def graphics_view_on_key_press(self, event):
key = event.key()
if key in (Qt.Key_Left, Qt.Key_Right, Qt.Key_Up, Qt.Key_Down, Qt.Key_PageUp, Qt.Key_PageDown):
# This causes the graphics view to ignore these keys so they can be caught by the bag_widget keyPressEvent
event.ignore()
else:
# Maintains functionality for all other keys QGraphicsView implements
QGraphicsView.keyPressEvent(self.graphics_view, event)
def mouseMoveEvent(self, mouse_event):
if self._last_pan_point is not None:
delta_scene = self.mapToScene(mouse_event.pos()) - self.mapToScene(self._last_pan_point)
if not delta_scene.isNull():
self.centerOn(self._last_scene_center - delta_scene)
self._last_scene_center -= delta_scene
self._last_pan_point = mouse_event.pos()
QGraphicsView.mouseMoveEvent(self, mouse_event)
def graphics_view_on_key_press(self, event):
key = event.key()
if key in (Qt.Key_Left, Qt.Key_Right, Qt.Key_Up, Qt.Key_Down, Qt.Key_PageUp, Qt.Key_PageDown):
# This causes the graphics view to ignore these keys so they can be caught by the bag_widget keyPressEvent
event.ignore()
else:
# Maintains functionality for all other keys QGraphicsView implements
QGraphicsView.keyPressEvent(self.graphics_view, event)
def wheelEvent(self, wheel_event):
if wheel_event.modifiers() == Qt.NoModifier:
delta = wheel_event.delta()
delta = max(min(delta, 480), -480)
mouse_before_scale_in_scene = self.mapToScene(wheel_event.pos())
scale_factor = 1 + (0.2 * (delta / 120.0))
scaling = QTransform(scale_factor, 0, 0, scale_factor, 0, 0)
self.setTransform(self.transform() * scaling)
mouse_after_scale_in_scene = self.mapToScene(wheel_event.pos())
center_in_scene = self.mapToScene(self.frameRect().center())
self.centerOn(center_in_scene + mouse_before_scale_in_scene - mouse_after_scale_in_scene)
wheel_event.accept()
else:
QGraphicsView.wheelEvent(self, wheel_event)
def __init__(self, timeline, parent, topic):
super(ImageView, self).__init__(timeline, parent, topic)
self._image = None
self._image_topic = None
self._image_stamp = None
self.quality = Image.NEAREST # quality hint for scaling
# TODO put the image_topic and image_stamp on the picture or display them in some fashion
self._overlay_font_size = 14.0
self._overlay_indent = (4, 4)
self._overlay_color = (0.2, 0.2, 1.0)
self._image_view = QGraphicsView(parent)
self._image_view.resizeEvent = self._resizeEvent
self._scene = QGraphicsScene()
self._image_view.setScene(self._scene)
parent.layout().addWidget(self._image_view)
def __init__(self, timeline, parent, topics):
super(SandtrayView, self).__init__(timeline, parent, topics[0])
self._items = {}
self._image = None
self._image_topic = None
self._image_stamp = None
self.quality = Image.NEAREST # quality hint for scaling
self._sandtray = SandtrayItem()
self._sandtray_view = QGraphicsView(parent)
self._sandtray_view.resizeEvent = self._resizeEvent
self._scene = QGraphicsScene()
self._scene.addItem(self._sandtray)
self._sandtray_view.setScene(self._scene)
self._sandtray_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
parent.layout().addWidget(self._sandtray_view)
def __init__(self, timeline, parent, topic):
super(ImageView, self).__init__(timeline, parent, topic)
self._image = None
self._image_topic = None
self._image_stamp = None
self.quality = Image.NEAREST # quality hint for scaling
# TODO put the image_topic and image_stamp on the picture or display them in some fashion
self._overlay_font_size = 14.0
self._overlay_indent = (4, 4)
self._overlay_color = (0.2, 0.2, 1.0)
self._image_view = QGraphicsView(parent)
self._image_view.resizeEvent = self._resizeEvent
self._scene = QGraphicsScene()
self._image_view.setScene(self._scene)
parent.layout().addWidget(self._image_view)
def mousePressEvent(self, mouse_event):
self._last_pan_point = mouse_event.pos()
self._last_scene_center = self._map_to_scene_f(QRectF(self.frameRect()).center())
self.setCursor(Qt.ClosedHandCursor)
QGraphicsView.mousePressEvent(self, mouse_event)
class ImageView(TopicMessageView):
"""
Popup image viewer
"""
name = 'Image'
def __init__(self, timeline, parent, topic):
super(ImageView, self).__init__(timeline, parent, topic)
self._image = None
self._image_topic = None
self._image_stamp = None
self.quality = Image.NEAREST # quality hint for scaling
# TODO put the image_topic and image_stamp on the picture or display them in some fashion
self._overlay_font_size = 14.0
self._overlay_indent = (4, 4)
self._overlay_color = (0.2, 0.2, 1.0)
self._image_view = QGraphicsView(parent)
self._image_view.resizeEvent = self._resizeEvent
self._scene = QGraphicsScene()
self._image_view.setScene(self._scene)
parent.layout().addWidget(self._image_view)
# MessageView implementation
def _resizeEvent(self, event):
# TODO make this smarter. currently there will be no scrollbar even if the timeline extends beyond the viewable area
self._scene.setSceneRect(0, 0, self._image_view.size().width() - 2, self._image_view.size().height() - 2)
self.put_image_into_scene()
def message_viewed(self, bag, msg_details):
"""
refreshes the image
"""
TopicMessageView.message_viewed(self, bag, msg_details)
topic, msg, t = msg_details[:3]
if not msg:
self.set_image(None, topic, 'no message')
else:
self.set_image(msg, topic, msg.header.stamp)
def message_cleared(self):
TopicMessageView.message_cleared(self)
self.set_image(None, None, None)
# End MessageView implementation
def put_image_into_scene(self):
if self._image:
resized_image = self._image.resize((self._image_view.size().width() - 2, self._image_view.size().height() - 2), self.quality)
QtImage = ImageQt(resized_image)
pixmap = QPixmap.fromImage(QtImage)
self._scene.clear()
self._scene.addPixmap(pixmap)
def set_image(self, image_msg, image_topic, image_stamp):
self._image_msg = image_msg
if image_msg:
self._image = image_helper.imgmsg_to_pil(image_msg)
else:
self._image = None
self._image_topic = image_topic
self._image_stamp = image_stamp
self.put_image_into_scene()
class ImageView(TopicMessageView):
"""
Popup image viewer
"""
name = 'Image'
def __init__(self, timeline, parent, topic):
super(ImageView, self).__init__(timeline, parent, topic)
self._image = None
self._image_topic = None
self._image_stamp = None
self.quality = Image.NEAREST # quality hint for scaling
# TODO put the image_topic and image_stamp on the picture or display them in some fashion
self._overlay_font_size = 14.0
self._overlay_indent = (4, 4)
self._overlay_color = (0.2, 0.2, 1.0)
self._image_view = QGraphicsView(parent)
self._image_view.resizeEvent = self._resizeEvent
self._scene = QGraphicsScene()
self._image_view.setScene(self._scene)
parent.layout().addWidget(self._image_view)
# MessageView implementation
def _resizeEvent(self, event):
# TODO make this smarter. currently there will be no scrollbar even if the timeline extends beyond the viewable area
self._scene.setSceneRect(0, 0, self._image_view.size().width() - 2, self._image_view.size().height() - 2)
self.put_image_into_scene()
def message_viewed(self, bag, msg_details):
"""
refreshes the image
"""
TopicMessageView.message_viewed(self, bag, msg_details)
topic, msg, t = msg_details[:3]
if not msg:
self.set_image(None, topic, 'no message')
else:
self.set_image(msg, topic, msg.header.stamp)
def message_cleared(self):
TopicMessageView.message_cleared(self)
self.set_image(None, None, None)
# End MessageView implementation
def put_image_into_scene(self):
if self._image:
resized_image = self._image.resize((self._image_view.size().width() - 2, self._image_view.size().height() - 2), self.quality)
QtImage = ImageQt(resized_image)
pixmap = QPixmap.fromImage(QtImage)
self._scene.clear()
self._scene.addPixmap(pixmap)
def set_image(self, image_msg, image_topic, image_stamp):
self._image_msg = image_msg
if image_msg:
self._image = image_helper.imgmsg_to_pil(image_msg)
else:
self._image = None
self._image_topic = image_topic
self._image_stamp = image_stamp
self.put_image_into_scene()
class SandtrayView(TopicMessageView):
name = 'Sandtray'
def __init__(self, timeline, parent, topics):
super(SandtrayView, self).__init__(timeline, parent, topics[0])
self._items = {}
self._image = None
self._image_topic = None
self._image_stamp = None
self.quality = Image.NEAREST # quality hint for scaling
self._sandtray = SandtrayItem()
self._sandtray_view = QGraphicsView(parent)
self._sandtray_view.resizeEvent = self._resizeEvent
self._scene = QGraphicsScene()
self._scene.addItem(self._sandtray)
self._sandtray_view.setScene(self._scene)
self._sandtray_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
parent.layout().addWidget(self._sandtray_view)
# MessageView implementation
def _resizeEvent(self, event):
self._sandtray_view.fitInView(self._scene.itemsBoundingRect(), Qt.KeepAspectRatio)
def message_viewed(self, bag, msg_details):
"""
render the sandtray
"""
TopicMessageView.message_viewed(self, bag, msg_details)
topic, msg, t = msg_details[:3]
if msg:
if topic == "/zones":
self._sandtray.update_zones(self._get_zones(msg))
else:
for t in msg.transforms:
if t.header.frame_id == "sandtray":
self._items[t.child_frame_id] = t.transform.translation.x, -t.transform.translation.y
self._sandtray.update(self._items)
def message_cleared(self):
TopicMessageView.message_cleared(self)
self.set_image(None, None, None)
# End MessageView implementation
def _get_zones(self, msg):
zones = {}
for marker in msg.markers:
polygon = []
color = QColor(255*marker.color.r, 255*marker.color.g, 255*marker.color.b, 255*marker.color.a)
for p in marker.points:
polygon.append(QPointF(p.x * SandtrayItem.scale, -p.y * SandtrayItem.scale))
zones.setdefault(color, []).append(polygon)
return zones
def put_image_into_scene(self):
if self._image:
QtImage = ImageQt(self._image)
pixmap = QPixmap.fromImage(QtImage)
self._scene.clear()
self._scene.addPixmap(pixmap)
def set_image(self, image_msg, image_topic, image_stamp):
self._image_msg = image_msg
if image_msg:
self._image = image_helper.imgmsg_to_pil(image_msg)
else:
self._image = None
self._image_topic = image_topic
self._image_stamp = image_stamp
self.put_image_into_scene()
class ImageView(TopicMessageView):
"""
Popup image viewer
"""
name = 'Image'
def __init__(self, timeline, parent, topics):
super(ImageView, self).__init__(timeline, parent, topics[0])
self._image = None
self._image_topic = None
self._image_stamp = None
self.quality = Image.NEAREST # quality hint for scaling
# TODO put the image_topic and image_stamp on the picture or display them in some fashion
self._overlay_font_size = 14.0
self._overlay_indent = (4, 4)
self._overlay_color = (0.2, 0.2, 1.0)
self._image_view = QGraphicsView(parent)
self._image_view.resizeEvent = self._resizeEvent
self._scene = QGraphicsScene()
self._image_view.setScene(self._scene)
self._image_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
parent.layout().addWidget(self._image_view)
# MessageView implementation
def _resizeEvent(self, event):
self._image_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def message_viewed(self, bag, msg_details):
"""
refreshes the image
"""
TopicMessageView.message_viewed(self, bag, msg_details)
topic, msg, t = msg_details[:3]
if not msg:
self.set_image(None, topic, 'no message')
else:
self.set_image(msg, topic, msg.header.stamp)
def message_cleared(self):
TopicMessageView.message_cleared(self)
self.set_image(None, None, None)
# End MessageView implementation
def put_image_into_scene(self):
if self._image:
QtImage = ImageQt(self._image)
pixmap = QPixmap.fromImage(QtImage)
self._scene.clear()
self._scene.addPixmap(pixmap)
def set_image(self, image_msg, image_topic, image_stamp):
self._image_msg = image_msg
if image_msg:
self._image = image_helper.imgmsg_to_pil(image_msg)
else:
self._image = None
self._image_topic = image_topic
self._image_stamp = image_stamp
self.put_image_into_scene()
