def addToolbarMacros(self):
def useShortFoot():
self.footContactPoints = self.SHORT_FOOT_CONTACT_POINTS
def useLongFoot():
self.footContactPoints = self.LONG_FOOT_CONTACT_POINTS
applogic.addToolbarMacro('start continuous walk', self.startContinuousWalking)
applogic.addToolbarMacro('short foot', useShortFoot)
applogic.addToolbarMacro('long foot', useLongFoot)
def addToolbarMacros(self):
def useShortFoot():
self.footContactPoints = self.SHORT_FOOT_CONTACT_POINTS
def useLongFoot():
self.footContactPoints = self.LONG_FOOT_CONTACT_POINTS
applogic.addToolbarMacro('start continuous walk', self.startContinuousWalking)
applogic.addToolbarMacro('short foot', useShortFoot)
applogic.addToolbarMacro('long foot', useLongFoot)
sensorToLocalFused = vtk.vtkTransform()
self.queue.getTransform('VELODYNE', 'local', utime, sensorToLocalFused)
p = filterUtils.transformPolyData(p,sensorToLocalFused)
self.polyDataObj.setPolyData(p)
if not self.polyDataObj.initialized:
self.polyDataObj.initialized = True
def init(view):
global PointCloudQueue, _pointcloudItem, _pointcloudSource
PointCloudQueue = PythonQt.dd.ddPointCloudLCM(lcmUtils.getGlobalLCMThread())
PointCloudQueue.init(lcmUtils.getGlobalLCMThread(), drcargs.args().config_file)
_pointcloudSource = PointCloudSource(view, PointCloudQueue)
_pointcloudSource.start()
sensorsFolder = om.getOrCreateContainer('sensors')
_pointcloudItem = PointCloudItem(_pointcloudSource)
om.addToObjectModel(_pointcloudItem, sensorsFolder)
def startButton():
view = app.getCurrentRenderView()
init(view)
_pointcloudSource.start()
app.addToolbarMacro('start live pointcloud', startButton)
slider.setMaximumWidth(200)
slider.connect('valueChanged(int)', onDrillYawSliderChanged)
app.getMainWindow().macrosToolBar().addWidget(slider)
def sendPointerPrep():
drillDemo.planPointerPressGaze(-0.05)
def sendPointerPress():
drillDemo.planPointerPressGaze(0.01)
def sendPointerPressDeep():
drillDemo.planPointerPressGaze(0.015)
app.addToolbarMacro('drill posture', drillDemo.planBothRaisePowerOn)
app.addToolbarMacro('pointer prep', sendPointerPrep)
app.addToolbarMacro('pointer press', sendPointerPress)
app.addToolbarMacro('pointer press deep', sendPointerPressDeep)
if usePFGrasp:
pfgrasper = pfgrasp.PFGrasp(drillDemo, robotStateModel, playbackRobotModel, teleopRobotModel, footstepsDriver, manipPlanner, ikPlanner,
lHandDriver, rHandDriver, atlasdriver.driver, perception.multisenseDriver,
fitDrillMultisense, robotStateJointController,
playPlans, showPose, cameraview, segmentationpanel)
showImageOverlay()
hideImageOverlay()
pfgrasppanel.init(pfgrasper, _prevParent, imageView, imagePicker, cameraview)
import signal
KinectQueue.init(lcmUtils.getGlobalLCMThread(), drcargs.args().config_file)
_kinectSource = KinectSource(view, KinectQueue)
_kinectSource.start()
sensorsFolder = om.getOrCreateContainer('sensors')
_kinectItem = KinectItem(_kinectSource)
om.addToObjectModel(_kinectItem, sensorsFolder)
# Hasn't been used - currently deactivated
#def renderLastKinectPointCloud():
# # view = view or app.getCurrentRenderView()
# # if view is None:
# # return
# p = vtk.vtkPolyData()
# print("will grab the last point cloud in python \n")
# KinectQueue.getPointCloudFromKinect(p)
# print("grabbed the last point cloud in python, will #render now \n")
# obj = vis.showPolyData (p, 'kinect cloud')
# print("director rendered last point cloud \n")
def startButton():
view = app.getCurrentRenderView()
init(view)
_kinectSource.start()
app.addToolbarMacro('start live kinect', startButton)
_kinectSource = KinectSource(view, KinectQueue)
_kinectSource.start()
sensorsFolder = om.getOrCreateContainer('sensors')
_kinectItem = KinectItem(_kinectSource)
om.addToObjectModel(_kinectItem, sensorsFolder)
# Hasn't been used - currently deactivated
#def renderLastKinectPointCloud():
# # view = view or app.getCurrentRenderView()
# # if view is None:
# # return
# p = vtk.vtkPolyData()
# print("will grab the last point cloud in python \n")
# KinectQueue.getPointCloudFromKinect(p)
# print("grabbed the last point cloud in python, will #render now \n")
# obj = vis.showPolyData (p, 'kinect cloud')
# print("director rendered last point cloud \n")
def startButton():
view = app.getCurrentRenderView()
init(view)
_kinectSource.start()
app.addToolbarMacro('start live kinect', startButton)
p = filterUtils.transformPolyData(p, sensorToLocalFused)
self.polyDataObj.setPolyData(p)
if not self.polyDataObj.initialized:
self.polyDataObj.initialized = True
def init(view):
global PointCloudQueue, _pointcloudItem, _pointcloudSource
PointCloudQueue = PythonQt.dd.ddPointCloudLCM(
lcmUtils.getGlobalLCMThread())
PointCloudQueue.init(lcmUtils.getGlobalLCMThread(),
drcargs.args().config_file)
_pointcloudSource = PointCloudSource(view, PointCloudQueue)
_pointcloudSource.start()
sensorsFolder = om.getOrCreateContainer('sensors')
_pointcloudItem = PointCloudItem(_pointcloudSource)
om.addToObjectModel(_pointcloudItem, sensorsFolder)
def startButton():
view = app.getCurrentRenderView()
init(view)
_pointcloudSource.start()
app.addToolbarMacro('start live pointcloud', startButton)
