def _create_deferred(self): # Defer creating viewer until we have a message. def callback(msg): # Create. frame_names = [image.header.frame_name for image in msg.images] print("DrakeLcmImageViewer: Received on '{}', frame_names = {}" .format(self._channel, frame_names)) self._init_full(frame_names) print("DrakeLcmImageViewer: Defer setup until '{}' is received".format( self._channel)) self._defer_sub = lcmUtils.captureMessageCallback( self._channel, rl.image_array_t, callback)
def _create_deferred(self): # Defer creating viewer until we have a message. def callback(msg): # Create. frame_names = [image.header.frame_name for image in msg.images] print("DrakeLcmImageViewer: Received on '{}', frame_names = {}". format(self._channel, frame_names)) self._init_full(frame_names) print("DrakeLcmImageViewer: Defer setup until '{}' is received".format( self._channel)) self._defer_sub = lcmUtils.captureMessageCallback( self._channel, rl.image_array_t, callback)
# initialize camera view cameraChannel = 'MULTISENSE_CAMERA_LEFT' imageManager = cameraview.ImageManager() imageManager.queue.addCameraStream(cameraChannel) imageManager.addImage(cameraChannel) cameraView = cameraview.CameraImageView(imageManager, cameraChannel, view=app.createView(useGrid=False)) # show widgets with a grid layout w = QtGui.QWidget() l = QtGui.QGridLayout(w) l.addWidget(view, 0, 0) l.addWidget(cameraView.view, 0, 1) l.addWidget(playbackPanel.widget, 1, 0, 1, 2) # row, column, row span, column span l.setContentsMargins(0, 0, 0, 0) w.resize(1024, 600) w.show() # add lcm logplayer keyboard shortcuts logCommander = robotviewbehaviors.KeyPressLogCommander(view) # reset camera position when first robot state message is received lcmUtils.captureMessageCallback('EST_ROBOT_STATE', lcmbotcore.robot_state_t, lambda x: view.resetCamera()) # start the application app.start()
manipPlanner.connectPlanReceived(playbackPanel.setPlan) # initialize pointcloud lcm pointcloudlcm.init(view) # initialize camera view cameraChannel = 'MULTISENSE_CAMERA_LEFT' imageManager = cameraview.ImageManager() imageManager.queue.addCameraStream(cameraChannel) imageManager.addImage(cameraChannel) cameraView = cameraview.CameraImageView(imageManager, cameraChannel, view=app.createView(useGrid=False)) # show widgets with a grid layout w = QtGui.QWidget() l = QtGui.QGridLayout(w) l.addWidget(view, 0, 0) l.addWidget(cameraView.view, 0, 1) l.addWidget(playbackPanel.widget, 1, 0, 1, 2) # row, column, row span, column span l.setContentsMargins(0, 0, 0, 0) w.resize(1024, 600) w.show() # add lcm logplayer keyboard shortcuts logCommander = robotviewbehaviors.KeyPressLogCommander(view) # reset camera position when first robot state message is received lcmUtils.captureMessageCallback('EST_ROBOT_STATE', lcmbotcore.robot_state_t, lambda x: view.resetCamera()) # start the application app.start()