def initMainToolBar(self, fields):
from director import viewcolors
app = fields.app
toolBar = app.addToolBar('Main Toolbar')
app.addToolBarAction(toolBar, 'Python Console', ':/images/python_logo.png', callback=app.showPythonConsole)
toolBar.addSeparator()
terrainModeAction = fields.app.addToolBarAction(toolBar, 'Camera Free Rotate', ':/images/camera_mode.png')
lightAction = fields.app.addToolBarAction(toolBar, 'Background Light', ':/images/light_bulb_icon.png')
app.addToolBarAction(toolBar, 'Reset Camera', ':/images/reset_camera.png', callback=applogic.resetCamera)
def getFreeCameraMode():
return not applogic.getCameraTerrainModeEnabled(fields.view)
def setFreeCameraMode(enabled):
applogic.setCameraTerrainModeEnabled(fields.view, not enabled)
terrainToggle = applogic.ActionToggleHelper(terrainModeAction, getFreeCameraMode, setFreeCameraMode)
viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(fields.viewOptions, fields.gridObj,
lightAction)
return FieldContainer(viewBackgroundLightHandler=viewBackgroundLightHandler, terrainToggle=terrainToggle)
cameraview.imageManager)
openniDepthPointCloud.addToView(view)
om.addToObjectModel(openniDepthPointCloud,
parentObj=om.findObjectByName('sensors'))
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)
om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors'))
viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(
viewOptions, grid,
app.getToolsMenuActions()['ActionToggleBackgroundLight'])
if not useLightColorScheme:
viewBackgroundLightHandler.action.trigger()
if useHands:
handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel,
robotStateJointController, view)
else:
app.removeToolbarMacro('ActionHandControlPanel')
if useFootsteps:
footstepsPanel = footstepsdriverpanel.init(footstepsDriver,
robotStateModel,
robotStateJointController,
irisDriver)