def init(view, imageWidget, robotName=""):
global panels
global docks
if "panels" not in globals():
panels = {}
if "docks" not in globals():
docks = {}
panel = ScreenGrabberPanel(view, imageWidget)
action = app.addDockAction(
"ActionScreenGrabberPanel" + robotName,
"Screen Grabber",
os.path.join(os.path.dirname(__file__), "images/video_record.png"),
append=True,
)
dock = app.addWidgetToDock(panel.widget,
action=action,
associatedRobotName=robotName)
app.getRobotSelector().associateWidgetWithRobot(action, robotName)
dock.hide()
panels[robotName] = panel
docks[robotName] = dock
return panel
def initView(self, view):
# Must call the createview function with the robot name so that the view can be associated, but cannot pass
# keyword arguments to python_qt functions so need to also pass the -1 to add the tab to the end of the list
# rather than insert it.
self.view = view or app.getViewManager().createView(
self.viewName, "VTK View", -1, self.robotName)
app.getRobotSelector().associateViewWithRobot(self.view,
self.robotName)
self.view.installImageInteractor()
# self.interactorStyle = self.view.renderWindow().GetInteractor().GetInteractorStyle()
# self.interactorStyle.AddObserver('SelectionChangedEvent', self.onRubberBandPick)
self.imageActor = vtk.vtkImageActor()
self.imageActor.SetInputData(self.getImage())
self.imageActor.SetVisibility(False)
self.view.renderer().AddActor(self.imageActor)
self.view.orientationMarkerWidget().Off()
self.view.backgroundRenderer().SetBackground(0, 0, 0)
self.view.backgroundRenderer().SetBackground2(0, 0, 0)
self.timerCallback = TimerCallback()
self.timerCallback.targetFps = 60
self.timerCallback.callback = self.updateView
self.timerCallback.start()
def initView(self, view):
# Must call the createview function with the robot name so that the view can be associated, but cannot pass
# keyword arguments to python_qt functions so need to also pass the -1 to add the tab to the end of the list
# rather than insert it.
self.view = view or app.getViewManager().createView(
"Camera View", "VTK View", -1, self.robotName)
app.getRobotSelector().associateViewWithRobot(self.view,
self.robotName)
self.renderers = [self.view.renderer()]
renWin = self.view.renderWindow()
renWin.SetNumberOfLayers(3)
for i in [1, 2]:
ren = vtk.vtkRenderer()
ren.SetLayer(2)
ren.SetActiveCamera(self.view.camera())
renWin.AddRenderer(ren)
self.renderers.append(ren)
def applyCustomBounds():
self.view.addCustomBounds([-100, 100, -100, 100, -100, 100])
self.view.connect("computeBoundsRequest(ddQVTKWidgetView*)",
applyCustomBounds)
app.setCameraTerrainModeEnabled(self.view, True)
self.resetCamera()
def init(widgetMap, robotName=""):
global panels
if "panels" not in globals():
panels = {}
import os
panel = TaskLaunchPanel(widgetMap)
action = app.addDockAction(
"ActionTaskLauncher" + robotName,
"Task Launcher",
os.path.join(os.path.dirname(__file__), "images/task_icon.png"),
append=True,
)
action.connect("triggered()", panel.showTaskLaunchPanel)
app.getRobotSelector().associateWidgetWithRobot(action, robotName)
panels[robotName] = panel
return panel
def getContextMenuActions(view, pickedObj, pickedPoint):
actions = []
robotName = applogic.getRobotSelector().selectedRobotName()
# TODO replace iteritems with items in python3
for contextName, actionList in _contextMenuActions.iteritems():
# Only return default menu items or the items associated with the currently selected robot
if contextName == "" or contextName == robotName:
for func in actionList:
actions.extend(func(view, pickedObj, pickedPoint))
return actions
# Iterate over all sources and reset time when reset button pressed
def reset_sources_time():
for source in robotSystem.sources:
if hasattr(source, "resetTime"):
source.resetTime()
else:
print(
"WARNING: source {} does not have a resetTime function. This is probably a mistake."
.format(source))
reset_time_button.connect("clicked()", reset_sources_time)
reset_time_button.connect(
"clicked()", cameraview.cameraViews[robotSystem.robotName].resetTime)
app.getMainWindow().statusBar().addPermanentWidget(reset_time_button)
app.getRobotSelector().associateWidgetWithRobot(reset_time_button,
robotSystem.robotName)
if useSkybox:
skyboxDataDir = os.path.expanduser("~/Downloads/skybox")
imageMap = skybox.getSkyboxImages(skyboxDataDir)
skyboxObjs = skybox.createSkybox(imageMap, view)
skybox.connectSkyboxCamera(view)
robotHighlighter = RobotLinkHighlighter(robotSystem.robotStateModel)
if useDataFiles:
for filename in drcargs.args().data_files:
actionhandlers.onOpenFile(filename)
cameras = [
