def __init__(self, name, transform, view):
PolyDataItem.__init__(self, name, vtk.vtkPolyData(), view)
self.transform = transform
self._blockSignals = False
self.actor.SetUserTransform(transform)
self.widget = vtk.vtkFrameWidget()
self.widget.CreateDefaultRepresentation()
self.widget.EnabledOff()
self.rep = self.widget.GetRepresentation()
self.rep.SetTransform(transform)
self.traceData = None
self._frameSync = None
self.addProperty('Scale', 1.0, attributes=om.PropertyAttributes(decimals=2, minimum=0.01, maximum=100, singleStep=0.1, hidden=False))
self.addProperty('Edit', False)
self.addProperty('Trace', False)
self.addProperty('Tube', False)
self.addProperty('Tube Width', 0.002, attributes=om.PropertyAttributes(decimals=3, minimum=0.001, maximum=10, singleStep=0.01, hidden=True))
self.properties.setPropertyIndex('Edit', 0)
self.properties.setPropertyIndex('Trace', 1)
self.properties.setPropertyIndex('Tube', 2)
self.callbacks.addSignal('FrameModified')
self.onTransformModifiedCallback = None
self.observerTag = self.transform.AddObserver('ModifiedEvent', self.onTransformModified)
self._updateAxesGeometry()
self.setProperty('Color By', 'Axes')
self.setProperty('Icon', om.Icons.Axes)
def __init__(self, name, polyData, view):
om.ObjectModelItem.__init__(self, name, om.Icons.Robot)
self.views = []
self.polyData = polyData
self.mapper = vtk.vtkPolyDataMapper()
self.mapper.SetInputData(self.polyData)
self.actor = vtk.vtkActor()
self.actor.SetMapper(self.mapper)
self.shadowActor = None
self.scalarBarWidget = None
self.extraViewRenderers = {}
self.rangeMap = dict(PolyDataItem.defaultScalarRangeMap)
self.addProperty(
'Color By',
0,
attributes=om.PropertyAttributes(enumNames=['Solid Color']))
self.addProperty('Visible', True)
self.addProperty('Alpha',
1.0,
attributes=om.PropertyAttributes(decimals=2,
minimum=0,
maximum=1.0,
singleStep=0.1,
hidden=False))
self.addProperty('Point Size',
self.actor.GetProperty().GetPointSize(),
attributes=om.PropertyAttributes(decimals=0,
minimum=1,
maximum=20,
singleStep=1,
hidden=False))
self.addProperty('Line Width',
self.actor.GetProperty().GetLineWidth(),
attributes=om.PropertyAttributes(decimals=0,
minimum=1,
maximum=20,
singleStep=1,
hidden=False))
self.addProperty('Surface Mode',
0,
attributes=om.PropertyAttributes(enumNames=[
'Surface', 'Wireframe', 'Surface with edges',
'Points'
],
hidden=True))
self.addProperty('Color', [1.0, 1.0, 1.0])
self.addProperty('Show Scalar Bar', False)
self._updateSurfaceProperty()
self._updateColorByProperty()
if view is not None:
self.addToView(view)
def getDefaultProperties(properties):
properties.addProperty('Target frame name', '')
properties.addProperty('Annotation input name', '')
properties.addProperty('Side', 1, attributes=om.PropertyAttributes(enumNames=['Left', 'Right']))
properties.addProperty('Cone threshold degrees', 5.0, attributes=om.PropertyAttributes(decimals=1, minimum=0, maximum=360))
properties.addProperty('Palm offset', 0.0, attributes=om.PropertyAttributes(decimals=3, minimum=-1e4, maximum=1e4))
def __init__(self, name, view):
AffordanceItem.__init__(self, name, vtk.vtkPolyData(), view)
self.addProperty('Dimensions', [0.25, 0.25, 0.25], attributes=om.PropertyAttributes(decimals=3, singleStep=0.01, minimum=0.0, maximum=1e4))
self.addProperty('Subdivisions', 0, attributes=om.PropertyAttributes(minimum=0, maximum=1000))
self.properties.setPropertyIndex('Dimensions', 0)
self.properties.setPropertyIndex('Subdivisions', 1)
self.updateGeometryFromProperties()
def __init__(self, name, view):
AffordanceItem.__init__(self, name, vtk.vtkPolyData(), view)
self.setProperty('Collision Enabled', False)
self.addProperty('Radius',
0.15,
attributes=om.PropertyAttributes(decimals=3,
singleStep=0.01,
minimum=0.0,
maximum=1e4))
self.addProperty('Tube Radius',
0.02,
attributes=om.PropertyAttributes(decimals=3,
singleStep=0.01,
minimum=0.0,
maximum=1e4))
self.addProperty('Segments',
8,
attributes=om.PropertyAttributes(decimals=3,
singleStep=1,
minimum=3,
maximum=100))
self.properties.setPropertyIndex('Radius', 0)
self.properties.setPropertyIndex('Tube Radius', 1)
self.properties.setPropertyIndex('Segments', 2)
self.updateGeometryFromProperties()
def __init__(self, name, view):
AffordanceItem.__init__(self, name, vtk.vtkPolyData(), view)
self.addProperty('Radius', 0.03, attributes=om.PropertyAttributes(decimals=3, singleStep=0.01, minimum=0.0, maximum=1e4))
self.addProperty('Length', 0.5, attributes=om.PropertyAttributes(decimals=3, singleStep=0.01, minimum=0.0, maximum=1e4))
self.properties.setPropertyIndex('Radius', 0)
self.properties.setPropertyIndex('Length', 1)
self.updateGeometryFromProperties()
def __init__(self, name, text="", view=None):
om.ObjectModelItem.__init__(self, name)
self.views = []
self.actor = vtk.vtkTextActor()
prop = self.actor.GetTextProperty()
prop.SetFontSize(18)
self.actor.SetPosition(10, 10)
self.actor.SetInput(text)
self.addProperty("Visible", True)
self.addProperty("Text", text)
self.addProperty(
"Position",
[10, 10],
attributes=om.PropertyAttributes(minimum=0,
maximum=3000,
singleStep=1),
)
self.addProperty(
"Font Size",
18,
attributes=om.PropertyAttributes(minimum=6,
maximum=128,
singleStep=1),
)
self.addProperty("Bold", False)
self.addProperty("Italic", False)
if view:
self.addToView(view)
def __init__(self, view):
om.ObjectModelItem.__init__(self, "view options")
self.view = view
self.addProperty(
"Camera projection",
0,
attributes=om.PropertyAttributes(
enumNames=["Perspective", "Parallel"]),
)
self.addProperty(
"View angle",
view.camera().GetViewAngle(),
attributes=om.PropertyAttributes(minimum=2, maximum=180),
)
self.addProperty(
"Key light intensity",
view.lightKit().GetKeyLightIntensity(),
attributes=om.PropertyAttributes(minimum=0,
maximum=5,
singleStep=0.1,
decimals=2),
)
self.addProperty("Light kit", True)
self.addProperty("Eye dome lighting", False)
self.addProperty("Orientation widget", True)
self.addProperty("Interactive render", True)
self.addProperty("Gradient background", True)
self.addProperty("Background color",
view.backgroundRenderer().GetBackground())
self.addProperty("Background color 2",
view.backgroundRenderer().GetBackground2())
def __init__(self, name, text='', view=None):
om.ObjectModelItem.__init__(self, name)
self.views = []
self.actor = vtk.vtkTextActor()
prop = self.actor.GetTextProperty()
prop.SetFontSize(18)
self.actor.SetPosition(10, 10)
self.actor.SetInput(text)
self.addProperty('Visible', True)
self.addProperty('Text', text)
self.addProperty('Position', [10, 10],
attributes=om.PropertyAttributes(minimum=0,
maximum=3000,
singleStep=1))
self.addProperty('Font Size',
18,
attributes=om.PropertyAttributes(minimum=6,
maximum=128,
singleStep=1))
self.addProperty('Bold', False)
self.addProperty('Italic', False)
if view:
self.addToView(view)
def __init__(self, view):
om.ObjectModelItem.__init__(self, 'view options')
self.view = view
self.addProperty('Camera projection',
0,
attributes=om.PropertyAttributes(
enumNames=['Perspective', 'Parallel']))
self.addProperty('View angle',
view.camera().GetViewAngle(),
attributes=om.PropertyAttributes(minimum=2,
maximum=180))
self.addProperty('Key light intensity',
view.lightKit().GetKeyLightIntensity(),
attributes=om.PropertyAttributes(minimum=0,
maximum=5,
singleStep=0.1,
decimals=2))
self.addProperty('Light kit', True)
self.addProperty('Eye dome lighting', False)
self.addProperty('Orientation widget', True)
self.addProperty('Interactive render', True)
self.addProperty('Gradient background', True)
self.addProperty('Background color',
view.backgroundRenderer().GetBackground())
self.addProperty('Background color 2',
view.backgroundRenderer().GetBackground2())
def __init__(self, model):
modelName = os.path.basename(model.filename())
om.ObjectModelItem.__init__(self, modelName, om.Icons.Robot)
self.views = []
self.model = None
self.callbacks.addSignal(self.MODEL_CHANGED_SIGNAL)
self.addProperty('Filename', model.filename())
self.addProperty('Visible', model.visible())
self.addProperty('Alpha',
model.alpha(),
attributes=om.PropertyAttributes(decimals=2,
minimum=0,
maximum=1.0,
singleStep=0.1,
hidden=False))
self.addProperty(
'Color Mode',
0,
attributes=om.PropertyAttributes(
enumNames=['Solid Color', 'Textures', 'URDF Colors']))
self.addProperty('Color', model.color())
self.setModel(model)
def __init__(self, name, polyData, view):
om.ObjectModelItem.__init__(self, name, om.Icons.Robot)
self.views = []
self.polyData = polyData
self.mapper = vtk.vtkPolyDataMapper()
self.mapper.SetInput(self.polyData)
self.actor = vtk.vtkActor()
self.actor.SetMapper(self.mapper)
self.shadowActor = None
self.scalarBarWidget = None
self.extraViewRenderers = {}
self.rangeMap = {
'intensity': (400, 4000),
#'z' : (0.0, 2.0),
#'distance' : (0.5, 4.0),
'spindle_angle': (0, 360),
'azimuth': (-2.5, 2.5),
'scan_delta': (0.0, 0.3)
}
self.addProperty(
'Color By',
0,
attributes=om.PropertyAttributes(enumNames=['Solid Color']))
self.addProperty('Visible', True)
self.addProperty('Alpha',
1.0,
attributes=om.PropertyAttributes(decimals=2,
minimum=0,
maximum=1.0,
singleStep=0.1,
hidden=False))
self.addProperty('Point Size',
self.actor.GetProperty().GetPointSize(),
attributes=om.PropertyAttributes(decimals=0,
minimum=1,
maximum=20,
singleStep=1,
hidden=False))
self.addProperty('Surface Mode',
0,
attributes=om.PropertyAttributes(enumNames=[
'Surface', 'Wireframe', 'Surface with edges',
'Points'
],
hidden=True))
self.addProperty('Color', [1.0, 1.0, 1.0])
self.addProperty('Show Scalar Bar', False)
self._updateSurfaceProperty()
self._updateColorByProperty()
if view is not None:
self.addToView(view)
def getDefaultProperties(properties):
properties.addProperty('Position', [0.5, -0.22, 1.2],
attributes=om.PropertyAttributes(decimals=3,
minimum=-1e4,
maximum=1e4))
properties.addProperty('Rotation', [0, 0, 0],
attributes=om.PropertyAttributes(decimals=2,
minimum=-360,
maximum=360))
def addDefaultProperties(self):
self.params.addProperty('max degrees per second',
10,
attributes=om.PropertyAttributes(singleStep=1,
decimals=2))
self.params.addProperty(
'Hand',
0,
attributes=om.PropertyAttributes(enumNames=['Left', 'Right']))
self.params.setProperty('Hand', self.planner.side.capitalize())
def __init__(self, name, polyData, view):
PolyDataItem.__init__(self, name, polyData, view)
self.params = {}
self.addProperty('uuid', newUUID(), attributes=om.PropertyAttributes(hidden=True))
self.addProperty('Collision Enabled', True)
self.addProperty('Origin', [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0], attributes=om.PropertyAttributes(hidden=True))
self.addProperty('Camera Texture Enabled', False)
self.properties.setPropertyIndex('Collision Enabled', 0)
self.setProperty('Icon', om.Icons.Hammer)
def __init__(self, model):
om.ObjectModelItem.__init__(self, 'Multisense', om.Icons.Laser)
self.model = model
self.scalarBarWidget = None
self.addProperty('Color By', 0,
attributes=om.PropertyAttributes(enumNames=['Solid Color', 'Intensity', 'Z Coordinate', 'Range', 'Spindle Angle', 'Azimuth', 'Camera RGB', 'Scan Delta']))
self.addProperty('Show Scalar Bar', False)
self.addProperty('Updates Enabled', True)
self.addProperty('Min Range', model.reader.GetDistanceRange()[0],
attributes=om.PropertyAttributes(decimals=2, minimum=0.0, maximum=100.0, singleStep=0.25, hidden=False))
self.addProperty('Max Range', model.reader.GetDistanceRange()[1],
attributes=om.PropertyAttributes(decimals=2, minimum=0.0, maximum=100.0, singleStep=0.25, hidden=False))
self.addProperty('Edge Filter Angle', model.reader.GetEdgeAngleThreshold(),
attributes=om.PropertyAttributes(decimals=0, minimum=0.0, maximum=60.0, singleStep=1, hidden=False))
self.addProperty('Number of Scan Lines', model.numberOfScanLines,
attributes=om.PropertyAttributes(decimals=0, minimum=0, maximum=100, singleStep=1, hidden=False))
self.addProperty('Visible', model.visible)
self.addProperty('Point Size', model.pointSize,
attributes=om.PropertyAttributes(decimals=0, minimum=1, maximum=20, singleStep=1, hidden=False))
self.addProperty('Alpha', model.alpha,
attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=1.0, singleStep=0.1, hidden=False))
self.addProperty('Min Height', model.reader.GetHeightRange()[0],
attributes=om.PropertyAttributes(decimals=2, minimum=-80.0, maximum=80.0, singleStep=0.25, hidden=False))
self.addProperty('Max Height', model.reader.GetHeightRange()[1],
attributes=om.PropertyAttributes(decimals=2, minimum=-80.0, maximum=80.0, singleStep=0.25, hidden=False))
def __init__(self,
name,
cameraName,
imageManager,
robotStateJointController,
provider=None):
vis.PolyDataItem.__init__(self, name, vtk.vtkPolyData(), view=None)
self.robotStateJointController = robotStateJointController
self.addProperty("Camera name", cameraName)
self.addProperty(
"Decimation",
1,
attributes=om.PropertyAttributes(
enumNames=["1", "2", "4", "8", "16"]),
)
self.addProperty(
"Remove Size",
1000,
attributes=om.PropertyAttributes(decimals=0,
minimum=0,
maximum=100000.0,
singleStep=1000),
)
self.addProperty(
"Target FPS",
5.0,
attributes=om.PropertyAttributes(decimals=1,
minimum=0.1,
maximum=30.0,
singleStep=0.1),
)
self.addProperty(
"Max Range",
5.0,
attributes=om.PropertyAttributes(decimals=2,
minimum=0.0,
maximum=30.0,
singleStep=0.25),
)
self.imageManager = imageManager
self.cameraName = cameraName
self.firstData = True
self.timer = TimerCallback()
self.timer.callback = self.update
self.lastUtime = 0
self.lastDataReceivedTime = 0
if provider:
self.setProvider(provider)
else:
self.provider = None
def updatePolyData(self, viewId, polyData):
obj = self.polyDataObjects.get(viewId)
if obj not in om.getObjects():
obj = None
if not obj:
hiddenMapIds = [9999]
visibleDefault = False if viewId in hiddenMapIds else True
obj = vis.PolyDataItem(self.getNameForViewId(viewId), polyData,
self.view)
obj.setProperty('Visible', visibleDefault)
if obj._isPointCloud():
obj.setProperty('Color', [1, 1, 1])
obj.setProperty('Alpha', 0.5)
else:
obj.setProperty('Color', [0, 0.68, 1])
if viewId == lcmdrc.data_request_t.HEIGHT_MAP_SCENE:
obj.setProperty('Surface Mode', 'Wireframe')
folder = om.findObjectByName('Map Server')
folder.addProperty('Min Range',
self.reader.GetDistanceRange()[0],
attributes=om.PropertyAttributes(
decimals=2,
minimum=0.0,
maximum=100.0,
singleStep=0.25,
hidden=False))
folder.addProperty('Max Range',
self.reader.GetDistanceRange()[1],
attributes=om.PropertyAttributes(
decimals=2,
minimum=0.0,
maximum=100.0,
singleStep=0.25,
hidden=False))
folder.addProperty('Edge Filter Angle',
self.reader.GetEdgeAngleThreshold(),
attributes=om.PropertyAttributes(decimals=0,
minimum=0.0,
maximum=60.0,
singleStep=1,
hidden=False))
om.addToObjectModel(obj, folder)
om.expand(folder)
self.folder = folder
self.polyDataObjects[viewId] = obj
else:
obj.setPolyData(polyData)
if self.colorizeCallback:
self.colorizeCallback(obj)
def main():
obj = om.ObjectModelItem('test')
obj.addProperty('double',
1.0,
attributes=om.PropertyAttributes(decimals=2,
minimum=0,
maximum=100,
singleStep=0.5))
obj.addProperty('double list', [1.0, 2.0, 3.0],
attributes=om.PropertyAttributes(decimals=2,
minimum=0,
maximum=100,
singleStep=0.5))
obj.addProperty('int',
1,
attributes=om.PropertyAttributes(minimum=0,
maximum=100,
singleStep=5))
obj.addProperty('int list', [1, 2, 3],
attributes=om.PropertyAttributes(minimum=0,
maximum=100,
singleStep=1))
obj.addProperty('bool', True)
obj.addProperty('str', 'value')
obj.addProperty('str list',
0,
attributes=om.PropertyAttributes(
enumNames=['value 1', 'value 2', 'value 3']))
obj.addProperty('color', [1.0, 0.5, 0.0])
panel = PythonQt.dd.ddPropertiesPanel()
panel.setBrowserModeToWidget()
panel.show()
panelConnector = propertyset.PropertyPanelConnector(obj.properties, panel)
def onPropertyChanged(propertySet, propertyName):
obj.properties.setPropertyAttribute('str list', 'enumNames',
['one', 'two', 'three'])
obj.properties.connectPropertyChanged(onPropertyChanged)
obj.setProperty('bool', False)
assert 'one' in obj.properties.getPropertyAttribute(
'str list', 'enumNames')
_pythonManager.consoleWidget().show()
startApplication(enableQuitTimer=True)
def __init__(self, model):
om.ObjectModelItem.__init__(self, 'Kinect', om.Icons.Eye)
self.model = model
self.scalarBarWidget = None
self.addProperty('Color By', 1,
attributes=om.PropertyAttributes(enumNames=['Solid Color', 'rgb_colors']))
self.addProperty('Updates Enabled', True)
self.addProperty('Framerate', model.targetFps,
attributes=om.PropertyAttributes(decimals=0, minimum=1.0, maximum=30.0, singleStep=1, hidden=False))
self.addProperty('Visible', model.visible)
def addDefaultProperties(self):
self.params.addProperty('Chair Height',
0.57,
attributes=om.PropertyAttributes(
singleStep=0.01, decimals=3))
self.params.addProperty('Sit Back Distance',
0.2,
attributes=om.PropertyAttributes(
singleStep=0.01, decimals=3))
self.params.addProperty('Speed',
1,
attributes=om.PropertyAttributes(
singleStep=0.1, decimals=3))
self.params.addProperty('Back Gaze Bound',
0.4,
attributes=om.PropertyAttributes(
singleStep=0.01, decimals=3))
self.params.addProperty('Min Distance',
0.1,
attributes=om.PropertyAttributes(
singleStep=0.01, decimals=3))
self.params.addProperty('Pelvis Gaze Bound',
0.1,
attributes=om.PropertyAttributes(
singleStep=0.01, decimals=3))
self.params.addProperty('Pelvis Gaze Angle',
0,
attributes=om.PropertyAttributes(
singleStep=0.01, decimals=3))
self.params.addProperty('Back y Angle',
-0.2,
attributes=om.PropertyAttributes(
singleStep=0.01, decimals=3))
def getDefaultProperties(properties):
properties.addProperty(
'Side',
0,
attributes=om.PropertyAttributes(enumNames=['Left', 'Right']))
properties.addProperty(
'Mode',
0,
attributes=om.PropertyAttributes(enumNames=['Basic', 'Pinch']))
properties.addProperty('Amount',
100,
attributes=propertyset.PropertyAttributes(
minimum=0, maximum=100))
properties.addProperty('Check status', False)
def getDefaultProperties(properties):
properties.addProperty('Radius',
0.195,
attributes=om.PropertyAttributes(decimals=4,
minimum=0,
maximum=10))
properties.addProperty('Position', [0.7, -0.22, 1.21],
attributes=om.PropertyAttributes(decimals=3,
minimum=-1e4,
maximum=1e4))
properties.addProperty('Rotation', [180, -90, 16],
attributes=om.PropertyAttributes(decimals=2,
minimum=-360,
maximum=360))
def setProvider(self, provider):
"""
Set the provider for this cloud. This completes the initialisation of the object and displays the cloud by
pulling data from the provider
:param provider: An instantiation of the PointCloudSourceMeta abstract class
:return:
"""
if not issubclass(provider.__class__, self._requiredProviderClass):
raise TypeError(
"Attempted to set {} provider to {}, but it was not a"
" subclass of {} as is required.".format(
self.__class__,
provider.__class__,
self._requiredProviderClass.__class__,
)
)
self.provider = provider
self.provider.set_consumer(self)
self.addProperty("Updates Enabled", True)
self.addProperty(
"Number of Point Clouds",
10,
attributes=om.PropertyAttributes(
decimals=0, minimum=1, maximum=100, singleStep=1, hidden=False
),
)
if self.getProperty("Visible"):
self.provider.start()
def __init__(self, filename):
self.parser = OtdfParser()
self.parser.setOtdfFilename(filename)
model = self.createDefaultModel()
assert model is not None
roboturdf.RobotModelItem.__init__(self, model)
self.setProperty('Name', os.path.basename(filename))
self.setProperty('Color Mode', 0)
self.setPropertyAttribute('Color Mode', 'hidden', True)
# add otdf properties
basePropertyKeys = list(self.properties._properties.keys())
otdfPropertyKeys = []
for paramName, paramData in self.parser.paramDict.items():
otdfPropertyKeys.append(paramName)
valueDefault, valueMin, valueMax, valueIncrement = paramData
self.addProperty(paramName, float(valueDefault), om.PropertyAttributes(decimals=4, minimum=valueMin, maximum=valueMax, singleStep=valueIncrement, hidden=False))
orderedProperties = OrderedDict()
for name in otdfPropertyKeys + basePropertyKeys:
orderedProperties[name] = self.properties._properties[name]
self.properties._properties = orderedProperties
self.updateModelPosition()
def getDefaultProperties(properties):
properties.addProperty('Posture group', 'General')
properties.addProperty('Posture name', 'arm up pregrasp')
properties.addProperty('Side',
1,
attributes=om.PropertyAttributes(
enumNames=['Default', 'Left', 'Right']))
def __init__(self, name, view):
AffordanceItem.__init__(self, name, vtk.vtkPolyData(), view)
self.setProperty('Collision Enabled', False)
self.addProperty('Filename', '')
self.addProperty('Scale', [1.0, 1.0, 1.0], attributes=om.PropertyAttributes(decimals=3, singleStep=0.01, minimum=0.0, maximum=1e4))
self.properties.setPropertyIndex('Filename', 0)
self.properties.setPropertyIndex('Scale', 1)
# attempt to reload geometry if it is currently empty
if self.getProperty('Filename') and not self.polyData.GetNumberOfPoints():
self.updateGeometryFromProperties()
def __init__(self, name, actor):
om.ObjectModelItem.__init__(self, name, om.Icons.Octomap)
self.actor = actor
self.actor.SetUseBounds(False)
self.addProperty('Visible', actor.GetVisibility())
self.addProperty('Alpha', 0.8, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=1.0, singleStep=0.1, hidden=False))
self.addProperty('Color Mode', 2, attributes=om.PropertyAttributes(enumNames=['Flat', 'Print', 'Height', 'Gray', 'Semantic']))
self.addProperty('Occ. Space', 1, attributes=om.PropertyAttributes(enumNames=['Hide', 'Show']))
self.addProperty('Free Space', 0, attributes=om.PropertyAttributes(enumNames=['Hide', 'Show']))
self.addProperty('Structure', 0, attributes=om.PropertyAttributes(enumNames=['Hide', 'Show']))
self.addProperty('Tree Depth', 16, attributes=om.PropertyAttributes(decimals=0, minimum=1, maximum=16, singleStep=1.0))
self.views = []
def setProvider(self, provider):
"""
Set the provider for this depth image cloud. This completes the initialisation of the object and displays the
cloud by pulling data from the provider
:param provider: An instantiation of the DepthImageSourceMeta abstract class
:return:
"""
if not issubclass(provider.__class__, self._requiredProviderClass):
raise TypeError(
"Attempted to set {} provider to {}, but it was not a"
" subclass of {} as is required.".format(
self.__class__,
provider.__class__,
self._requiredProviderClass.__class__,
)
)
self.provider = provider
self.provider.set_consumer(self)
decimation = int(self.properties.getPropertyEnumValue("Decimation"))
removeSize = int(self.properties.getProperty("Remove Size"))
rangeThreshold = float(self.properties.getProperty("Max Range"))
self.addProperty("Remove Stale Data", False)
self.addProperty(
"Stale Data Timeout",
5.0,
attributes=om.PropertyAttributes(
decimals=1, minimum=0.1, maximum=30.0, singleStep=0.1
),
)
self.provider.set_decimate(int(decimation))
self.provider.set_remove_size(removeSize)
self.provider.set_range_threshold(rangeThreshold)
self.setProperty("Visible", True)
self.lastDataReceivedTime = time.time()
def __init__(self, name, actor):
om.ObjectModelItem.__init__(self, name, om.Icons.Collections)
self.actor = actor
self.actor.SetUseBounds(False)
self.addProperty('Visible', actor.GetVisibility())
self.addProperty('Start', 0.0, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=1.0, singleStep=0.01))
self.addProperty('End', 1.0, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=1.0, singleStep=0.01))
self.addProperty('Points Alpha', 0.8, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=1.0, singleStep=0.1))
self.addProperty('Point Width', 5.0, attributes=om.PropertyAttributes(decimals=0, minimum=1.0, maximum=30.0, singleStep=1))
self.addProperty('Pose Width', 1.0, attributes=om.PropertyAttributes(decimals=1, minimum=0.1, maximum=30.0, singleStep=0.1))
self.addProperty('Color Poses', False)
self.addProperty('Fill Scans', False)
self.addProperty('Color by Time', False)
self.addProperty('Elevation by Time', False)
self.addProperty('Elevation by Collection', False)
self.addProperty('Max Elevation', 0.0, attributes=om.PropertyAttributes(decimals=1, minimum=0, maximum=100.0, singleStep=0.1))
self.views = []
self.collectionInfos = None
