Ejemplo n.º 1
0
    def initScreenGrabberPanel(self, fields):

        from director.screengrabberpanel import ScreenGrabberPanel
        screenGrabberPanel = ScreenGrabberPanel(fields.view)
        screenGrabberDock = fields.app.addWidgetToDock(screenGrabberPanel.widget, QtCore.Qt.RightDockWidgetArea, visible=False)

        return FieldContainer(
          screenGrabberPanel=screenGrabberPanel,
          screenGrabberDock=screenGrabberDock
          )
    def __init__(self):

        self.applicationInstance().setOrganizationName('RobotLocomotionGroup')
        self.applicationInstance().setApplicationName('drake-visualizer')

        om.init()
        self.view = PythonQt.dd.ddQVTKWidgetView()

        # init grid
        self.gridObj = vis.showGrid(self.view, parent='scene')
        self.gridObj.setProperty('Surface Mode', 'Surface with edges')
        self.gridObj.setProperty('Color', [0, 0, 0])
        self.gridObj.setProperty('Alpha', 0.1)

        # init view options
        self.viewOptions = vis.ViewOptionsItem(self.view)
        om.addToObjectModel(self.viewOptions,
                            parentObj=om.findObjectByName('scene'))
        self.viewOptions.setProperty('Background color', [0.3, 0.3, 0.35])
        self.viewOptions.setProperty('Background color 2', [0.95, 0.95, 1])

        # setup camera
        applogic.setCameraTerrainModeEnabled(self.view, True)
        applogic.resetCamera(viewDirection=[-1, 0, -0.3], view=self.view)

        # This setting improves the near plane clipping resolution.
        # Drake often draws a very large ground plane which is detrimental to
        # the near clipping for up close objects.  The trade-off is Z buffer
        # resolution but in practice things look good with this setting.
        self.view.renderer().SetNearClippingPlaneTolerance(0.0005)

        # add view behaviors
        self.viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
        applogic._defaultRenderView = self.view

        self.mainWindow = QtGui.QMainWindow()
        self.mainWindow.setCentralWidget(self.view)
        self.mainWindow.resize(768 * (16 / 9.0), 768)
        self.mainWindow.setWindowTitle('Drake Visualizer')
        self.mainWindow.setWindowIcon(QtGui.QIcon(':/images/drake_logo.png'))

        self.settings = QtCore.QSettings()

        self.fileMenu = self.mainWindow.menuBar().addMenu('&File')
        self.viewMenu = self.mainWindow.menuBar().addMenu('&View')
        self.viewMenuManager = PythonQt.dd.ddViewMenu(self.viewMenu)

        self.drakeVisualizer = DrakeVisualizer(self.view)
        self.lcmglManager = lcmgl.LCMGLManager(
            self.view) if lcmgl.LCMGL_AVAILABLE else None

        model = om.getDefaultObjectModel()
        model.getTreeWidget().setWindowTitle('Scene Browser')
        model.getPropertiesPanel().setWindowTitle('Properties Panel')

        self.sceneBrowserDock = self.addWidgetToDock(
            model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea, visible=False)
        self.propertiesDock = self.addWidgetToDock(
            self.wrapScrollArea(model.getPropertiesPanel()),
            QtCore.Qt.LeftDockWidgetArea,
            visible=False)

        self.addViewMenuSeparator()

        self.screenGrabberPanel = ScreenGrabberPanel(self.view)
        self.screenGrabberDock = self.addWidgetToDock(
            self.screenGrabberPanel.widget,
            QtCore.Qt.RightDockWidgetArea,
            visible=False)

        self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(
            self.view)
        self.cameraBookmarksDock = self.addWidgetToDock(
            self.cameraBookmarksPanel.widget,
            QtCore.Qt.RightDockWidgetArea,
            visible=False)

        self.cameraControlPanel = cameracontrolpanel.CameraControlPanel(
            self.view)
        self.cameraControlDock = self.addWidgetToDock(
            self.cameraControlPanel.widget,
            QtCore.Qt.RightDockWidgetArea,
            visible=False)

        act = self.fileMenu.addAction('&Quit')
        act.setShortcut(QtGui.QKeySequence('Ctrl+Q'))
        act.connect('triggered()', self.applicationInstance().quit)

        self.fileMenu.addSeparator()

        act = self.fileMenu.addAction('&Open Data...')
        act.setShortcut(QtGui.QKeySequence('Ctrl+O'))
        act.connect('triggered()', self._onOpenDataFile)

        applogic.addShortcut(self.mainWindow, 'F1', self._toggleObjectModel)
        applogic.addShortcut(self.mainWindow, 'F8', applogic.showPythonConsole)
        self.applicationInstance().connect('aboutToQuit()',
                                           self._onAboutToQuit)

        for obj in om.getObjects():
            obj.setProperty('Deletable', False)

        self.mainWindow.show()
        self._saveWindowState('MainWindowDefault')
        self._restoreWindowState('MainWindowCustom')