def __init__(self, view, _robotSystem):
self.view = view
self.viewBehaviors = viewbehaviors.ViewBehaviors(view)
self.robotViewBehaviors = RobotViewEventFilter(self, view)
self.robotName = _robotSystem.robotName
self.robotSystem = _robotSystem
self.robotModel = self.robotSystem.robotStateModel
if app.getMainWindow() is not None:
self.robotLinkSelector = RobotLinkSelector()
viewbehaviors.registerContextMenuActions(self.getRobotActions)
('Segment Ground', onSegmentGround),
('Segment Table', onSegmentTableScene),
('Segment Drill Aligned', onSegmentDrillAlignedWithTable),
('Local Plane Fit', onLocalPlaneFit),
('Orient with Horizontal', onOrientToMajorPlane),
('Arrow Glyph', onArrowGlyph),
('Disk Glyph', onDiskGlyph),
('Cache Pick Point', onCachePickedPoint),
(None, None),
('Open Segmentation Editor', onSegmentationEditor)
])
return actions
viewbehaviors.registerContextMenuActions(getRobotActions)
class RobotViewEventFilter(ViewEventFilter):
def onMouseWheel(self, event):
if neckDriver:
neckDriver.onWheelDelta(event.delta())
def onMouseMove(self, event):
for picker in segmentation.viewPickers:
if not picker.enabled:
continue
picker.onMouseMove(self.getMousePositionInView(event), event.modifiers())
('Merge Pointcloud Into', onMergeIntoPointCloud),
('Segment Ground', onSegmentGround),
('Segment Table', onSegmentTableScene),
('Segment Drill Aligned',
onSegmentDrillAlignedWithTable),
('Local Plane Fit', onLocalPlaneFit),
('Orient with Horizontal', onOrientToMajorPlane),
('Arrow Glyph', onArrowGlyph),
('Disk Glyph', onDiskGlyph),
('Cache Pick Point', onCachePickedPoint), (None, None),
('Open Segmentation Editor', onSegmentationEditor)])
return actions
viewbehaviors.registerContextMenuActions(getRobotActions)
class RobotViewEventFilter(ViewEventFilter):
def onMouseWheel(self, event):
if neckDriver:
neckDriver.onWheelDelta(event.delta())
def onMouseMove(self, event):
for picker in segmentation.viewPickers:
if not picker.enabled:
continue
picker.onMouseMove(self.getMousePositionInView(event),
event.modifiers())
global affordanceToAdd
affordanceToAdd = pickedObj
def onSelectAffordanceParent():
objectPicker.start()
actions = [
(None, None),
('Select parent...', onSelectAffordanceParent),
]
return actions
viewbehaviors.registerContextMenuActions(getAffordanceContextMenuActions)
app = mainwindowapp.construct()
view = app.view
affordanceManager = affordancemanager.AffordanceObjectModelManager(view)
if affordancemanager.lcmobjectcollection.USE_LCM:
affordanceitems.MeshAffordanceItem.getMeshManager().collection.sendEchoRequest()
affordanceManager.collection.sendEchoRequest()
objectPicker = pointpicker.ObjectPicker(view=view, callback=onAffordancePick, getObjectsFunction=affordanceManager.getAffordances)
def registerActions():
viewbehaviors.registerContextMenuActions(getActions)
global affordanceToAdd
affordanceToAdd = pickedObj
def onSelectAffordanceParent():
objectPicker.start()
actions = [
(None, None),
('Select parent...', onSelectAffordanceParent),
]
return actions
viewbehaviors.registerContextMenuActions(getAffordanceContextMenuActions)
app = mainwindowapp.construct()
view = app.view
affordanceManager = affordancemanager.AffordanceObjectModelManager(view)
if affordancemanager.lcmobjectcollection.USE_LCM:
affordanceitems.MeshAffordanceItem.getMeshManager().collection.sendEchoRequest()
affordanceManager.collection.sendEchoRequest()
objectPicker = pointpicker.ObjectPicker(view=view, callback=onAffordancePick, getObjectsFunction=affordanceManager.getAffordances)
def registerActions():
viewbehaviors.registerContextMenuActions(getActions)