsoleApp()
view = app.createView()
view.show()
t = vtk.vtkTransform()
obj = vis.showFrame(t, 'frame')
obj.setProperty('Trace', True)
# move the frame along a spiral to create a path trace
for theta in np.linspace(0, 30, 1000):
p1 = np.array(t.GetPosition())
p2 = np.array([theta * 0.03, np.sin(theta) * 0.1, np.cos(theta) * 0.1])
t.Translate(p2 - p1)
t.Modified()
view.resetCamera()
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