if usePerception:
segmentationpanel.init()
cameraview.init()
colorize.init()
cameraview.cameraView.initImageRotations(robotStateModel)
cameraview.cameraView.rayCallback = segmentation.extractPointsAlongClickRay
if useMultisense:
multisensepanel.init(perception.multisenseDriver)
else:
app.removeToolbarMacro('ActionMultisensePanel')
sensordatarequestpanel.init()
# for kintinuous, use 'CAMERA_FUSED', 'CAMERA_TSDF'
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'))
app.removeToolbarMacro('ActionAtlasDriverPanel')
if usePerception:
segmentationpanel.init()
cameraview.init()
colorize.init()
cameraview.cameraView.initImageRotations(robotStateModel)
cameraview.cameraView.rayCallback = segmentation.extractPointsAlongClickRay
if useMultisense:
multisensepanel.init(perception.multisenseDriver)
else:
app.removeToolbarMacro('ActionMultisensePanel')
sensordatarequestpanel.init()
# for kintinuous, use 'CAMERA_FUSED', 'CAMERA_TSDF'
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',