def __init__(self, view, _robotSystem):
self.view = view
self.viewBehaviors = viewbehaviors.ViewBehaviors(view)
self.robotViewBehaviors = RobotViewEventFilter(self, view)
self.robotName = _robotSystem.robotName
self.robotSystem = _robotSystem
self.robotModel = self.robotSystem.robotStateModel
if app.getMainWindow() is not None:
self.robotLinkSelector = RobotLinkSelector()
viewbehaviors.registerContextMenuActions(self.getRobotActions)
def __init__(self, view, _robotSystem):
self.view = view
self.viewBehaviors = viewbehaviors.ViewBehaviors(view)
self.logCommander = KeyPressLogCommander(view)
self.robotViewBehaviors = RobotViewEventFilter(view)
global robotSystem, robotModel, handFactory, footstepsDriver, neckDriver, robotLinkSelector
robotSystem = _robotSystem
robotModel = robotSystem.robotStateModel
handFactory = robotSystem.handFactory
footstepsDriver = robotSystem.footstepsDriver
neckDriver = robotSystem.neckDriver
if app.getMainWindow() is not None:
robotLinkSelector = RobotLinkSelector()
def __init__(self, robotSystem, cameraView):
self.meshPoints = None
self.imagePoints = None
self.cameraView = cameraView
self.robotMesh = vtk.vtkPolyData()
robotSystem.robotStateModel.model.getModelMesh(self.robotMesh)
self.robotBaseFrame = robotSystem.robotStateModel.getLinkFrame('base')
self.view = PythonQt.dd.ddQVTKWidgetView()
vis.showPolyData(self.robotMesh, 'robot mesh', view=self.view)
self.imageFitter = ImageFitter(self)
vis.showPolyData(self.imageFitter.getPointCloud(),
'pointcloud',
view=self.view,
colorByName='rgb_colors',
visible=False)
self.picker = pointpicker.PointPicker(self.view)
self.picker.pickType = 'cells'
self.picker.numberOfPoints = 3
self.picker.annotationName = 'mesh annotation'
self.picker.annotationFunc = self.onPickPoints
self.picker.start()
self.widget = QtGui.QWidget()
layout = QtGui.QHBoxLayout(self.widget)
layout.addWidget(self.cameraView.view)
layout.addWidget(self.view)
self.widget.resize(800, 400)
self.widget.setWindowTitle('Camera Alignment Tool')
self.widget.show()
self.viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
applogic.resetCamera(viewDirection=[0, 1, 0], view=self.view)
applogic.setCameraTerrainModeEnabled(self.view, True)
def createView(self, useGrid=True):
view = PythonQt.dd.ddQVTKWidgetView()
view.resize(600, 400)
applogic.setCameraTerrainModeEnabled(view, True)
if useGrid:
self.gridObj = vis.showGrid(view, parent='scene')
self.viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(self.viewOptions, parentObj=om.findObjectByName('scene'))
applogic.resetCamera(viewDirection=[-1,-1,-0.3], view=view)
self.viewBehaviors = viewbehaviors.ViewBehaviors(view)
applogic._defaultRenderView = view
applogic.addShortcut(view, 'Ctrl+Q', self.quit)
applogic.addShortcut(view, 'F8', self.showPythonConsole)
applogic.addShortcut(view, 'F1', self.showObjectModel)
view.setWindowIcon(om.Icons.getIcon(om.Icons.Robot))
view.setWindowTitle('View')
return view
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')
def initViewBehaviors(self, fields):
from director import viewbehaviors
viewBehaviors = viewbehaviors.ViewBehaviors(fields.view)
return FieldContainer(viewBehaviors=viewBehaviors)
def __init__(self, cameraView, modelPolyData=None, pointCloud=None, resultsDict=None, visualize=True, callback=None):
self.modelPolyData = modelPolyData
self.pointCloud = pointCloud
self.resultsDict = resultsDict
self.visualize = visualize
self.callback = callback
self.parent = om.getOrCreateContainer('object alignment')
self.meshPoints = None
self.imagePoints = None
self.cameraView = cameraView
# viewer for the object
self.view = PythonQt.dd.ddQVTKWidgetView()
# add some special logic to show colors if they exist
colorByName = 'RGB255'
if not self.modelPolyData.GetPointData().GetArray(colorByName):
colorByName = None
vis.showPolyData(self.modelPolyData, 'object poly data', view=self.view,
parent=self.parent, colorByName=colorByName)
self.imageFitter = ImageFitter(self, pointCloud)
self.picker = pointpicker.PointPicker(self.view)
self.picker.pickType = 'cells' # might need to change this
self.picker.numberOfPoints = 3
self.picker.annotationName = 'mesh annotation'
self.picker.annotationFunc = self.onPickPoints
self.picker.start()
# viewer for the pointcloud
self.sceneView = PythonQt.dd.ddQVTKWidgetView()
vis.showPolyData(self.pointCloud, 'pointcloud', view=self.sceneView, colorByName='RGB', parent=self.parent)
self.scenePicker = pointpicker.PointPicker(self.sceneView)
self.scenePicker.pickType = 'points' # might need to change this
self.scenePicker.numberOfPoints = 3
self.scenePicker.annotationName = 'pointcloud annotation'
self.scenePicker.annotationFunc = self.onScenePickPoints
self.scenePicker.start()
# workaround bug in PointPicker implementation
for name in [self.picker.annotationName, self.scenePicker.annotationName]:
om.removeFromObjectModel(om.findObjectByName(name))
self.widget = QtGui.QWidget()
layout = QtGui.QHBoxLayout(self.widget)
# layout.addWidget(self.cameraView.view)
layout.addWidget(self.sceneView)
layout.addWidget(self.view)
# self.widget.resize(800, 400)
self.widget.showMaximized()
self.widget.setWindowTitle('Camera Alignment Tool')
self.widget.show()
self.viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
applogic.resetCamera(viewDirection=[0,1,0], view=self.view)
applogic.setCameraTerrainModeEnabled(self.view, True)
self.sceneViewBehaviors = viewbehaviors.ViewBehaviors(self.sceneView)
applogic.resetCamera(viewDirection=[0, 1, 0], view=self.sceneView)
applogic.setCameraTerrainModeEnabled(self.sceneView, True)
def initPointCloudView(self):
self.pointCloudView = PythonQt.dd.ddQVTKWidgetView()
self.pointCloudView.setWindowTitle('Pointcloud')
self.pointCloudViewBehaviors = viewbehaviors.ViewBehaviors(
self.pointCloudView)
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
