def setupUi(self):
self.objectTree = QtGui.QTreeWidget()
self.propertiesPanel = PythonQt.dd.ddPropertiesPanel()
sidePanel = QtGui.QSplitter(QtCore.Qt.Vertical)
sidePanel.addWidget(self.objectTree)
sidePanel.addWidget(self.propertiesPanel)
sidePanel.setSizes([6, 4])
om.init(self.objectTree, self.propertiesPanel)
self.view = PythonQt.dd.ddQVTKWidgetView()
lcmgl.init(self.view)
self.view.backgroundRenderer().SetBackground(1,1,1)
self.view.backgroundRenderer().SetBackground2(1,1,1)
def setTextProperty(caption):
prop = caption.GetCaptionTextProperty()
prop.ShadowOff()
prop.BoldOn()
prop.ItalicOff()
prop.SetColor(0,0,0)
axesActor = self.view.orientationMarkerWidget().GetOrientationMarker()
setTextProperty(axesActor.GetXAxisCaptionActor2D())
setTextProperty(axesActor.GetYAxisCaptionActor2D())
setTextProperty(axesActor.GetZAxisCaptionActor2D())
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.clearButton = QtGui.QPushButton('clear')
self.zeroButton = QtGui.QPushButton('zero')
l.addWidget(self.clearButton)
l.addWidget(self.zeroButton)
l.addWidget(self.slider)
self.slider.connect(self.slider, 'valueChanged(int)', self.onSlider)
self.slider.connect(self.zeroButton, 'clicked()', self.onZeroButtonClicked)
self.slider.connect(self.clearButton, 'clicked()', self.onClearButtonClicked)
ww = QtGui.QWidget()
ll = QtGui.QVBoxLayout(ww)
ll.addWidget(self.view)
#ll.addWidget(w)
ll.setMargin(0)
splitter = QtGui.QSplitter()
splitter.addWidget(sidePanel)
splitter.addWidget(ww)
splitter.setSizes([0, 1])
splitter.show()
splitter.resize(800, 600)
self.widget = splitter
self.widget.setWindowTitle('Drake Viewer')
def __init__(self):
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)
# add view behaviors
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.mainWindow.show()
self.drakeVisualizer = DrakeVisualizer(self.view)
self.lcmglManager = lcmgl.LCMGLManager(self.view) if lcmgl.LCMGL_AVAILABLE else None
self.screenGrabberPanel = ScreenGrabberPanel(self.view)
self.screenGrabberDock = self.addWidgetToDock(self.screenGrabberPanel.widget, QtCore.Qt.RightDockWidgetArea)
self.screenGrabberDock.setVisible(False)
self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(self.view)
self.cameraBookmarksDock = self.addWidgetToDock(self.cameraBookmarksPanel.widget, QtCore.Qt.RightDockWidgetArea)
self.cameraBookmarksDock.setVisible(False)
model = om.getDefaultObjectModel()
model.getTreeWidget().setWindowTitle('Scene Browser')
model.getPropertiesPanel().setWindowTitle('Properties Panel')
model.setActiveObject(self.viewOptions)
self.sceneBrowserDock = self.addWidgetToDock(model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea)
self.propertiesDock = self.addWidgetToDock(self.wrapScrollArea(model.getPropertiesPanel()), QtCore.Qt.LeftDockWidgetArea)
self.sceneBrowserDock.setVisible(False)
self.propertiesDock.setVisible(False)
applogic.addShortcut(self.mainWindow, 'Ctrl+Q', self.applicationInstance().quit)
applogic.addShortcut(self.mainWindow, 'F1', self._toggleObjectModel)
applogic.addShortcut(self.mainWindow, 'F2', self._toggleScreenGrabber)
applogic.addShortcut(self.mainWindow, 'F3', self._toggleCameraBookmarks)
applogic.addShortcut(self.mainWindow, 'F8', applogic.showPythonConsole)
def main():
objectTree = QtGui.QTreeWidget()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
om.init(objectTree, propertiesPanel)
p = om.ObjectModelItem("test parent item")
p.addProperty("foo", 1)
p.addProperty("Visible", True)
om.addToObjectModel(p)
c = om.ObjectModelItem("test child item")
om.addToObjectModel(c, p)
assert om.findObjectByName("test parent item") == p
assert om.findObjectByName("test child item") == c
assert p.children()[0] == c
assert c.children() == []
objectTree.show()
propertiesPanel.show()
objectTree2 = QtGui.QTreeWidget()
propertiesPanel2 = PythonQt.dd.ddPropertiesPanel()
tree = om.ObjectModelTree()
tree.init(objectTree2, propertiesPanel2)
p2 = om.ObjectModelItem("test parent item 2")
p2.addProperty("foo2", 1)
p2.addProperty("Visible", True)
tree.addToObjectModel(p2)
c2 = om.ObjectModelItem("test child item 2")
tree.addToObjectModel(c2, p2)
assert tree.findObjectByName("test parent item 2") == p2
assert tree.findObjectByName("test child item 2") == c2
assert p2.children()[0] == c2
assert c2.children() == []
objectTree2.show()
propertiesPanel2.show()
startApplication(enableQuitTimer=True)
def main():
objectTree = QtGui.QTreeWidget()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
om.init(objectTree, propertiesPanel)
p = om.ObjectModelItem('test parent item')
p.addProperty('foo', 1)
p.addProperty('Visible', True)
om.addToObjectModel(p)
c = om.ObjectModelItem('test child item')
om.addToObjectModel(c, p)
assert om.findObjectByName('test parent item') == p
assert om.findObjectByName('test child item') == c
assert p.children()[0] == c
assert c.children() == []
objectTree.show()
propertiesPanel.show()
objectTree2 = QtGui.QTreeWidget()
propertiesPanel2 = PythonQt.dd.ddPropertiesPanel()
tree = om.ObjectModelTree()
tree.init(objectTree2, propertiesPanel2)
p2 = om.ObjectModelItem('test parent item 2')
p2.addProperty('foo2', 1)
p2.addProperty('Visible', True)
tree.addToObjectModel(p2)
c2 = om.ObjectModelItem('test child item 2')
tree.addToObjectModel(c2, p2)
assert tree.findObjectByName('test parent item 2') == p2
assert tree.findObjectByName('test child item 2') == c2
assert p2.children()[0] == c2
assert c2.children() == []
objectTree2.show()
propertiesPanel2.show()
startApplication(enableQuitTimer=True)
from ddapp.tasks import taskmanagerwidget from ddapp.tasks.descriptions import loadTaskDescriptions import drc as lcmdrc from collections import OrderedDict import functools import math import numpy as np from ddapp.debugVis import DebugData from ddapp import ioUtils as io drcargs.requireStrict() drcargs.args() app.startup(globals()) om.init(app.getMainWindow().objectTree(), app.getMainWindow().propertiesPanel()) actionhandlers.init() quit = app.quit exit = quit view = app.getDRCView() camera = view.camera() tree = app.getMainWindow().objectTree() orbit = cameracontrol.OrbitController(view) showPolyData = segmentation.showPolyData updatePolyData = segmentation.updatePolyData ###############################################################################
def __init__(self):
om.init()
self.objectModelWidget = None
def __init__(self):
om.init()
self.objectModelWidget = None
def setupUi(self):
self.objectTree = QtGui.QTreeWidget()
self.propertiesPanel = PythonQt.dd.ddPropertiesPanel()
sidePanel = QtGui.QSplitter(QtCore.Qt.Vertical)
sidePanel.addWidget(self.objectTree)
sidePanel.addWidget(self.propertiesPanel)
sidePanel.setSizes([6, 4])
om.init(self.objectTree, self.propertiesPanel)
self.view = PythonQt.dd.ddQVTKWidgetView()
lcmgl.init(self.view)
self.view.backgroundRenderer().SetBackground(1, 1, 1)
self.view.backgroundRenderer().SetBackground2(1, 1, 1)
def setTextProperty(caption):
prop = caption.GetCaptionTextProperty()
prop.ShadowOff()
prop.BoldOn()
prop.ItalicOff()
prop.SetColor(0, 0, 0)
axesActor = self.view.orientationMarkerWidget().GetOrientationMarker()
setTextProperty(axesActor.GetXAxisCaptionActor2D())
setTextProperty(axesActor.GetYAxisCaptionActor2D())
setTextProperty(axesActor.GetZAxisCaptionActor2D())
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.clearButton = QtGui.QPushButton('clear')
self.zeroButton = QtGui.QPushButton('zero')
l.addWidget(self.clearButton)
l.addWidget(self.zeroButton)
l.addWidget(self.slider)
self.slider.connect(self.slider, 'valueChanged(int)', self.onSlider)
self.slider.connect(self.zeroButton, 'clicked()',
self.onZeroButtonClicked)
self.slider.connect(self.clearButton, 'clicked()',
self.onClearButtonClicked)
ww = QtGui.QWidget()
ll = QtGui.QVBoxLayout(ww)
ll.addWidget(self.view)
#ll.addWidget(w)
ll.setMargin(0)
splitter = QtGui.QSplitter()
splitter.addWidget(sidePanel)
splitter.addWidget(ww)
splitter.setSizes([0, 1])
splitter.show()
splitter.resize(800, 600)
self.widget = splitter
self.widget.setWindowTitle('Drake Viewer')
def main():
om.init(QtGui.QTreeWidget(), PythonQt.dd.ddPropertiesPanel())
# create a frame
t1 = vtk.vtkTransform()
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
# test object model lookup
assert om.findObjectByName('frame 1')
assert om.findObjectByName('frame 2') is None
# test reference cleanup
f1Ref = weakref.ref(f1)
assert f1Ref() is f1
om.removeFromObjectModel(f1)
del f1
assert f1Ref() is None
# add frame again
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
# create second frame
t2 = vtk.vtkTransform()
f2 = vis.FrameItem('frame 2', t2, view=None)
om.addToObjectModel(f2)
# test transform reference is input transform
assert f2.transform is t2
# test frame sync
frameSync = vis.FrameSync()
frameSync.addFrame(f1)
frameSync.addFrame(f2)
t1.Translate(10,0,0)
t1.Modified()
assert t2.GetPosition() == (10.0, 0.0, 0.0)
# test frame sync cleanup
f1Ref = weakref.ref(f1)
assert f1Ref() is f1
assert len(frameSync.frames) == 2
om.removeFromObjectModel(f1)
del f1
assert f1Ref() is None
assert len(frameSync.frames) == 2
t2.Translate(10,0,0)
t2.Modified()
assert t2.GetPosition() == (20.0, 0.0, 0.0)
assert len(frameSync.frames) == 1
# add frame again
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
frameSync.addFrame(f1)
t1.Translate(0,5,0)
t1.Modified()
assert t1.GetPosition() == (10.0, 5.0, 0.0)
assert t2.GetPosition() == (20.0, 5.0, 0.0)
frameSync.removeFrame(f1)
t1.Translate(0,5,0)
t1.Modified()
assert t1.GetPosition() == (10.0, 10.0, 0.0)
assert t2.GetPosition() == (20.0, 5.0, 0.0)
# this has to be wrapped in a function, otherwise the exception
# handling holds a reference to the FrameSync object which breaks
# the delete test at the end
def testException(fs):
try:
fs.removeFrame('test')
except KeyError:
pass
else:
assert False
testException(frameSync)
# test cleanup
f1Ref = weakref.ref(f1)
om.removeFromObjectModel(f1)
del f1
assert f1Ref() is None
t1Ref = weakref.ref(t1)
del t1
assert t1Ref() is None
# add frame again
t1 = vtk.vtkTransform()
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
frameSync.addFrame(f1)
t1.Translate(0,0,10)
t1.Modified()
assert t2.GetPosition() == (20.0, 5.0, 10.0)
# verify FrameSync object can be deleted
frameSyncRef = weakref.ref(frameSync)
del frameSync
assert frameSyncRef() is None
# verify frames are no longer synced after FrameSync is deleted
t1.Translate(0,0,10)
t1.Modified()
assert t2.GetPosition() == (20.0, 5.0, 10.0)
sys.exit(0)
