def filterEvent(self, obj, event):
if event.type() == QtCore.QEvent.MouseButtonDblClick and event.button() == QtCore.Qt.LeftButton:
self.onLeftDoubleClick(event)
elif event.type() == QtCore.QEvent.MouseButtonPress and event.button() == QtCore.Qt.LeftButton:
self.onLeftMousePress(event)
elif event.type() == QtCore.QEvent.MouseButtonPress and event.button() == QtCore.Qt.RightButton:
self.mouseStart = QtCore.QPoint(event.pos())
elif event.type() == QtCore.QEvent.MouseMove:
if self.mouseStart is not None:
delta = QtCore.QPoint(event.pos()) - self.mouseStart
if delta.manhattanLength() > 3:
self.mouseStart = None
else:
self.onMouseMove(event)
elif event.type() == QtCore.QEvent.MouseButtonRelease and event.button() == QtCore.Qt.RightButton and self.mouseStart is not None:
self.mouseStart = None
self.onRightClick(event)
elif event.type() == QtCore.QEvent.Wheel:
self.onWheelEvent(event)
def filterEvent(self, obj, event):
if event.type() == QtCore.QEvent.MouseButtonDblClick and event.button(
) == QtCore.Qt.LeftButton:
self.onLeftDoubleClick(event)
elif event.type() == QtCore.QEvent.MouseButtonPress and event.button(
) == QtCore.Qt.LeftButton:
self._leftMouseStart = QtCore.QPoint(event.pos())
self.onLeftMousePress(event)
elif event.type() == QtCore.QEvent.MouseButtonPress and event.button(
) == QtCore.Qt.RightButton:
self._rightMouseStart = QtCore.QPoint(event.pos())
self.onRightMousePress(event)
elif event.type() == QtCore.QEvent.MouseMove:
if self._rightMouseStart is not None:
delta = QtCore.QPoint(event.pos()) - self._rightMouseStart
if delta.manhattanLength() > 3:
self._rightMouseStart = None
if self._leftMouseStart is not None:
delta = QtCore.QPoint(event.pos()) - self._leftMouseStart
if delta.manhattanLength() > 3:
self._leftMouseStart = None
if self._rightMouseStart is None and self._leftMouseStart is None:
self.onMouseMove(event)
elif event.type() == QtCore.QEvent.MouseButtonRelease and event.button(
) == QtCore.Qt.LeftButton:
self.onLeftMouseRelease(event)
if self._leftMouseStart is not None:
self._leftMouseStart = None
self.onLeftClick(event)
elif event.type() == QtCore.QEvent.MouseButtonRelease and event.button(
) == QtCore.Qt.RightButton:
self.onRightMouseRelease(event)
if self._rightMouseStart is not None:
self._rightMouseStart = None
self.onRightClick(event)
elif event.type() == QtCore.QEvent.Wheel:
self.onMouseWheel(event)
elif event.type() == QtCore.QEvent.KeyPress:
if not event.isAutoRepeat():
self.onKeyPress(event)
self.onKeyPressRepeat(event)
elif event.type(
) == QtCore.QEvent.KeyRelease and not event.isAutoRepeat():
self.onKeyRelease(event)
def showRightClickMenu(displayPoint, view):
pickedObj, pickedPoint = vis.findPickedObject(displayPoint, view)
if not pickedObj:
return
objectName = pickedObj.getProperty('Name')
if objectName == 'grid':
return
objectName = getShortenedName(objectName)
displayPoint = displayPoint[0], view.height - displayPoint[1]
globalPos = view.mapToGlobal(QtCore.QPoint(*displayPoint))
menu = QtGui.QMenu(view)
widgetAction = QtGui.QWidgetAction(menu)
label = QtGui.QLabel('<b>%s</b>' % objectName)
label.setContentsMargins(9, 9, 6, 6)
widgetAction.setDefaultWidget(label)
menu.addAction(widgetAction)
menu.addSeparator()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
propertiesPanel.setBrowserModeToWidget()
propertyset.PropertyPanelHelper.addPropertiesToPanel(
pickedObj.properties, propertiesPanel)
def onPropertyChanged(prop):
om.PropertyPanelHelper.setPropertyFromPanel(prop, propertiesPanel,
pickedObj.properties)
propertiesPanel.connect('propertyValueChanged(QtVariantProperty*)',
onPropertyChanged)
propertiesMenu = menu.addMenu('Properties')
propertiesWidgetAction = QtGui.QWidgetAction(propertiesMenu)
propertiesWidgetAction.setDefaultWidget(propertiesPanel)
propertiesMenu.addAction(propertiesWidgetAction)
actions = getContextMenuActions(view, pickedObj, pickedPoint)
for actionName, func in actions:
if not actionName:
menu.addSeparator()
else:
action = menu.addAction(actionName)
action.connect('triggered()', func)
selectedAction = menu.popup(globalPos)
def showRightClickMenu(displayPoint, view):
pickedObj, pickedPoint = vis.findPickedObject(displayPoint, view)
if not pickedObj:
return
objectName = pickedObj.getProperty("Name")
if objectName == "grid":
return
objectName = getShortenedName(objectName)
displayPoint = displayPoint[0], view.height - displayPoint[1]
globalPos = view.mapToGlobal(QtCore.QPoint(*displayPoint))
menu = QtGui.QMenu(view)
widgetAction = QtGui.QWidgetAction(menu)
label = QtGui.QLabel("<b>%s</b>" % objectName)
label.setContentsMargins(9, 9, 6, 6)
widgetAction.setDefaultWidget(label)
menu.addAction(widgetAction)
menu.addSeparator()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
propertiesPanel.setBrowserModeToWidget()
panelConnector = propertyset.PropertyPanelConnector(
pickedObj.properties, propertiesPanel)
def onMenuHidden():
panelConnector.cleanup()
menu.connect("aboutToHide()", onMenuHidden)
propertiesMenu = menu.addMenu("Properties")
propertiesWidgetAction = QtGui.QWidgetAction(propertiesMenu)
propertiesWidgetAction.setDefaultWidget(propertiesPanel)
propertiesMenu.addAction(propertiesWidgetAction)
actions = getContextMenuActions(view, pickedObj, pickedPoint)
for actionName, func in actions:
if not actionName:
menu.addSeparator()
else:
action = menu.addAction(actionName)
action.connect("triggered()", func)
selectedAction = menu.popup(globalPos)
def iterate(self):
if PyQt4:
if self.ready: # set from thread
if not self.remotepointer:
self.remotepointer = widget = QtGui.QWidget()
widget.resize(24, 24)
widget.setWindowTitle('remote pointer')
flags = Qt.FramelessWindowHint | Qt.WindowStaysOnTopHint
widget.setWindowFlags(flags)
widget.setAttribute(Qt.WA_TranslucentBackground)
self.remotepointer_button = but = QtGui.QToolButton(widget)
but.setArrowType(Qt.UpArrow)
but.setGeometry(0, 0, 24, 24) #but.setText('xx')
self.remotepointer.show()
if self.remotepointer and not self.clients:
self.remotepointer.hide()
if self.ready_mouse: # set from thread
button, x, y = self.ready_mouse
if button and not self._button_down:
self._button_down = True
self.remotepointer_button.setArrowType(Qt.DownArrow)
elif not button and self._button_down:
self._button_down = False
self.remotepointer_button.setArrowType(Qt.UpArrow)
_clicktxt = 'click!'
if len(self._clicks) > 1: _clicktxt = 'double-click!'
if self._allow_mouse_warp:
if self.windll:
self.windll.user32.SetCursorPos(x, y)
if self._allow_mouse_click and self._clicks:
for x, y in self._clicks:
self.windll.user32.SetCursorPos(
x,
y) # seems like this won't work under wine
self.windll.user32.mouse_event(2, 0, 0, 0,
0) # left down
self.windll.user32.mouse_event(3, 0, 0, 0,
0) # left up
elif gtk:
display = gtk.gdk.display_get_default()
display.warp_pointer(display.get_default_screen(), x,
y)
self.remotepointer.move(x + 2, y - 10)
#if button and (not self._button_down or not QtGui.QToolTip.isVisible()):
# self._button_down = True
# if QtGui.QToolTip.isVisible(): QtGui.QToolTip.hideText()
# QtGui.QToolTip.showText( QtCore.QPoint(x,y), _clicktxt ) # very unthreadsafe
#elif not button: self._button_down = False
if self._clicks:
if button == 2: _clicktxt = 'right-click!'
elif button == 4: _clicktxt = 'middle-click!'
if QtGui.QToolTip.isVisible(): QtGui.QToolTip.hideText()
QtGui.QToolTip.showText(QtCore.QPoint(x, y), _clicktxt)
self.ready_mouse = None
self._clicks = []
if not naali: app.processEvents()
if _rfb_.rfbIsActive(self.serverPtr):
if time.time() - self._lastupdate > self._refresh:
self._lastupdate = time.time()
rect = self._rects[self._index]
x, y, w, h = rect
self._buffer += self.get_screen_shot(self._antialias, rect)
self.lock.acquire()
ctypes.memmove(self.framebuffer, self._buffer,
len(self._buffer))
self.lock.release()
_rfb_.rfbMarkRectAsModified(self.serverPtr, x, y, w, h)
self._index += 1
if self._index == len(self._rects):
self._index = 0
self._buffer = ''
def showRightClickMenu(displayPoint, view):
pickedObj, pickedPoint = vis.findPickedObject(displayPoint, view)
if not pickedObj:
return
objectName = pickedObj.getProperty('Name')
if objectName == 'grid':
return
displayPoint = displayPoint[0], view.height - displayPoint[1]
globalPos = view.mapToGlobal(QtCore.QPoint(*displayPoint))
menu = QtGui.QMenu(view)
widgetAction = QtGui.QWidgetAction(menu)
label = QtGui.QLabel('<b>%s</b>' % objectName)
label.setContentsMargins(9,9,6,6)
widgetAction.setDefaultWidget(label)
menu.addAction(widgetAction)
menu.addSeparator()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
propertiesPanel.setBrowserModeToWidget()
propertyset.PropertyPanelHelper.addPropertiesToPanel(pickedObj.properties, propertiesPanel)
def onPropertyChanged(prop):
om.PropertyPanelHelper.setPropertyFromPanel(prop, propertiesPanel, pickedObj.properties)
propertiesPanel.connect('propertyValueChanged(QtVariantProperty*)', onPropertyChanged)
propertiesMenu = menu.addMenu('Properties')
propertiesWidgetAction = QtGui.QWidgetAction(propertiesMenu)
propertiesWidgetAction.setDefaultWidget(propertiesPanel)
propertiesMenu.addAction(propertiesWidgetAction)
def onDelete():
om.removeFromObjectModel(pickedObj)
def onHide():
pickedObj.setProperty('Visible', False)
def onSelect():
om.setActiveObject(pickedObj)
reachFrame = getAsFrame(pickedObj)
collisionParent = getCollisionParent(pickedObj)
def onReachLeft():
reachToFrame(reachFrame, 'left', collisionParent)
def onReachRight():
reachToFrame(reachFrame, 'right', collisionParent)
def flipHandSide():
for obj in [pickedObj] + pickedObj.children():
if not isGraspSeed(obj):
continue
side = 'right' if obj.side == 'left' else 'left'
obj.side = side
color = [1.0, 1.0, 0.0]
if side == 'right':
color = [0.33, 1.0, 0.0]
obj.setProperty('Color', color)
def flipHandThumb():
handFrame = pickedObj.children()[0]
t = transformUtils.copyFrame(handFrame.transform)
t.PreMultiply()
t.RotateY(180)
handFrame.copyFrame(t)
pickedObj._renderAllViews()
def onSplineLeft():
splinewidget.planner.newSpline(pickedObj, 'left')
def onSplineRight():
splinewidget.planner.newSpline(pickedObj, 'right')
def getPointCloud(obj):
try:
obj = obj.model.polyDataObj
except AttributeError:
pass
try:
obj.polyData
except AttributeError:
return None
if obj and obj.polyData.GetNumberOfPoints():# and (obj.polyData.GetNumberOfCells() == obj.polyData.GetNumberOfVerts()):
return obj
pointCloudObj = getPointCloud(pickedObj)
affordanceObj = pickedObj if isinstance(pickedObj, affordanceitems.AffordanceItem) else None
def onSegmentGround():
groundPoints, scenePoints = segmentation.removeGround(pointCloudObj.polyData)
vis.showPolyData(groundPoints, 'ground points', color=[0,1,0], parent='segmentation')
vis.showPolyData(scenePoints, 'scene points', color=[1,0,1], parent='segmentation')
pickedObj.setProperty('Visible', False)
def onCopyPointCloud():
global lastRandomColor
polyData = vtk.vtkPolyData()
polyData.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyData = segmentation.transformPolyData(polyData, pointCloudObj.getChildFrame().transform)
polyData = segmentation.addCoordArraysToPolyData(polyData)
# generate random color, and average with a common color to make them generally similar
lastRandomColor = lastRandomColor + 0.1 + 0.1*random.random()
rgb = colorsys.hls_to_rgb(lastRandomColor, 0.7, 1.0)
obj = vis.showPolyData(polyData, pointCloudObj.getProperty('Name') + ' copy', color=rgb, parent='point clouds')
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
segmentation.makeMovable(obj, t)
om.setActiveObject(obj)
pickedObj.setProperty('Visible', False)
def onMergeIntoPointCloud():
allPointClouds = om.findObjectByName('point clouds')
if allPointClouds:
allPointClouds = [i.getProperty('Name') for i in allPointClouds.children()]
sel = QtGui.QInputDialog.getItem(None, "Point Cloud Merging", "Pick point cloud to merge into:", allPointClouds, current=0, editable=False)
sel = om.findObjectByName(sel)
# Make a copy of each in same frame
polyDataInto = vtk.vtkPolyData()
polyDataInto.ShallowCopy(sel.polyData)
if sel.getChildFrame():
polyDataInto = segmentation.transformPolyData(polyDataInto, sel.getChildFrame().transform)
polyDataFrom = vtk.vtkPolyData()
polyDataFrom.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyDataFrom = segmentation.transformPolyData(polyDataFrom, pointCloudObj.getChildFrame().transform)
# Actual merge
append = filterUtils.appendPolyData([polyDataFrom, polyDataInto])
if sel.getChildFrame():
polyDataInto = segmentation.transformPolyData(polyDataInto, sel.getChildFrame().transform.GetInverse())
# resample
append = segmentationroutines.applyVoxelGrid(append, 0.01)
append = segmentation.addCoordArraysToPolyData(append)
# Recenter the frame
sel.setPolyData(append)
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(append))
segmentation.makeMovable(sel, t)
# Hide the old one
if pointCloudObj.getProperty('Name') in allPointClouds:
pointCloudObj.setProperty('Visible', False)
def onSegmentTableScene():
data = segmentation.segmentTableScene(pointCloudObj.polyData, pickedPoint)
vis.showClusterObjects(data.clusters + [data.table], parent='segmentation')
def onSegmentDrillAlignedWithTable():
segmentation.segmentDrillAlignedWithTable(pickedPoint, pointCloudObj.polyData)
def onCachePickedPoint():
''' Cache the Picked Point for general purpose use'''
global lastCachedPickedPoint
lastCachedPickedPoint = pickedPoint
#data = segmentation.segmentTableScene(pointCloudObj.polyData, pickedPoint)
#vis.showClusterObjects(data.clusters + [data.table], parent='segmentation')
def onLocalPlaneFit():
planePoints, normal = segmentation.applyLocalPlaneFit(pointCloudObj.polyData, pickedPoint, searchRadius=0.1, searchRadiusEnd=0.2)
obj = vis.showPolyData(planePoints, 'local plane fit', color=[0,1,0])
obj.setProperty('Point Size', 7)
fields = segmentation.makePolyDataFields(obj.polyData)
pose = transformUtils.poseFromTransform(fields.frame)
desc = dict(classname='BoxAffordanceItem', Name='local plane', Dimensions=list(fields.dims), pose=pose)
box = segmentation.affordanceManager.newAffordanceFromDescription(desc)
def onOrientToMajorPlane():
polyData, planeFrame = segmentation.orientToMajorPlane(pointCloudObj.polyData, pickedPoint=pickedPoint)
pointCloudObj.setPolyData(polyData)
def onDiskGlyph():
result = segmentation.applyDiskGlyphs(pointCloudObj.polyData)
obj = vis.showPolyData(result, 'disks', color=[0.8,0.8,0.8])
om.setActiveObject(obj)
pickedObj.setProperty('Visible', False)
def onArrowGlyph():
result = segmentation.applyArrowGlyphs(pointCloudObj.polyData)
obj = vis.showPolyData(result, 'disks')
def onSegmentationEditor():
segmentationpanel.activateSegmentationMode(pointCloudObj.polyData)
def addNewFrame():
t = transformUtils.copyFrame(affordanceObj.getChildFrame().transform)
t.PostMultiply()
t.Translate(np.array(pickedPoint) - np.array(t.GetPosition()))
newFrame = vis.showFrame(t, '%s frame %d' % (affordanceObj.getProperty('Name'), len(affordanceObj.children())), scale=0.2, parent=affordanceObj)
affordanceObj.getChildFrame().getFrameSync().addFrame(newFrame, ignoreIncoming=True)
def copyAffordance():
desc = dict(affordanceObj.getDescription())
del desc['uuid']
desc['Name'] = desc['Name'] + ' copy'
aff = robotSystem.affordanceManager.newAffordanceFromDescription(desc)
aff.getChildFrame().setProperty('Edit', True)
def onPromoteToAffordance():
affObj = affordanceitems.MeshAffordanceItem.promotePolyDataItem(pickedObj)
robotSystem.affordanceManager.registerAffordance(affObj)
actions = [
(None, None),
('Hide', onHide),
('Delete', onDelete),
('Select', onSelect)
]
if affordanceObj:
actions.extend([
('Copy affordance', copyAffordance),
('Add new frame', addNewFrame),
])
elif type(pickedObj) == vis.PolyDataItem:
actions.extend([
('Promote to Affordance', onPromoteToAffordance),
])
if isGraspSeed(pickedObj):
actions.extend([
(None, None),
('Flip Side', flipHandSide),
('Flip Thumb', flipHandThumb),
])
if reachFrame is not None:
actions.extend([
(None, None),
('Reach Left', onReachLeft),
('Reach Right', onReachRight),
#('Spline Left', onSplineLeft),
#('Spline Right', onSplineRight),
])
if pointCloudObj:
actions.extend([
(None, None),
('Copy Pointcloud', onCopyPointCloud),
('Merge Pointcloud Into', onMergeIntoPointCloud),
('Segment Ground', onSegmentGround),
('Segment Table', onSegmentTableScene),
('Segment Drill Aligned', onSegmentDrillAlignedWithTable),
('Local Plane Fit', onLocalPlaneFit),
('Orient with Horizontal', onOrientToMajorPlane),
('Arrow Glyph', onArrowGlyph),
('Disk Glyph', onDiskGlyph),
('Cache Pick Point', onCachePickedPoint),
(None, None),
('Open Segmentation Editor', onSegmentationEditor)
])
for actionName, func in actions:
if not actionName:
menu.addSeparator()
else:
action = menu.addAction(actionName)
action.connect('triggered()', func)
selectedAction = menu.popup(globalPos)
from PythonQt import QtCore, QtGui, example
# call our new constructor of QSize
size = QtCore.QSize(QtCore.QPoint(1, 2))
# call our new QPushButton constructor
button = QtGui.QPushButton("sometext")
# call the move slot (overload1)
button.move(QtCore.QPoint(0, 0))
# call the move slot (overload2)
button.move(0, 0)
# call the static method
print(QtGui.QWidget.mouseGrabber())
# create a CPP object via constructor
yourCpp = example.YourCPPObject(2, 11.5)
# call the wrapped method on CPP object
print(yourCpp.doSomething(3))
# show slots available on yourCpp
print(dir(yourCpp))
# destructor will be called:
yourCpp = None
def showHelpTooltip(self):
QtGui.QToolTip.showText(self.helpButton.mapToGlobal(QtCore.QPoint(0, 0)), self.helpButton.toolTip)
