def createGUI(self):
# Creates the widget where to visualize the RGB-D data
self.viewer = RGBDViewer(self.app,
render3D=self.rendering,
close_callback=self.stop)
self.viewer.show()
self.connect(self.viewer.pauseButton, QtCore.SIGNAL("clicked()"),
self.pause)
self.newFrameSignal.connect(self.processFrame)
def createGUI(self):
# Creates the widget where to visualize the RGB-D data
self.viewer = RGBDViewer(self.app, render3D=self.rendering, close_callback=self.stop)
self.viewer.show()
self.connect(self.viewer.pauseButton, QtCore.SIGNAL("clicked()"), self.pause)
self.newFrameSignal.connect(self.processFrame)
class Processor(QtCore.QObject):
"""
Class to handle a stream of RGB-D data and to display it
"""
newFrameSignal = QtCore.Signal()
def __init__(self, rendering=True):
super(Processor, self).__init__()
self.connected = False
self.viewer = None
self.streamer = None
self.frame_callback = None
self.rendering = rendering
self.count = 0
self.app = None
def __del__(self):
self.stop()
def createGUI(self):
# Creates the widget where to visualize the RGB-D data
self.viewer = RGBDViewer(self.app,
render3D=self.rendering,
close_callback=self.stop)
self.viewer.show()
self.connect(self.viewer.pauseButton, QtCore.SIGNAL("clicked()"),
self.pause)
self.newFrameSignal.connect(self.processFrame)
def pause(self):
"""
Toggle the pause status
"""
self.streamer.pause(not self.streamer.paused)
def run(self, source=0, calibrationFile=None, frame_callback=None):
# Sets the function to be called each time a new frame data is available
self.frame_callback = frame_callback
# Creates the RGB-D data streaming class
self.streamer = RGBDStreamer(
frame_callback=self.newFrameSignal.emit,
connection_callback=self.connectionUpdate,
calibrate=True) # frame_callback=self.newFrame
self.streamer.connect(source, calibrationFile)
# Now create the Qt Application (basically for the Qt events loop)
self.app = QtGui.QApplication(sys.argv)
# Creates the necessary GUI
self.createGUI()
# Puts the streamer to run freely
self.streamer.pause(False)
# Runs the Qt Loop
sys.exit(self.app.exec_())
def stop(self):
"""
Stops the process of data generation
"""
if self.streamer is not None:
self.streamer.pause(True)
self.streamer.disconnect()
self.streamer.kill()
self.streamer = None
def connectionUpdate(self, state=False):
self.connected = state
def processFrame(self):
"""
This function is called within the Qt events loop, as response tot he newFrameSignal activation
"""
if self.streamer is None:
return
data = self.streamer.popFrame()
if data is not None:
self.frame, self.frameIndex = data
self.newFrameAvailable = False
if self.frame is not None:
if self.frame_callback is not None:
self.frame_callback(self.frame, self.frameIndex)
self.viewer.setNewData(self.frame, self.frameIndex)
else:
self.frameMesh, self.state = None, None
class Processor(QtCore.QObject):
"""
Class to handle a stream of RGB-D data and to display it
"""
newFrameSignal = QtCore.Signal()
def __init__(self, rendering=True):
super(Processor, self).__init__()
self.connected=False
self.viewer=None
self.streamer=None
self.frame_callback=None
self.rendering = rendering
self.count = 0
self.app = None
def __del__(self):
self.stop()
def createGUI(self):
# Creates the widget where to visualize the RGB-D data
self.viewer = RGBDViewer(self.app, render3D=self.rendering, close_callback=self.stop)
self.viewer.show()
self.connect(self.viewer.pauseButton, QtCore.SIGNAL("clicked()"), self.pause)
self.newFrameSignal.connect(self.processFrame)
def pause(self):
"""
Toggle the pause status
"""
self.streamer.pause(not self.streamer.paused)
def run(self, source=0, calibrationFile=None, frame_callback =None):
# Sets the function to be called each time a new frame data is available
self.frame_callback=frame_callback
# Creates the RGB-D data streaming class
self.streamer=RGBDStreamer(frame_callback=self.newFrameSignal.emit, connection_callback=self.connectionUpdate, calibrate = True) # frame_callback=self.newFrame
self.streamer.connect(source, calibrationFile)
# Now create the Qt Application (basically for the Qt events loop)
self.app = QtGui.QApplication(sys.argv)
# Creates the necessary GUI
self.createGUI()
# Puts the streamer to run freely
self.streamer.pause(False)
# Runs the Qt Loop
sys.exit(self.app.exec_())
def stop(self):
"""
Stops the process of data generation
"""
if self.streamer is not None:
self.streamer.pause(True)
self.streamer.disconnect()
self.streamer.kill()
self.streamer=None
def connectionUpdate(self, state=False):
self.connected = state
def processFrame(self):
"""
This function is called within the Qt events loop, as response tot he newFrameSignal activation
"""
if self.streamer is None:
return
data = self.streamer.popFrame()
if data is not None:
self.frame, self.frameIndex = data
self.newFrameAvailable = False
if self.frame is not None:
if self.frame_callback is not None:
self.frame_callback(self.frame, self.frameIndex)
self.viewer.setNewData(self.frame, self.frameIndex)
else:
self.frameMesh, self.state = None, None
