def make_icon(self, image_list, mode=QIcon.Normal, state=QIcon.On):
"""
Helper function to create QIcons from lists of image files
Warning: svg files interleaved with other files will not render correctly
:param image_list: list of image paths to layer into an icon.
:type image: list of str
:param mode: The mode of the QIcon to be created.
:type mode: int
:param state: the state of the QIcon to be created.
:type state: int
"""
if type(image_list) is not list:
image_list = [image_list]
if len(image_list) <= 0:
raise TypeError('The list of images is empty.')
num_svg = 0
for item in image_list:
if item[-4:].lower() == '.svg':
num_svg = num_svg + 1
if num_svg != len(image_list):
# Legacy support for non-svg images
icon_pixmap = QPixmap()
icon_pixmap.load(image_list[0])
painter = QPainter(icon_pixmap)
for item in image_list[1:]:
painter.drawPixmap(0, 0, QPixmap(item))
icon = QIcon()
icon.addPixmap(icon_pixmap, mode, state)
painter.end()
return icon
else:
# rendering SVG files into a QImage
renderer = QSvgRenderer(image_list[0])
icon_image = QImage(renderer.defaultSize(), QImage.Format_ARGB32)
icon_image.fill(0)
painter = QPainter(icon_image)
renderer.render(painter)
if len(image_list) > 1:
for item in image_list[1:]:
renderer.load(item)
renderer.render(painter)
painter.end()
# Convert QImage into a pixmap to create the icon
icon_pixmap = QPixmap()
icon_pixmap.convertFromImage(icon_image)
icon = QIcon(icon_pixmap)
return icon
def make_icon(self, image_list, mode=QIcon.Normal, state=QIcon.On):
"""
Helper function to create QIcons from lists of image files
Warning: svg files interleaved with other files will not render correctly
:param image_list: list of image paths to layer into an icon.
:type image: list of str
:param mode: The mode of the QIcon to be created.
:type mode: int
:param state: the state of the QIcon to be created.
:type state: int
"""
if type(image_list) is not list:
image_list = [image_list]
if len(image_list) <= 0:
raise TypeError('The list of images is empty.')
num_svg = 0
for item in image_list:
if item[-4:].lower() == '.svg':
num_svg = num_svg + 1
if num_svg != len(image_list):
# Legacy support for non-svg images
icon_pixmap = QPixmap()
icon_pixmap.load(image_list[0])
painter = QPainter(icon_pixmap)
for item in image_list[1:]:
painter.drawPixmap(0, 0, QPixmap(item))
icon = QIcon()
icon.addPixmap(icon_pixmap, mode, state)
painter.end()
return icon
else:
# rendering SVG files into a QImage
renderer = QSvgRenderer(image_list[0])
icon_image = QImage(renderer.defaultSize(), QImage.Format_ARGB32)
icon_image.fill(0)
painter = QPainter(icon_image)
renderer.render(painter)
if len(image_list) > 1:
for item in image_list[1:]:
renderer.load(item)
renderer.render(painter)
painter.end()
# Convert QImage into a pixmap to create the icon
icon_pixmap = QPixmap()
icon_pixmap.convertFromImage(icon_image)
icon = QIcon(icon_pixmap)
return icon
def writeLocationsToFile(self):
out_dict = {}
out_dict["locations"] = self.locations.keys()
out_dict["locations"] = sorted(out_dict["locations"])
out_dict["polygons"] = []
for index, key in enumerate(sorted(self.locations)):
out_dict["polygons"].append([])
polygon = self.locations[key]
for i in range(polygon.size()):
pt = polygon.point(i)
scaled_pt = scalePoint(pt, self.image_size, self.map_size)
out_dict["polygons"][index].append(scaled_pt.x())
out_dict["polygons"][index].append(scaled_pt.y())
data_directory = os.path.dirname(os.path.realpath(self.location_file))
image_file = getLocationsImageFileLocationFromDataDirectory(
data_directory)
# Create an image with the location data, so that C++ programs don't need to rely on determining regions using polygons.
out_dict["data"] = 'locations.pgm'
location_image = QImage(self.map_size, QImage.Format_RGB32)
location_image.fill(Qt.white)
painter = QPainter(location_image)
for index, key in enumerate(self.locations):
if index > 254:
rospy.logerr(
"You have more than 254 locations, which is unsupported by the bwi_planning_common C++ code!"
)
painter.setPen(Qt.NoPen)
painter.setBrush(QColor(index, index, index))
scaled_polygon = scalePolygon(self.locations[key], self.image_size,
self.map_size)
painter.drawPolygon(scaled_polygon)
painter.end()
location_image.save(image_file)
stream = open(self.location_file, 'w')
yaml.dump(out_dict, stream)
stream.close()
self.is_modified = False
class MapImage(QLabel):
def __init__(self, map_image_location, parent=None):
super(MapImage, self).__init__(parent)
# Image
self.setFixedHeight(700)
self.setFixedWidth(1300)
self.setObjectName("map_image")
# Set defaults to handle mouse events, as if these are not setup and a user clicks on the image, then all future
# mouse events are ignored.
self.enableDefaultMouseHooks()
map_image = QImage(map_image_location)
self.map_image = map_image.scaled(1300, 700, Qt.KeepAspectRatio)
# Create a pixmap for the overlay. This will be modified by functions to change what is being displayed
# on the screen.
self.overlay_image = QImage(self.map_image.size(),
QImage.Format_ARGB32_Premultiplied)
self.overlay_image.fill(Qt.transparent)
self.update()
def defaultMouseHandler(self, event):
# Do nothing.
pass
def enableDefaultMouseHooks(self):
self.mousePressEvent = self.defaultMouseHandler
self.mouseMoveEvent = self.defaultMouseHandler
self.mouseReleaseEvent = self.defaultMouseHandler
def paintEvent(self, event):
painter = QPainter(self)
painter.drawImage(event.rect(), self.map_image, event.rect())
painter.drawImage(event.rect(), self.overlay_image, event.rect())
painter.end()
class MapImage(QLabel):
def __init__(self, map_image_location, parent=None):
super(MapImage, self).__init__(parent)
# Image
self.setFixedHeight(700)
self.setFixedWidth(1300)
self.setObjectName("map_image")
# Set defaults to handle mouse events, as if these are not setup and a user clicks on the image, then all future
# mouse events are ignored.
self.enableDefaultMouseHooks()
map_image = QImage(map_image_location)
self.map_image = map_image.scaled(1300, 700, Qt.KeepAspectRatio)
# Create a pixmap for the overlay. This will be modified by functions to change what is being displayed
# on the screen.
self.overlay_image = QImage(self.map_image.size(), QImage.Format_ARGB32_Premultiplied)
self.overlay_image.fill(Qt.transparent)
self.update()
def defaultMouseHandler(self, event):
# Do nothing.
pass
def enableDefaultMouseHooks(self):
self.mousePressEvent = self.defaultMouseHandler
self.mouseMoveEvent = self.defaultMouseHandler
self.mouseReleaseEvent = self.defaultMouseHandler
def paintEvent(self, event):
painter = QPainter(self)
painter.drawImage(event.rect(), self.map_image, event.rect())
painter.drawImage(event.rect(), self.overlay_image, event.rect())
painter.end()
def writeLocationsToFile(self):
out_dict = {}
out_dict["locations"] = self.locations.keys()
out_dict["polygons"] = []
for index, location in enumerate(self.locations):
out_dict["polygons"].append([])
for i in range(self.locations[location].size()):
pt = self.locations[location].point(i)
scaled_pt = scalePoint(pt, self.image_size, self.map_size)
out_dict["polygons"][index].append(scaled_pt.x())
out_dict["polygons"][index].append(scaled_pt.y())
data_directory = os.path.dirname(os.path.realpath(self.location_file))
image_file = getLocationsImageFileLocationFromDataDirectory(data_directory)
# Create an image with the location data, so that C++ programs don't need to rely on determining regions using polygons.
out_dict["data"] = 'locations.pgm'
location_image = QImage(self.map_size, QImage.Format_RGB32)
location_image.fill(Qt.white)
painter = QPainter(location_image)
for index, location in enumerate(self.locations):
if index > 254:
rospy.logerr("You have more than 254 locations, which is unsupported by the bwi_planning_common C++ code!")
painter.setPen(Qt.NoPen)
painter.setBrush(QColor(index, index, index))
scaled_polygon = scalePolygon(self.locations[location], self.image_size, self.map_size)
painter.drawPolygon(scaled_polygon)
painter.end()
location_image.save(image_file)
stream = open(self.location_file, 'w')
yaml.dump(out_dict, stream)
stream.close()
self.is_modified = False
