def __init__(self, robotStateJointController, view, cameraview,
mapServerSource):
self.robotStateJointController = robotStateJointController
self.view = view
self.cameraview = cameraview
self.mapServerSource = mapServerSource
self.lastCameraMessageTime = 0
self.lastScanBundleMessageTime = 0
self.lastBlackoutLengths = []
self.lastBlackoutLength = 0
self.inBlackout = False
self.averageBlackoutLength = 0.0
self.txt = vis.updateText("DATA AGE: 0 sec",
"Data Age Text",
view=self.view)
self.txt.addProperty('Show Avg Duration', False)
self.txt.setProperty('Visible', False)
self.updateTimer = TimerCallback(self.UPDATE_RATE)
self.updateTimer.callback = self.update
self.updateTimer.start()
def main():
app = consoleapp.ConsoleApp()
meshCollection = lcmobjectcollection.LCMObjectCollection(
'MESH_COLLECTION_COMMAND')
affordanceCollection = lcmobjectcollection.LCMObjectCollection(
'AFFORDANCE_COLLECTION_COMMAND')
meshCollection.sendEchoRequest()
affordanceCollection.sendEchoRequest()
def printCollection():
print
print '----------------------------------------------------'
print datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')
print '%d affordances' % len(affordanceCollection.collection)
for desc in affordanceCollection.collection.values():
print
print 'name:', desc['Name']
print 'type:', desc['classname']
timer = TimerCallback(targetFps=0.2)
timer.callback = printCollection
timer.start()
#app.showPythonConsole()
app.start()
def __init__(self, spindleMonitor):
self.spindleMonitor = spindleMonitor
self.timer = TimerCallback(targetFps=3)
self.timer.callback = self.update
self.warningButton = None
self.action = None
def _initTaskPanel(self):
self.lastStatusMessage = ''
self.nextStepTask = None
self.completedTasks = []
self.taskQueue = atq.AsyncTaskQueue()
self.taskQueue.connectQueueStarted(self.onQueueStarted)
self.taskQueue.connectQueueStopped(self.onQueueStopped)
self.taskQueue.connectTaskStarted(self.onTaskStarted)
self.taskQueue.connectTaskEnded(self.onTaskEnded)
self.taskQueue.connectTaskPaused(self.onTaskPaused)
self.taskQueue.connectTaskFailed(self.onTaskFailed)
self.taskQueue.connectTaskException(self.onTaskException)
self.timer = TimerCallback(targetFps=2)
self.timer.callback = self.updateTaskStatus
self.timer.start()
self.taskTree = tmw.TaskTree()
self.ui.taskFrame.layout().insertWidget(0, self.taskTree.treeWidget)
l = QtGui.QVBoxLayout(self.ui.taskPropertiesGroupBox)
l.addWidget(self.taskTree.propertiesPanel)
PythonQt.dd.ddGroupBoxHider(self.ui.taskPropertiesGroupBox)
self.ui.taskStepButton.connect('clicked()', self.onStep)
self.ui.taskContinueButton.connect('clicked()', self.onContinue)
self.ui.taskPauseButton.connect('clicked()', self.onPause)
self.ui.promptAcceptButton.connect('clicked()', self.onAcceptPrompt)
self.ui.promptRejectButton.connect('clicked()', self.onRejectPrompt)
self.clearPrompt()
self.updateTaskButtons()
def __init__(self):
self.timer = TimerCallback(targetFps=10)
#self.timer.disableScheduledTimer()
self.app = ConsoleApp()
self.robotModel, self.jointController = roboturdf.loadRobotModel(
'robot model')
self.fpsCounter = simpletimer.FPSCounter()
self.drakePoseJointNames = robotstate.getDrakePoseJointNames()
self.fpsCounter.printToConsole = True
self.timer.callback = self._tick
self._initialized = False
self.publishChannel = 'JOINT_POSITION_GOAL'
# self.lastCommandMessage = newAtlasCommandMessageAtZero()
self._numPositions = len(robotstate.getDrakePoseJointNames())
self._previousElapsedTime = 100
self._baseFlag = 0
self.jointLimitsMin = np.array([
self.robotModel.model.getJointLimits(jointName)[0]
for jointName in robotstate.getDrakePoseJointNames()
])
self.jointLimitsMax = np.array([
self.robotModel.model.getJointLimits(jointName)[1]
for jointName in robotstate.getDrakePoseJointNames()
])
self.useControllerFlag = False
self.drivingGainsFlag = False
self.applyDefaults()
def __init__(self, frameProvider):
vis.PolyDataItem.__init__(self, 'spindle axis', vtk.vtkPolyData(), view=None)
self.frameProvider = frameProvider
self.timer = TimerCallback()
self.timer.callback = self.update
self.setProperty('Color', QtGui.QColor(0, 255, 0))
self.setProperty('Visible', False)
def launchViewer(self):
playButtonFps = 1.0/self.options['Sim']['dt']
print "playButtonFPS", playButtonFps
self.playTimer = TimerCallback(targetFps=playButtonFps)
self.playTimer.callback = self.playTimerCallback
panel = QtGui.QWidget()
l = QtGui.QHBoxLayout(panel)
playButton = QtGui.QPushButton('Play/Pause')
playButton.connect('clicked()', self.onPlayButton)
l.addWidget(playButton)
w = QtGui.QWidget()
l = QtGui.QVBoxLayout(w)
l.addWidget(self.view)
l.addWidget(panel)
w.showMaximized()
self.carFrame.connectFrameModified(self.updateDrawIntersection)
self.updateDrawIntersection(self.carFrame)
applogic.resetCamera(viewDirection=[0.2,0,-1])
self.view.showMaximized()
self.view.raise_()
self.app.start()
def showHandCloud(hand='left', view=None):
view = view or app.getCurrentRenderView()
if view is None:
return
assert hand in ('left', 'right')
maps = om.findObjectByName('Map Server')
assert maps is not None
viewId = 52 if hand == 'left' else 53
reader = maps.source.reader
def getCurrentViewId():
return reader.GetCurrentMapId(viewId)
p = vtk.vtkPolyData()
obj = showPolyData(p, '%s hand cloud' % hand, view=view, parent='sensors')
obj.currentViewId = -1
def updateCloud():
currentViewId = getCurrentViewId()
#print 'updateCloud: current view id:', currentViewId
if currentViewId != obj.currentViewId:
reader.GetDataForMapId(viewId, currentViewId, p)
#print 'updated poly data. %d points.' % p.GetNumberOfPoints()
obj._renderAllViews()
t = TimerCallback()
t.targetFps = 1
t.callback = updateCloud
t.start()
obj.updater = t
return obj
def onRobotPlan(self, msg):
playback = planplayback.PlanPlayback()
playback.interpolationMethod = 'pchip'
poseTimes, poses = playback.getPlanPoses(msg)
f = playback.getPoseInterpolator(poseTimes, poses)
jointController = self.robotSystem.teleopJointController
timer = simpletimer.SimpleTimer()
def setPose(pose):
jointController.setPose('plan_playback', pose)
self.jointTeleopPanel.endPose = pose
self.jointTeleopPanel.updateSliders()
commandStream.setGoalPose(pose)
def updateAnimation():
tNow = timer.elapsed()
if tNow > poseTimes[-1]:
pose = poses[-1]
setPose(pose)
return False
pose = f(tNow)
setPose(pose)
self.animationTimer = TimerCallback()
self.animationTimer.targetFps = 60
self.animationTimer.callback = updateAnimation
self.animationTimer.start()
def __init__(self, view, affordanceManager, ikServer, jointController, raycastDriver):
self.view = view
self.affordanceManager = affordanceManager
self.ikServer = ikServer
self.jointController = jointController
self.raycastDriver = raycastDriver
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddAffordancePanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.ui.affordanceListWidget.hide()
self.ui.spawnBoxButton.connect('clicked()', self.onSpawnBox)
self.ui.spawnSphereButton.connect('clicked()', self.onSpawnSphere)
self.ui.spawnCylinderButton.connect('clicked()', self.onSpawnCylinder)
self.ui.spawnCapsuleButton.connect('clicked()', self.onSpawnCapsule)
self.ui.spawnRingButton.connect('clicked()', self.onSpawnRing)
self.ui.spawnMeshButton.connect('clicked()', self.onSpawnMesh)
self.ui.getRaycastTerrainButton.connect('clicked()', self.onGetRaycastTerrain)
self.eventFilter = PythonQt.dd.ddPythonEventFilter()
self.ui.scrollArea.installEventFilter(self.eventFilter)
self.eventFilter.addFilteredEventType(QtCore.QEvent.Resize)
self.eventFilter.connect('handleEvent(QObject*, QEvent*)', self.onEvent)
self.updateTimer = TimerCallback(targetFps=30)
self.updateTimer.callback = self.updatePanel
self.updateTimer.start()
def __init__(self, planPlayback, playbackRobotModel,
playbackJointController, robotStateModel,
robotStateJointController, manipPlanner):
self.planPlayback = planPlayback
self.playbackRobotModel = playbackRobotModel
self.playbackJointController = playbackJointController
self.robotStateModel = robotStateModel
self.robotStateJointController = robotStateJointController
self.manipPlanner = manipPlanner
manipPlanner.connectPlanCommitted(self.onPlanCommitted)
manipPlanner.connectUseSupports(self.updateButtonColor)
self.autoPlay = True
self.useOperationColors()
self.planFramesObj = None
self.plan = None
self.poseInterpolator = None
self.startTime = 0.0
self.endTime = 1.0
self.animationTimer = TimerCallback()
self.animationTimer.targetFps = 60
self.animationTimer.callback = self.updateAnimation
self.animationClock = SimpleTimer()
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddPlaybackPanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
uifile.close()
self.ui = WidgetDict(self.widget.children())
self.ui.viewModeCombo.connect('currentIndexChanged(const QString&)',
self.viewModeChanged)
self.ui.playbackSpeedCombo.connect(
'currentIndexChanged(const QString&)', self.playbackSpeedChanged)
self.ui.interpolationCombo.connect(
'currentIndexChanged(const QString&)', self.interpolationChanged)
self.ui.samplesSpinBox.connect('valueChanged(int)',
self.numberOfSamplesChanged)
self.ui.playbackSlider.connect('valueChanged(int)',
self.playbackSliderValueChanged)
self.ui.animateButton.connect('clicked()', self.animateClicked)
self.ui.hideButton.connect('clicked()', self.hideClicked)
self.ui.executeButton.connect('clicked()', self.executeClicked)
self.ui.executeButton.setShortcut(QtGui.QKeySequence('Ctrl+Return'))
self.ui.stopButton.connect('clicked()', self.stopClicked)
self.ui.executeButton.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
self.ui.executeButton.connect(
'customContextMenuRequested(const QPoint&)',
self.showExecuteContextMenu)
self.setPlan(None)
self.hideClicked()
def startApplication(enableQuitTimer=False):
appInstance = QtGui.QApplication.instance()
if enableQuitTimer:
quitTimer = TimerCallback()
quitTimer.callback = appInstance.quit
quitTimer.singleShot(0.1)
appInstance.exec_()
def __init__(self, view):
self.view = view
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddFrameVisualization.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.botFrameUpdater = BotFrameUpdater(self.ui.botFramesListWidget)
robotModel = om.findObjectByName('robot state model')
self.linkFrameUpdater = LinkFrameUpdater(robotModel,
self.ui.linkFramesListWidget)
self.eventFilter = PythonQt.dd.ddPythonEventFilter()
self.ui.scrollArea.installEventFilter(self.eventFilter)
self.eventFilter.addFilteredEventType(QtCore.QEvent.Resize)
self.eventFilter.connect('handleEvent(QObject*, QEvent*)',
self.onEvent)
PythonQt.dd.ddGroupBoxHider(self.ui.botFramesGroup)
PythonQt.dd.ddGroupBoxHider(self.ui.linkFramesGroup)
self.updateTimer = TimerCallback(targetFps=60)
self.updateTimer.callback = self.updateFrames
self.updateTimer.start()
def playPoses(self, poseTimes, poses, jointController):
f = self.getPoseInterpolator(poseTimes, poses)
timer = SimpleTimer()
def updateAnimation():
tNow = timer.elapsed() * self.playbackSpeed
if tNow > poseTimes[-1]:
pose = poses[-1]
jointController.setPose('plan_playback', pose)
if self.animationCallback:
self.animationCallback()
return False
pose = f(tNow)
jointController.setPose('plan_playback', pose)
if self.animationCallback:
self.animationCallback()
self.animationTimer = TimerCallback()
self.animationTimer.targetFps = 60
self.animationTimer.callback = updateAnimation
self.animationTimer.start()
updateAnimation()
def setupPlayback(self):
self.timer = TimerCallback(targetFps=30)
self.timer.callback = self.tick
playButtonFps = 1.0 / self.dt
print "playButtonFPS", playButtonFps
self.playTimer = TimerCallback(targetFps=playButtonFps)
self.playTimer.callback = self.playTimerCallback
self.sliderMovedByPlayTimer = False
panel = QtGui.QWidget()
l = QtGui.QHBoxLayout(panel)
playButton = QtGui.QPushButton('Play/Pause')
playButton.connect('clicked()', self.onPlayButton)
slider = QtGui.QSlider(QtCore.Qt.Horizontal)
slider.connect('valueChanged(int)', self.onSliderChanged)
self.sliderMax = self.numTimesteps
slider.setMaximum(self.sliderMax)
self.slider = slider
l.addWidget(playButton)
l.addWidget(slider)
w = QtGui.QWidget()
l = QtGui.QVBoxLayout(w)
l.addWidget(self.view)
l.addWidget(panel)
w.showMaximized()
self.frame.connectFrameModified(self.updateDrawIntersection)
self.updateDrawIntersection(self.frame)
applogic.resetCamera(viewDirection=[0.2, 0, -1])
self.view.showMaximized()
self.view.raise_()
panel = screengrabberpanel.ScreenGrabberPanel(self.view)
panel.widget.show()
elapsed = time.time() - self.startSimTime
simRate = self.counter / elapsed
print "Total run time", elapsed
print "Ticks (Hz)", simRate
print "Number of steps taken", self.counter
self.app.start()
def __init__(self, atlasDriver, statusBar):
self.atlasDriver = atlasDriver
self.label = QtGui.QLabel('')
statusBar.addPermanentWidget(self.label)
self.timer = TimerCallback(targetFps=1)
self.timer.callback = self.showRate
self.timer.start()
def __init__(self, affordanceManager, imageView):
self.affordanceManager = affordanceManager
self.prependImageName = False
self.projectFootsteps = False
self.projectAffordances = True
self.extraObjects = []
self.imageView = imageView
self.imageQueue = imageView.imageManager.queue
self.timer = TimerCallback(targetFps=10)
self.timer.callback = self.update
def __init__(self, view):
self.collection = lcmobjectcollection.LCMObjectCollection(
channel='AFFORDANCE_COLLECTION_COMMAND')
self.collection.connectDescriptionUpdated(self._onDescriptionUpdated)
self.collection.connectDescriptionRemoved(self._onDescriptionRemoved)
self.view = view
self.notifyFrequency = 30 # throttle lcm messages per second sent for affordance updates
self._ignoreChanges = False
self._pendingUpdates = set()
self.timer = TimerCallback()
self.timer.callback = self._notifyPendingUpdates
def __init__(self, channel, statusBar=None):
self.sub = lcmUtils.addSubscriber(channel, lcmdrc.atlas_state_t, self.onAtlasState)
self.label = QtGui.QLabel('')
statusBar.addPermanentWidget(self.label)
self.timer = TimerCallback(targetFps=10)
self.timer.callback = self.showRate
self.timer.start()
self.l_foot_force_z = 0
self.r_foot_force_z = 0
def __init__(self, driver):
self.driver = driver
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddAtlasDriverPanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.widget.setWindowTitle('Atlas Driver Panel')
self.ui = WidgetDict(self.widget.children())
# Main Panel
self.ui.calibrateEncodersButton.connect('clicked()',
self.onCalibrateEncoders)
self.ui.prepButton.connect('clicked()', self.onPrep)
self.ui.combinedStandButton.connect('clicked()', self.onCombinedStand)
self.ui.stopButton.connect('clicked()', self.onStop)
self.ui.freezeButton.connect('clicked()', self.onFreeze)
self.ui.calibrateNullBiasButton.connect('clicked()',
self.onCalibrateNullBias)
self.ui.calibrateElectricArmsButton.connect(
'clicked()', self.onCalibrateElectricArms)
self.ui.initNavButton.connect('clicked()', self.onInitNav)
self.ui.standButton.connect('clicked()', self.onStand)
self.ui.mitStandButton.connect('clicked()', self.onMITStand)
self.ui.userButton.connect('clicked()', self.onUser)
self.ui.manipButton.connect('clicked()', self.onManip)
self.ui.recoveryOnButton.connect('clicked()',
self.driver.sendRecoveryEnable)
self.ui.recoveryOffButton.connect('clicked()',
self.driver.sendRecoveryDisable)
self.ui.bracingOnButton.connect('clicked()',
self.driver.sendBracingEnable)
self.ui.bracingOffButton.connect('clicked()',
self.driver.sendBracingDisable)
for psi in [1000, 1500, 2000, 2400, 2650]:
self.ui.__dict__['setPressure' + str(psi) + 'Button'].connect(
'clicked()', partial(self.driver.sendDesiredPumpPsi, psi))
self.ui.sendCustomPressureButton.connect('clicked()',
self.sendCustomPressure)
self.setupElectricArmCheckBoxes()
PythonQt.dd.ddGroupBoxHider(self.ui.calibrationGroupBox)
PythonQt.dd.ddGroupBoxHider(self.ui.pumpStatusGroupBox)
PythonQt.dd.ddGroupBoxHider(self.ui.electricArmStatusGroupBox)
self.updateTimer = TimerCallback(targetFps=5)
self.updateTimer.callback = self.updatePanel
self.updateTimer.start()
self.updatePanel()
def __init__(self):
self.tasks = []
self.generators = []
self.timer = TimerCallback(targetFps=10)
self.timer.callback = self.callbackLoop
self.callbacks = callbacks.CallbackRegistry([self.QUEUE_STARTED_SIGNAL,
self.QUEUE_STOPPED_SIGNAL,
self.TASK_STARTED_SIGNAL,
self.TASK_ENDED_SIGNAL,
self.TASK_PAUSED_SIGNAL,
self.TASK_FAILED_SIGNAL,
self.TASK_EXCEPTION_SIGNAL])
self.currentTask = None
self.isRunning = False
def __init__(self):
self.sub = lcmUtils.addSubscriber('JOINT_POSITION_GOAL', lcmdrc.robot_state_t, self.onJointPositionGoal)
self.sub = lcmUtils.addSubscriber('SINGLE_JOINT_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
lcmUtils.addSubscriber('COMMITTED_PLAN_PAUSE', lcmdrc.plan_control_t, self.onPause)
self.debug = False
if self.debug:
self.app = ConsoleApp()
self.view = self.app.createView()
self.robotModel, self.jointController = roboturdf.loadRobotModel('robot model', self.view)
self.jointController.setPose('ATLAS_COMMAND', commandStream._currentCommandedPose)
self.view.show()
self.timer = TimerCallback(targetFps=30)
self.timer.callback = self.onDebug
def __init__(self):
app.setupPackagePaths()
self.setupUi()
app.toggleCameraTerrainMode(self.view)
self.resetCamera()
self.drakeVis = drakevisualizer.DrakeVisualizer(self.view)
vis.showGrid(self.view, color=[0, 0, 0], parent=None)
self.timer = TimerCallback()
self.timer.callback = self.update
self.timer.targetFps = 60
def initView(self, view):
self.view = view or app.getViewManager().createView(
self.viewName, 'VTK View')
self.view.installImageInteractor()
self.interactorStyle = self.view.renderWindow().GetInteractor(
).GetInteractorStyle()
self.interactorStyle.AddObserver('SelectionChangedEvent',
self.onRubberBandPick)
self.imageActor = vtk.vtkImageActor()
self.imageActor.SetInput(self.getImage())
self.imageActor.SetVisibility(False)
self.view.renderer().AddActor(self.imageActor)
self.timerCallback = TimerCallback()
self.timerCallback.targetFps = 60
self.timerCallback.callback = self.updateView
self.timerCallback.start()
def __init__(self, statusBar=None):
self.manager = lcmUtils.LCMLoggerManager()
self.statusBar = statusBar
self.lastActiveLogFile = None
self.numProcesses = 0
self.numLogFiles = 0
self.userTag = ''
self.button = QtGui.QPushButton('')
self.button.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
self.button.connect('customContextMenuRequested(const QPoint&)',
self.showContextMenu)
self.button.connect('clicked()', self.onClick)
self.timer = TimerCallback(targetFps=0.25)
self.timer.callback = self.updateState
self.timer.start()
def __init__(self):
self.timer = TimerCallback(targetFps=10)
self.timer.callback = self.tick
self.stop = self.timer.stop
self.reader = None
self.initReader()
self.inputs = {
'slider': [0, 8, True],
'dial': [16, 8, True],
'r_button': [64, 8, False],
'm_button': [48, 8, False],
's_button': [32, 8, False],
'track_left': [58, 1, False],
'track_right': [59, 1, False],
'cycle': [46, 1, False],
'marker_set': [60, 1, False],
'marker_left': [61, 1, False],
'marker_right': [62, 1, False],
'rewind': [43, 1, False],
'fastforward': [44, 1, False],
'stop': [42, 1, False],
'play': [41, 1, False],
'record': [45, 1, False],
}
signalNames = []
for inputName, inputDescription in self.inputs.iteritems():
channelStart, numChannels, isContinuous = inputDescription
for i in xrange(numChannels):
channelId = '' if numChannels == 1 else '_%d' % i
if isContinuous:
signalNames.append('%s%s_value_changed' %
(inputName, channelId))
else:
signalNames.append('%s%s_pressed' % (inputName, channelId))
signalNames.append('%s%s_released' %
(inputName, channelId))
self.callbacks = callbacks.CallbackRegistry(signalNames)
def __init__(self, multisenseDriver, neckDriver):
self.multisenseDriver = multisenseDriver
self.neckDriver = neckDriver
self.neckPitchChanged = False
self.multisenseChanged = False
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddMultisense.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.updateTimer = TimerCallback(targetFps=2)
self.updateTimer.callback = self.updatePanel
self.updateTimer.start()
self.widget.headCamGainSpinner.setEnabled(False)
self.widget.headCamExposureSpinner.setEnabled(False)
#connect the callbacks
self.widget.neckPitchSpinner.valueChanged.connect(self.neckPitchChange)
self.widget.spinRateSpinner.valueChanged.connect(self.spinRateChange)
self.widget.scanDurationSpinner.valueChanged.connect(
self.scanDurationChange)
self.widget.headCamFpsSpinner.valueChanged.connect(
self.headCamFpsChange)
self.widget.headCamGainSpinner.valueChanged.connect(
self.headCamGainChange)
self.widget.headCamExposureSpinner.valueChanged.connect(
self.headCamExposureChange)
self.widget.headAutoGainCheck.clicked.connect(
self.headCamAutoGainChange)
self.widget.ledOnCheck.clicked.connect(self.ledOnCheckChange)
self.widget.ledBrightnessSpinner.valueChanged.connect(
self.ledBrightnessChange)
self.widget.sendButton.clicked.connect(self.sendButtonClicked)
self.updatePanel()
def __init__(self, imageManager, view=None):
self.imageManager = imageManager
self.updateUtimes = {}
self.sphereObjects = {}
self.sphereImages = [
'CAMERA_LEFT', 'CAMERACHEST_RIGHT', 'CAMERACHEST_LEFT'
]
for name in self.sphereImages:
imageManager.addImage(name)
self.updateUtimes[name] = 0
self.initView(view)
self.initEventFilter()
self.rayCallback = rayDebug
self.timerCallback = TimerCallback()
self.timerCallback.targetFps = 60
self.timerCallback.callback = self.updateView
self.timerCallback.start()
def __init__(self, view, _KinectQueue):
self.view = view
self.KinectQueue = _KinectQueue
self.visible = True
self.p = vtk.vtkPolyData()
utime = KinectQueue.getPointCloudFromKinect(self.p)
self.polyDataObj = vis.PolyDataItem('kinect source',
shallowCopy(self.p), view)
self.polyDataObj.actor.SetPickable(1)
self.polyDataObj.initialized = False
om.addToObjectModel(self.polyDataObj)
self.queue = PythonQt.dd.ddBotImageQueue(lcmUtils.getGlobalLCMThread())
self.queue.init(lcmUtils.getGlobalLCMThread(),
drcargs.args().config_file)
self.targetFps = 30
self.timerCallback = TimerCallback(targetFps=self.targetFps)
self.timerCallback.callback = self._updateSource
def startSwarmVisualization():
global timerCallback, nav_data, nav_cloud
nav_cloud = vtknp.getVtkPolyDataFromNumpyPoints(nav_data)
nav_cloud_obj = vis.showPolyData(shallowCopy(nav_cloud), 'nav data')
nav_cloud_obj.initialized = False
def updateSwarm():
global nav_cloud
if not nav_cloud_obj.initialized:
nav_cloud_obj.mapper.SetColorModeToMapScalars()
nav_cloud_obj.initialized = True
#print nav_data.shape[0], nav_cloud.GetNumberOfPoints()
nav_cloud = vtknp.getVtkPolyDataFromNumpyPoints(nav_data)
nav_cloud_obj.setPolyData(shallowCopy(nav_cloud))
#print nav_cloud_obj.polyData.GetNumberOfPoints()
timerCallback = TimerCallback(targetFps=30)
timerCallback.callback = updateSwarm
timerCallback.start()
