def initView(self, view):
# Must call the createview function with the robot name so that the view can be associated, but cannot pass
# keyword arguments to python_qt functions so need to also pass the -1 to add the tab to the end of the list
# rather than insert it.
self.view = view or app.getViewManager().createView(
"Camera View", "VTK View", -1, self.robotName)
app.getRobotSelector().associateViewWithRobot(self.view,
self.robotName)
self.renderers = [self.view.renderer()]
renWin = self.view.renderWindow()
renWin.SetNumberOfLayers(3)
for i in [1, 2]:
ren = vtk.vtkRenderer()
ren.SetLayer(2)
ren.SetActiveCamera(self.view.camera())
renWin.AddRenderer(ren)
self.renderers.append(ren)
def applyCustomBounds():
self.view.addCustomBounds([-100, 100, -100, 100, -100, 100])
self.view.connect("computeBoundsRequest(ddQVTKWidgetView*)",
applyCustomBounds)
app.setCameraTerrainModeEnabled(self.view, True)
self.resetCamera()
def initView(self, view):
# Must call the createview function with the robot name so that the view can be associated, but cannot pass
# keyword arguments to python_qt functions so need to also pass the -1 to add the tab to the end of the list
# rather than insert it.
self.view = view or app.getViewManager().createView(
self.viewName, "VTK View", -1, self.robotName)
app.getRobotSelector().associateViewWithRobot(self.view,
self.robotName)
self.view.installImageInteractor()
# self.interactorStyle = self.view.renderWindow().GetInteractor().GetInteractorStyle()
# self.interactorStyle.AddObserver('SelectionChangedEvent', self.onRubberBandPick)
self.imageActor = vtk.vtkImageActor()
self.imageActor.SetInputData(self.getImage())
self.imageActor.SetVisibility(False)
self.view.renderer().AddActor(self.imageActor)
self.view.orientationMarkerWidget().Off()
self.view.backgroundRenderer().SetBackground(0, 0, 0)
self.view.backgroundRenderer().SetBackground2(0, 0, 0)
self.timerCallback = TimerCallback()
self.timerCallback.targetFps = 60
self.timerCallback.callback = self.updateView
self.timerCallback.start()
def rayDebug(position, ray):
d = DebugData()
d.addLine(position, position + ray * 5.0)
drcView = app.getViewManager().findView("DRC View")
obj = vis.updatePolyData(
d.getPolyData(), "camera ray", view=drcView, color=[0, 1, 0]
)
obj.actor.GetProperty().SetLineWidth(2)
def init(poseCollection, costCollection):
global _spreadsheetView
_spreadsheetView = app.getViewManager().createView('Spreadsheet View', 'Spreadsheet View')
updateMethod = functools.partial(updateSpreadsheetPoses, poseCollection)
poseCollection.connect('itemChanged(const QString&)', updateMethod)
poseCollection.connect('itemAdded(const QString&)', updateMethod)
poseCollection.connect('itemRemoved(const QString&)', updateMethod)
initSpreadsheetColumns(costCollection)
updateMethod()
def showAssociatedComponents(self, robotName):
# If we have nothing in the dictionary, do nothing, otherwise may crash due to empty dicts.
# TODO better checking of internal state of viewmanager to remove this check
if not self.associatedWidgets:
return
# Have to update the page index cache before moving any of the components so that the hidden tabs are placed
# in the correct order when they are shown
app.getViewManager().updatePageIndexCache()
# If there is an open dock widget, we must hide it independently of the action that it is attached to.
# For simplicity, just hide all dock widgets when switching.
# TODO remember open docks associated with each robot so that UI state is saved
app.hideDockWidgets()
# TODO use an object with a hide/show method to store widgets and other components so that the hiding method
# is associated with the object rather than being implemented here
for robot in self.associatedWidgets.keys():
for widget in self.associatedWidgets[robot]["widgets"]:
widget.setVisible(robot == robotName)
for view in self.associatedWidgets[robot]["views"]:
if robot == robotName:
app.getViewManager().showView(view)
else:
app.getViewManager().hideView(view, False)
for model in self.associatedWidgets[robot]["models"]:
model.setProperty("Visible", robot == robotName)
for viewBehavior in self.associatedWidgets[robot]["viewbehaviors"]:
# Setting the enabled flag to false will cause the event filter not to filter any events, allowing them
# to pass to the event filter which is enabled, i.e. the one for the currently selected robot
viewBehavior.robotViewBehaviors.setEnabled(robot == robotName)
# Disable the submenu in the view menu for other robots. Without this items in the submenus are hidden
# but the submenu is not greyed out
app.findMenu(robot).setEnabled(robot == robotName)
def init(poseCollection, costCollection):
global _spreadsheetView
_spreadsheetView = app.getViewManager().createView('Spreadsheet View',
'Spreadsheet View')
updateMethod = functools.partial(updateSpreadsheetPoses, poseCollection)
poseCollection.connect('itemChanged(const QString&)', updateMethod)
poseCollection.connect('itemAdded(const QString&)', updateMethod)
poseCollection.connect('itemRemoved(const QString&)', updateMethod)
initSpreadsheetColumns(costCollection)
updateMethod()
def initView(self, view):
self.view = view or app.getViewManager().createView(self.viewName, 'VTK View')
self.view.installImageInteractor()
self.interactorStyle = self.view.renderWindow().GetInteractor().GetInteractorStyle()
self.interactorStyle.AddObserver('SelectionChangedEvent', self.onRubberBandPick)
self.imageActor = vtk.vtkImageActor()
self.imageActor.SetInput(self.getImage())
self.imageActor.SetVisibility(False)
self.view.renderer().AddActor(self.imageActor)
self.timerCallback = TimerCallback()
self.timerCallback.targetFps = 60
self.timerCallback.callback = self.updateView
self.timerCallback.start()
def initView(self, view):
self.view = view or app.getViewManager().createView(
self.viewName, 'VTK View')
self.view.installImageInteractor()
self.interactorStyle = self.view.renderWindow().GetInteractor(
).GetInteractorStyle()
self.interactorStyle.AddObserver('SelectionChangedEvent',
self.onRubberBandPick)
self.imageActor = vtk.vtkImageActor()
self.imageActor.SetInput(self.getImage())
self.imageActor.SetVisibility(False)
self.view.renderer().AddActor(self.imageActor)
self.timerCallback = TimerCallback()
self.timerCallback.targetFps = 60
self.timerCallback.callback = self.updateView
self.timerCallback.start()
def initView(self, view):
self.view = view or app.getViewManager().createView(self.viewName, "VTK View")
self.view.installImageInteractor()
self.interactorStyle = self.view.renderWindow().GetInteractor().GetInteractorStyle()
self.interactorStyle.AddObserver("SelectionChangedEvent", self.onRubberBandPick)
self.imageActor = vtk.vtkImageActor()
self.imageActor.SetInput(self.getImage())
self.imageActor.SetVisibility(False)
self.view.renderer().AddActor(self.imageActor)
self.view.orientationMarkerWidget().Off()
self.view.backgroundRenderer().SetBackground(0, 0, 0)
self.view.backgroundRenderer().SetBackground2(0, 0, 0)
self.timerCallback = TimerCallback()
self.timerCallback.targetFps = 60
self.timerCallback.callback = self.updateView
self.timerCallback.start()
def initView(self, view):
self.view = view or app.getViewManager().createView('Camera View', 'VTK View')
self.renderers = [self.view.renderer()]
renWin = self.view.renderWindow()
renWin.SetNumberOfLayers(3)
for i in [1, 2]:
ren = vtk.vtkRenderer()
ren.SetLayer(2)
ren.SetActiveCamera(self.view.camera())
renWin.AddRenderer(ren)
self.renderers.append(ren)
def applyCustomBounds():
self.view.addCustomBounds([-100, 100, -100, 100, -100, 100])
self.view.connect('computeBoundsRequest(ddQVTKWidgetView*)', applyCustomBounds)
app.setCameraTerrainModeEnabled(self.view, True)
self.resetCamera()
def initView(self, view):
self.view = view or app.getViewManager().createView('Camera View', 'VTK View')
self.renderers = [self.view.renderer()]
renWin = self.view.renderWindow()
renWin.SetNumberOfLayers(3)
for i in [1, 2]:
ren = vtk.vtkRenderer()
ren.SetLayer(2)
ren.SetActiveCamera(self.view.camera())
renWin.AddRenderer(ren)
self.renderers.append(ren)
def applyCustomBounds():
self.view.addCustomBounds([-100, 100, -100, 100, -100, 100])
self.view.connect('computeBoundsRequest(ddQVTKWidgetView*)', applyCustomBounds)
app.setCameraTerrainModeEnabled(self.view, True)
self.resetCamera()
def rayDebug(position, ray):
d = DebugData()
d.addLine(position, position + ray * 5.0)
drcView = app.getViewManager().findView("DRC View")
obj = vis.updatePolyData(d.getPolyData(), "camera ray", view=drcView, color=[0, 1, 0])
obj.actor.GetProperty().SetLineWidth(2)
