def main(globalsDict=None): if '--testing' not in sys.argv: drcargs.requireStrict() appName = 'Drake Visualizer' fact = mainwindowapp.ComponentFactory() fact.register(mainwindowapp.MainWindowAppFactory) fact.register(mainwindowapp.MainWindowPanelFactory) options = fact.getDefaultOptions() fact.setDependentOptions(options, useTreeViewer=HAVE_LCMRL, useDrakeVisualizer=True, useLCMGLRenderer=True) fields = fact.construct( options=options, globalsDict=globalsDict, windowTitle=appName, applicationName=appName) if globalsDict is not None: globalsDict.update(**dict(fields)) fields.app.start()
def main(globalsDict=None): if "--testing" not in sys.argv: drcargs.requireStrict() parser = drcargs.getGlobalArgParser().getParser() parser.add_argument( "--protocol", dest="visualizer_protocol", default="drake", type=str, help="Visualizer protocol (drake or json)" ) args = drcargs.args() knownProtocols = ("drake", "json") if args.visualizer_protocol not in knownProtocols: print print "Unrecognized visualizer protocol:", args.visualizer_protocol print "Available protocols:", ", ".join(knownProtocols) print sys.exit(1) appName = "Drake Visualizer" app = mainwindowapp.MainWindowAppFactory().construct( globalsDict=globalsDict, windowTitle=appName, applicationName=appName ) fact = mainwindowapp.MainWindowPanelFactory() options = fact.getDefaultOptions() options.useLCMGLRenderer = True if args.visualizer_protocol == "json": fact.setDependentOptions(options, useLCMVisualizer=True) elif args.visualizer_protocol == "drake": fact.setDependentOptions(options, useDrakeVisualizer=True) fact.construct(options, app=app.app, view=app.view) if globalsDict is not None: globalsDict.update(**dict(app)) app.app.start()
from director.tasks import taskmanagerwidget from director.tasks.descriptions import loadTaskDescriptions import drc as lcmdrc import bot_core as lcmbotcore import maps as lcmmaps import atlas from collections import OrderedDict import functools import math import numpy as np from director.debugVis import DebugData from director import ioUtils as io drcargs.requireStrict() drcargs.args() app.startup(globals()) om.init(app.getMainWindow().objectTree(), app.getMainWindow().propertiesPanel()) actionhandlers.init() quit = app.quit exit = quit view = app.getDRCView() camera = view.camera() tree = app.getMainWindow().objectTree() orbit = cameracontrol.OrbitController(view) showPolyData = segmentation.showPolyData updatePolyData = segmentation.updatePolyData