def initDepthPointCloud(imageManager, view):
openniDepthPointCloud = segmentation.DisparityPointCloudItem('openni point cloud', 'OPENNI_FRAME', 'OPENNI_FRAME_LEFT', imageManager)
openniDepthPointCloud.addToView(view)
om.addToObjectModel(openniDepthPointCloud, parentObj=om.findObjectByName('sensors'))
openniDepthPointCloud.setProperty('Visible', True)
openniDepthPointCloud.setProperty('Target FPS', 30)
return openniDepthPointCloud
atlasdriver.systemStatus.outputConsole = app.getOutputConsole()
atlasdriverpanel.init(atlasDriver)
if usePerception:
segmentationpanel.init()
cameraview.init()
colorize.init()
cameraview.cameraView.initImageRotations(robotStateModel)
cameraview.cameraView.rayCallback = segmentation.extractPointsAlongClickRay
multisensepanel.init(perception.multisenseDriver)
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'))
def createPointerTracker():
return trackers.PointerTracker(robotStateModel, disparityPointCloud)
if useGrid:
grid = vis.showGrid(view, color=[0, 0, 0], alpha=0.1)
grid.setProperty('Surface Mode', 'Surface with edges')
app.setBackgroundColor([0.3, 0.3, 0.35], [0.95, 0.95, 1])
viewOptions = vis.ViewOptionsItem(view)
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'))
def createPointerTracker():
return trackers.PointerTracker(robotStateModel, disparityPointCloud)
if useOpenniDepthImage:
openniDepthPointCloud = segmentation.DisparityPointCloudItem(
'openni point cloud', 'OPENNI_FRAME', 'OPENNI_FRAME_LEFT',
cameraview.imageManager)
openniDepthPointCloud.addToView(view)
om.addToObjectModel(openniDepthPointCloud,
parentObj=om.findObjectByName('sensors'))
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