def initGrid(self, fields):
gridObj = vis.showGrid(fields.view, parent='scene')
gridObj.setProperty('Surface Mode', 'Surface with edges')
gridObj.setProperty('Color', [0, 0, 0])
gridObj.setProperty('Alpha', 0.1)
applogic.resetCamera(viewDirection=[-1, -1, -0.3], view=fields.view)
return FieldContainer(gridObj=gridObj)
def initGrid(self, fields):
gridObj = vis.showGrid(fields.view, parent="scene")
gridObj.setProperty("Surface Mode", "Surface with edges")
gridObj.setProperty("Color", [0, 0, 0])
gridObj.setProperty("Alpha", 0.1)
applogic.resetCamera(viewDirection=[-1, -1, -0.3], view=fields.view)
return FieldContainer(gridObj=gridObj)
def __init__(self):
app.setupPackagePaths()
self.setupUi()
app.toggleCameraTerrainMode(self.view)
self.resetCamera()
self.drakeVis = drakevisualizer.DrakeVisualizer(self.view)
vis.showGrid(self.view, color=[0, 0, 0], parent=None)
self.timer = TimerCallback()
self.timer.callback = self.update
self.timer.targetFps = 60
def __init__(self):
app.setupPackagePaths()
self.setupUi()
app.toggleCameraTerrainMode(self.view)
self.resetCamera()
self.drakeVis = drakevisualizer.DrakeVisualizer(self.view)
vis.showGrid(self.view, color=[0,0,0], parent=None)
self.timer = TimerCallback()
self.timer.callback = self.update
self.timer.targetFps = 60
def initGrid(self, fields):
gridObj = vis.showGrid(fields.view, parent='scene')
gridObj.setProperty('Surface Mode', 'Surface with edges')
gridObj.setProperty('Color', [0,0,0])
gridObj.setProperty('Alpha', 0.1)
applogic.resetCamera(viewDirection=[-1, -1, -0.3], view=fields.view)
return FieldContainer(gridObj=gridObj)
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 createView(self, useGrid=True):
view = PythonQt.dd.ddQVTKWidgetView()
view.resize(600, 400)
applogic.setCameraTerrainModeEnabled(view, True)
if useGrid:
self.gridObj = vis.showGrid(view, parent='scene')
self.viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(self.viewOptions, parentObj=om.findObjectByName('scene'))
applogic.resetCamera(viewDirection=[-1,-1,-0.3], view=view)
self.viewBehaviors = viewbehaviors.ViewBehaviors(view)
applogic._defaultRenderView = view
applogic.addShortcut(view, 'Ctrl+Q', self.quit)
applogic.addShortcut(view, 'F8', self.showPythonConsole)
applogic.addShortcut(view, 'F1', self.showObjectModel)
view.setWindowIcon(om.Icons.getIcon(om.Icons.Robot))
view.setWindowTitle('View')
return view
def createView(self, useGrid=True):
view = PythonQt.dd.ddQVTKWidgetView()
view.resize(600, 400)
applogic.setCameraTerrainModeEnabled(view, True)
if useGrid:
self.gridObj = vis.showGrid(view, parent='scene')
self.viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(self.viewOptions, parentObj=om.findObjectByName('scene'))
applogic.resetCamera(viewDirection=[-1,-1,-0.3], view=view)
self.viewBehaviors = viewbehaviors.ViewBehaviors(view)
applogic._defaultRenderView = view
applogic.addShortcut(view, 'Ctrl+Q', self.quit)
applogic.addShortcut(view, 'F8', self.showPythonConsole)
applogic.addShortcut(view, 'F1', self.showObjectModel)
view.setWindowIcon(om.Icons.getIcon(om.Icons.Robot))
view.setWindowTitle('View')
return view
def __init__(self):
self.applicationInstance().setOrganizationName('RobotLocomotionGroup')
self.applicationInstance().setApplicationName('drake-visualizer')
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)
# This setting improves the near plane clipping resolution.
# Drake often draws a very large ground plane which is detrimental to
# the near clipping for up close objects. The trade-off is Z buffer
# resolution but in practice things look good with this setting.
self.view.renderer().SetNearClippingPlaneTolerance(0.0005)
# add view behaviors
self.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.settings = QtCore.QSettings()
self.fileMenu = self.mainWindow.menuBar().addMenu('&File')
self.viewMenu = self.mainWindow.menuBar().addMenu('&View')
self.viewMenuManager = PythonQt.dd.ddViewMenu(self.viewMenu)
self.drakeVisualizer = DrakeVisualizer(self.view)
self.lcmglManager = lcmgl.LCMGLManager(
self.view) if lcmgl.LCMGL_AVAILABLE else None
model = om.getDefaultObjectModel()
model.getTreeWidget().setWindowTitle('Scene Browser')
model.getPropertiesPanel().setWindowTitle('Properties Panel')
self.sceneBrowserDock = self.addWidgetToDock(
model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea, visible=False)
self.propertiesDock = self.addWidgetToDock(
self.wrapScrollArea(model.getPropertiesPanel()),
QtCore.Qt.LeftDockWidgetArea,
visible=False)
self.addViewMenuSeparator()
self.screenGrabberPanel = ScreenGrabberPanel(self.view)
self.screenGrabberDock = self.addWidgetToDock(
self.screenGrabberPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(
self.view)
self.cameraBookmarksDock = self.addWidgetToDock(
self.cameraBookmarksPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
self.cameraControlPanel = cameracontrolpanel.CameraControlPanel(
self.view)
self.cameraControlDock = self.addWidgetToDock(
self.cameraControlPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
act = self.fileMenu.addAction('&Quit')
act.setShortcut(QtGui.QKeySequence('Ctrl+Q'))
act.connect('triggered()', self.applicationInstance().quit)
self.fileMenu.addSeparator()
act = self.fileMenu.addAction('&Open Data...')
act.setShortcut(QtGui.QKeySequence('Ctrl+O'))
act.connect('triggered()', self._onOpenDataFile)
applogic.addShortcut(self.mainWindow, 'F1', self._toggleObjectModel)
applogic.addShortcut(self.mainWindow, 'F8', applogic.showPythonConsole)
self.applicationInstance().connect('aboutToQuit()',
self._onAboutToQuit)
for obj in om.getObjects():
obj.setProperty('Deletable', False)
self.mainWindow.show()
self._saveWindowState('MainWindowDefault')
self._restoreWindowState('MainWindowCustom')
def __init__(self):
self.applicationInstance().setOrganizationName("RobotLocomotionGroup")
self.applicationInstance().setApplicationName("drake-visualizer")
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)
# This setting improves the near plane clipping resolution.
# Drake often draws a very large ground plane which is detrimental to
# the near clipping for up close objects. The trade-off is Z buffer
# resolution but in practice things look good with this setting.
self.view.renderer().SetNearClippingPlaneTolerance(0.0005)
# add view behaviors
self.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.settings = QtCore.QSettings()
self.fileMenu = self.mainWindow.menuBar().addMenu("&File")
self.viewMenu = self.mainWindow.menuBar().addMenu("&View")
self.viewMenuManager = PythonQt.dd.ddViewMenu(self.viewMenu)
self.drakeVisualizer = DrakeVisualizer(self.view)
self.lcmglManager = lcmgl.LCMGLManager(self.view) if lcmgl.LCMGL_AVAILABLE else None
model = om.getDefaultObjectModel()
model.getTreeWidget().setWindowTitle("Scene Browser")
model.getPropertiesPanel().setWindowTitle("Properties Panel")
self.sceneBrowserDock = self.addWidgetToDock(model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea, visible=False)
self.propertiesDock = self.addWidgetToDock(
self.wrapScrollArea(model.getPropertiesPanel()), QtCore.Qt.LeftDockWidgetArea, visible=False
)
self.addViewMenuSeparator()
self.screenGrabberPanel = ScreenGrabberPanel(self.view)
self.screenGrabberDock = self.addWidgetToDock(
self.screenGrabberPanel.widget, QtCore.Qt.RightDockWidgetArea, visible=False
)
self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(self.view)
self.cameraBookmarksDock = self.addWidgetToDock(
self.cameraBookmarksPanel.widget, QtCore.Qt.RightDockWidgetArea, visible=False
)
self.cameraControlPanel = cameracontrolpanel.CameraControlPanel(self.view)
self.cameraControlDock = self.addWidgetToDock(
self.cameraControlPanel.widget, QtCore.Qt.RightDockWidgetArea, visible=False
)
act = self.fileMenu.addAction("&Quit")
act.setShortcut(QtGui.QKeySequence("Ctrl+Q"))
act.connect("triggered()", self.applicationInstance().quit)
self.fileMenu.addSeparator()
act = self.fileMenu.addAction("&Open Data...")
act.setShortcut(QtGui.QKeySequence("Ctrl+O"))
act.connect("triggered()", self._onOpenDataFile)
applogic.addShortcut(self.mainWindow, "F1", self._toggleObjectModel)
applogic.addShortcut(self.mainWindow, "F8", applogic.showPythonConsole)
self.applicationInstance().connect("aboutToQuit()", self._onAboutToQuit)
for obj in om.getObjects():
obj.setProperty("Deletable", False)
self.mainWindow.show()
self._saveWindowState("MainWindowDefault")
self._restoreWindowState("MainWindowCustom")
disparityPointCloud = segmentation.DisparityPointCloudItem('stereo point cloud', 'CAMERA', 'CAMERA_LEFT', cameraview.imageManager)
disparityPointCloud.addToView(view)
om.addToObjectModel(disparityPointCloud, parentObj=om.findObjectByName('sensors'))
def createPointerTracker():
return trackers.PointerTracker(robotStateModel, disparityPointCloud)
if useOpenniDepthImage:
openniDepthPointCloud = segmentation.DisparityPointCloudItem('openni point cloud', 'OPENNI_FRAME', 'OPENNI_FRAME_LEFT', cameraview.imageManager)
openniDepthPointCloud.addToView(view)
om.addToObjectModel(openniDepthPointCloud, parentObj=om.findObjectByName('sensors'))
if useGrid:
grid = vis.showGrid(view, color=[0,0,0], alpha=0.1)
grid.setProperty('Surface Mode', 'Surface with edges')
app.setBackgroundColor([0.3, 0.3, 0.35], [0.95,0.95,1])
viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors'))
viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(viewOptions, grid,
app.getToolsMenuActions()['ActionToggleBackgroundLight'])
if not useLightColorScheme:
viewBackgroundLightHandler.action.trigger()
if useHands:
handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel, robotStateJointController, view)
else:
parentObj=om.findObjectByName('sensors'))
def createPointerTracker():
return trackers.PointerTracker(robotStateModel, disparityPointCloud)
if useOpenniDepthImage:
openniDepthPointCloud = segmentation.DisparityPointCloudItem(
'openni point cloud', 'OPENNI_FRAME', 'OPENNI_FRAME_LEFT',
cameraview.imageManager)
openniDepthPointCloud.addToView(view)
om.addToObjectModel(openniDepthPointCloud,
parentObj=om.findObjectByName('sensors'))
if useGrid:
grid = vis.showGrid(view, color=[0, 0, 0], alpha=0.1)
grid.setProperty('Surface Mode', 'Surface with edges')
app.setBackgroundColor([0.3, 0.3, 0.35], [0.95, 0.95, 1])
viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors'))
viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(
viewOptions, grid,
app.getToolsMenuActions()['ActionToggleBackgroundLight'])
if not useLightColorScheme:
viewBackgroundLightHandler.action.trigger()
if useHands:
handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel,
# If there is only one robot, the selector should not be shown
if len(robotSystems) == 1:
selectorAction.setVisible(False)
# When there is only one robot we do not want to prefix topics
robotSystems[0]._add_fields(rosPrefix="", single=True)
else:
for robotSystem in robotSystems:
# With multiple robots, prefix the topics with the robot names
robotSystem._add_fields(rosPrefix=robotSystem.robotName, single=False)
# Before going through all the robot systems, we do some setup which is universal and not linked to any specific robot
useLightColorScheme = True
sceneRoot = om.getOrCreateContainer("scene")
grid = vis.showGrid(view, color=[0, 0, 0], alpha=0.1, parent=sceneRoot)
grid.setProperty("Surface Mode", "Surface with edges")
app.setBackgroundColor([0.3, 0.3, 0.35], [0.95, 0.95, 1])
viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(viewOptions, parentObj=sceneRoot)
viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(
viewOptions, grid,
app.getToolsMenuActions()["ActionToggleBackgroundLight"])
viewFramesHandler = viewframes.ViewFramesSizeHandler(
app.getToolsMenuActions()["ActionToggleFramesSize"])
if not useLightColorScheme:
