def setupBackgroundImage(self):
image_file = Filename(rospack.RosPack().get_path(BACKGROUND_IMAGE_PACKAGE) + '/resources/backgrounds/' + BACKGROUND_IMAGE_PATH)
# check if image can be loaded
img_head = PNMImageHeader()
if not img_head.readHeader(image_file ):
raise IOError, "PNMImageHeader could not read file %s. Try using absolute filepaths"%(image_file.c_str())
sys.exit()
# Load the image with a PNMImage
w = img_head.getXSize()
h = img_head.getYSize()
img = PNMImage(w,h)
#img.alphaFill(0)
img.read(image_file)
texture = Texture()
texture.setXSize(w)
texture.setYSize(h)
texture.setZSize(1)
texture.load(img)
texture.setWrapU(Texture.WM_border_color) # gets rid of odd black edges around image
texture.setWrapV(Texture.WM_border_color)
texture.setBorderColor(LColor(0,0,0,0))
# creating CardMaker to hold the texture
cm = CardMaker('background')
cm.setFrame(-0.5*w,0.5*w,-0.5*h,0.5*h) # This configuration places the image's topleft corner at the origin (left, right, bottom, top)
background_np = NodePath(cm.generate())
background_np.setTexture(texture)
background_np.reparentTo(self.render)
background_np.setPos(BACKGROUND_POSITION)
background_np.setScale(BACKGROUND_IMAGE_SCALE)
