def initViewOptions(self, fields):
viewOptions = vis.ViewOptionsItem(fields.view)
fields.objectModel.addToObjectModel(
viewOptions,
parentObj=fields.objectModel.findObjectByName('scene'))
viewOptions.setProperty('Background color', [0.3, 0.3, 0.35])
viewOptions.setProperty('Background color 2', [0.95, 0.95, 1])
return FieldContainer(viewOptions=viewOptions)
def createView(self, useGrid=True):
view = PythonQt.dd.ddQVTKWidgetView()
view.resize(600, 400)
applogic.setCameraTerrainModeEnabled(view, True)
if useGrid:
self.gridObj = vis.showGrid(view, parent='scene')
self.viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(self.viewOptions, parentObj=om.findObjectByName('scene'))
applogic.resetCamera(viewDirection=[-1,-1,-0.3], view=view)
self.viewBehaviors = viewbehaviors.ViewBehaviors(view)
applogic._defaultRenderView = view
applogic.addShortcut(view, 'Ctrl+Q', self.quit)
applogic.addShortcut(view, 'F8', self.showPythonConsole)
applogic.addShortcut(view, 'F1', self.showObjectModel)
view.setWindowIcon(om.Icons.getIcon(om.Icons.Robot))
view.setWindowTitle('View')
return view
def __init__(self):
self.applicationInstance().setOrganizationName('RobotLocomotionGroup')
self.applicationInstance().setApplicationName('drake-visualizer')
om.init()
self.view = PythonQt.dd.ddQVTKWidgetView()
# init grid
self.gridObj = vis.showGrid(self.view, parent='scene')
self.gridObj.setProperty('Surface Mode', 'Surface with edges')
self.gridObj.setProperty('Color', [0, 0, 0])
self.gridObj.setProperty('Alpha', 0.1)
# init view options
self.viewOptions = vis.ViewOptionsItem(self.view)
om.addToObjectModel(self.viewOptions,
parentObj=om.findObjectByName('scene'))
self.viewOptions.setProperty('Background color', [0.3, 0.3, 0.35])
self.viewOptions.setProperty('Background color 2', [0.95, 0.95, 1])
# setup camera
applogic.setCameraTerrainModeEnabled(self.view, True)
applogic.resetCamera(viewDirection=[-1, 0, -0.3], view=self.view)
# This setting improves the near plane clipping resolution.
# Drake often draws a very large ground plane which is detrimental to
# the near clipping for up close objects. The trade-off is Z buffer
# resolution but in practice things look good with this setting.
self.view.renderer().SetNearClippingPlaneTolerance(0.0005)
# add view behaviors
self.viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
applogic._defaultRenderView = self.view
self.mainWindow = QtGui.QMainWindow()
self.mainWindow.setCentralWidget(self.view)
self.mainWindow.resize(768 * (16 / 9.0), 768)
self.mainWindow.setWindowTitle('Drake Visualizer')
self.mainWindow.setWindowIcon(QtGui.QIcon(':/images/drake_logo.png'))
self.settings = QtCore.QSettings()
self.fileMenu = self.mainWindow.menuBar().addMenu('&File')
self.viewMenu = self.mainWindow.menuBar().addMenu('&View')
self.viewMenuManager = PythonQt.dd.ddViewMenu(self.viewMenu)
self.drakeVisualizer = DrakeVisualizer(self.view)
self.lcmglManager = lcmgl.LCMGLManager(
self.view) if lcmgl.LCMGL_AVAILABLE else None
model = om.getDefaultObjectModel()
model.getTreeWidget().setWindowTitle('Scene Browser')
model.getPropertiesPanel().setWindowTitle('Properties Panel')
self.sceneBrowserDock = self.addWidgetToDock(
model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea, visible=False)
self.propertiesDock = self.addWidgetToDock(
self.wrapScrollArea(model.getPropertiesPanel()),
QtCore.Qt.LeftDockWidgetArea,
visible=False)
self.addViewMenuSeparator()
self.screenGrabberPanel = ScreenGrabberPanel(self.view)
self.screenGrabberDock = self.addWidgetToDock(
self.screenGrabberPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(
self.view)
self.cameraBookmarksDock = self.addWidgetToDock(
self.cameraBookmarksPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
self.cameraControlPanel = cameracontrolpanel.CameraControlPanel(
self.view)
self.cameraControlDock = self.addWidgetToDock(
self.cameraControlPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
act = self.fileMenu.addAction('&Quit')
act.setShortcut(QtGui.QKeySequence('Ctrl+Q'))
act.connect('triggered()', self.applicationInstance().quit)
self.fileMenu.addSeparator()
act = self.fileMenu.addAction('&Open Data...')
act.setShortcut(QtGui.QKeySequence('Ctrl+O'))
act.connect('triggered()', self._onOpenDataFile)
applogic.addShortcut(self.mainWindow, 'F1', self._toggleObjectModel)
applogic.addShortcut(self.mainWindow, 'F8', applogic.showPythonConsole)
self.applicationInstance().connect('aboutToQuit()',
self._onAboutToQuit)
for obj in om.getObjects():
obj.setProperty('Deletable', False)
self.mainWindow.show()
self._saveWindowState('MainWindowDefault')
self._restoreWindowState('MainWindowCustom')
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'))
if useGrid:
grid = vis.showGrid(view, color=[0, 0, 0], alpha=0.1)
grid.setProperty('Surface Mode', 'Surface with edges')
app.setBackgroundColor([0.3, 0.3, 0.35], [0.95, 0.95, 1])
viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors'))
viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(
viewOptions, grid,
app.getToolsMenuActions()['ActionToggleBackgroundLight'])
if not useLightColorScheme:
viewBackgroundLightHandler.action.trigger()
if useHands:
handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel,
robotStateJointController, view)
else:
app.removeToolbarMacro('ActionHandControlPanel')
if useFootsteps:
