def startApplication(enableQuitTimer=False):
appInstance = QtGui.QApplication.instance()
if enableQuitTimer:
quitTimer = TimerCallback()
quitTimer.callback = appInstance.quit
quitTimer.singleShot(0.1)
appInstance.exec_()
def start(enableAutomaticQuit=True):
"""
In testing mode, the application will quit automatically after starting
unless enableAutomaticQuit is set to False. Tests that need to perform
work after the QApplication has started can set this flag to False and
call quit or exit themselves.
In testing mode, this function will register an exception hook so that
tests will return on error code if an unhandled exception is raised.
"""
if enableAutomaticQuit:
ConsoleApp.startTestingModeQuitTimer()
if (ConsoleApp.getTestingEnabled()
and not ConsoleApp.getTestingInteractiveEnabled()):
sys.excepthook = _consoleAppExceptionHook
def onStartup():
for func in ConsoleApp._startupCallbacks:
try:
func()
except:
print traceback.format_exc()
startTimer = TimerCallback(callback=onStartup)
startTimer.singleShot(0)
result = ConsoleApp.applicationInstance().exec_()
if (ConsoleApp.getTestingEnabled()
and not ConsoleApp.getTestingInteractiveEnabled()):
print "TESTING PROGRAM RETURNING EXIT CODE:", result
sys.exit(result)
return result
def startApplication(enableQuitTimer=False):
appInstance = QtGui.QApplication.instance()
if enableQuitTimer:
quitTimer = TimerCallback()
quitTimer.callback = appInstance.quit
quitTimer.singleShot(0.1)
appInstance.exec_()
def start(enableAutomaticQuit=True):
'''
In testing mode, the application will quit automatically after starting
unless enableAutomaticQuit is set to False. Tests that need to perform
work after the QApplication has started can set this flag to False and
call quit or exit themselves.
In testing mode, this function will register an exception hook so that
tests will return on error code if an unhandled exception is raised.
'''
if enableAutomaticQuit:
ConsoleApp.startTestingModeQuitTimer()
if ConsoleApp.getTestingEnabled() and not ConsoleApp.getTestingInteractiveEnabled():
sys.excepthook = _consoleAppExceptionHook
def onStartup():
for func in ConsoleApp._startupCallbacks:
try:
func()
except:
print traceback.format_exc()
startTimer = TimerCallback(callback=onStartup)
startTimer.singleShot(0)
result = ConsoleApp.applicationInstance().exec_()
if ConsoleApp.getTestingEnabled() and not ConsoleApp.getTestingInteractiveEnabled():
print 'TESTING PROGRAM RETURNING EXIT CODE:', result
sys.exit(result)
return result
class PropertyPanelConnector(object):
def __init__(self, propertySet, propertiesPanel, propertyNamesToAdd=None):
self.propertySet = propertySet
self.propertyNamesToAdd = propertyNamesToAdd
self.propertiesPanel = propertiesPanel
self.propertySet.connectPropertyAdded(self._onPropertyAdded)
self.propertySet.connectPropertyChanged(self._onPropertyChanged)
self.propertySet.connectPropertyAttributeChanged(
self._onPropertyAttributeChanged)
self.propertiesPanel.connect(
'propertyValueChanged(QtVariantProperty*)',
self._onPanelPropertyChanged)
self.timer = TimerCallback()
self.timer.callback = self._rebuildNow
self._blockSignals = True
PropertyPanelHelper.addPropertiesToPanel(self.propertySet,
self.propertiesPanel,
self.propertyNamesToAdd)
self._blockSignals = False
def cleanup(self):
self.propertiesPanel.disconnect(
'propertyValueChanged(QtVariantProperty*)',
self._onPanelPropertyChanged)
def _rebuild(self):
if not self.timer.singleShotTimer.isActive():
self.timer.singleShot(0)
def _rebuildNow(self):
self._blockSignals = True
self.propertiesPanel.clear()
PropertyPanelHelper.addPropertiesToPanel(self.propertySet,
self.propertiesPanel)
self._blockSignals = False
def _onPropertyAdded(self, propertySet, propertyName):
self._rebuild()
def _onPropertyAttributeChanged(self, propertySet, propertyName,
propertyAttribute):
self._rebuild()
def _onPropertyChanged(self, propertySet, propertyName):
self._blockSignals = True
PropertyPanelHelper.onPropertyValueChanged(self.propertiesPanel,
propertySet, propertyName)
self._blockSignals = False
def _onPanelPropertyChanged(self, panelProperty):
if not self._blockSignals:
PropertyPanelHelper.setPropertyFromPanel(panelProperty,
self.propertiesPanel,
self.propertySet)
class PropertyPanelConnector(object):
def __init__(self, propertySet, propertiesPanel, propertyNamesToAdd=None):
self.propertySet = propertySet
self.propertyNamesToAdd = propertyNamesToAdd
self.propertiesPanel = propertiesPanel
self.connections = []
self.connections.append(self.propertySet.connectPropertyAdded(self._onPropertyAdded))
self.connections.append(self.propertySet.connectPropertyChanged(self._onPropertyChanged))
self.connections.append(self.propertySet.connectPropertyAttributeChanged(self._onPropertyAttributeChanged))
self.propertiesPanel.connect('propertyValueChanged(QtVariantProperty*)', self._onPanelPropertyChanged)
self.timer = TimerCallback()
self.timer.callback = self._rebuildNow
self._blockSignals = True
PropertyPanelHelper.addPropertiesToPanel(self.propertySet, self.propertiesPanel, self.propertyNamesToAdd)
self._blockSignals = False
def cleanup(self):
self.timer.callback = None
self.propertiesPanel.disconnect('propertyValueChanged(QtVariantProperty*)', self._onPanelPropertyChanged)
for connection in self.connections:
self.propertySet.callbacks.disconnect(connection)
def _rebuild(self):
if not self.timer.singleShotTimer.isActive():
self.timer.singleShot(0)
def _rebuildNow(self):
self._blockSignals = True
self.propertiesPanel.clear()
PropertyPanelHelper.addPropertiesToPanel(self.propertySet, self.propertiesPanel)
self._blockSignals = False
def _onPropertyAdded(self, propertySet, propertyName):
self._rebuild()
def _onPropertyAttributeChanged(self, propertySet, propertyName, propertyAttribute):
self._rebuild()
def _onPropertyChanged(self, propertySet, propertyName):
self._blockSignals = True
PropertyPanelHelper.onPropertyValueChanged(self.propertiesPanel, propertySet, propertyName)
self._blockSignals = False
def _onPanelPropertyChanged(self, panelProperty):
if not self._blockSignals:
PropertyPanelHelper.setPropertyFromPanel(panelProperty, self.propertiesPanel, self.propertySet)
class AffordanceObjectModelManager(object):
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
self.affordanceUpdater = None
def setAffordanceUpdater(self, affordanceUpdater):
self.affordanceUpdater = affordanceUpdater
def getAffordances(self):
return [obj for obj in om.getObjects() if isinstance(obj, affordanceitems.AffordanceItem)]
def getCollisionAffordances(self):
affs = []
for aff in self.getAffordances():
if aff.getProperty('Collision Enabled'):
affs.append(aff)
return affs
def getAffordanceId(self, aff):
return aff.getProperty('uuid')
def newAffordanceFromDescription(self, desc):
if 'uuid' not in desc:
desc['uuid'] = newUUID()
self.collection.updateDescription(desc)
return self.getAffordanceById(desc['uuid'])
def getAffordanceById(self, affordanceId):
for aff in self.getAffordances():
if self.getAffordanceId(aff) == affordanceId:
return aff
def getAffordanceDescription(self, aff):
return aff.getDescription()
def registerAffordance(self, aff, notify=True):
aff.connectRemovedFromObjectModel(self._onAffordanceRemovedFromObjectModel)
aff.properties.connectPropertyChanged(self._onAffordancePropertyChanged)
aff.getChildFrame().connectFrameModified(self._onAffordanceFrameChanged)
if notify:
self.notifyAffordanceUpdate(aff)
def removeAffordance(self, aff):
self.collection.removeDescription(aff.getProperty('uuid'), notify=False)
def notifyAffordanceUpdate(self, aff):
if not isinstance(aff, affordanceitems.AffordanceItem):
return
shouldNotify = not self._pendingUpdates and not self.timer.singleShotTimer.isActive()
self._pendingUpdates.add(aff)
if shouldNotify:
self._notifyPendingUpdates()
def _notifyPendingUpdates(self):
if self._pendingUpdates:
self.timer.singleShot(1.0/self.notifyFrequency)
for aff in self._pendingUpdates:
try:
self.collection.updateDescription(self.getAffordanceDescription(aff), notify=False)
except:
print(traceback.format_exc())
self._pendingUpdates.clear()
def _onAffordancePropertyChanged(self, propertySet, propertyName):
if self._ignoreChanges:
return
self.notifyAffordanceUpdate(self.getAffordanceById(propertySet.getProperty('uuid')))
def _onAffordanceFrameChanged(self, frameObj):
if self._ignoreChanges:
return
aff = frameObj.parent()
self.notifyAffordanceUpdate(aff)
def _onAffordanceRemovedFromObjectModel(self, objectModel, aff):
if self._ignoreChanges:
return
self.removeAffordance(aff)
def _loadAffordanceFromDescription(self, desc):
className = desc['classname']
cls = getattr(affordanceitems, className)
aff = cls(desc['Name'], self.view)
om.addToObjectModel(aff, parentObj=om.getOrCreateContainer('affordances'))
frame = vis.addChildFrame(aff)
frame.setProperty('Deletable', False)
aff.loadDescription(desc, copyMode=aff.COPY_MODE_ALL)
self.registerAffordance(aff, notify=False)
def _onDescriptionUpdated(self, collection, descriptionId):
aff = self.getAffordanceById(descriptionId)
desc = collection.getDescription(descriptionId)
if aff:
self._ignoreChanges = True
aff.loadDescription(desc, copyMode=aff.COPY_MODE_SKIP_LOCAL)
self._ignoreChanges = False
else:
aff = self._loadAffordanceFromDescription(desc)
def _onDescriptionRemoved(self, collection, descriptionId):
self._ignoreChanges = True
om.removeFromObjectModel(self.getAffordanceById(descriptionId))
self._ignoreChanges = False
def startQuitTimer(timeoutInSeconds):
quitTimer = TimerCallback()
quitTimer.callback = ConsoleApp.quit
quitTimer.singleShot(timeoutInSeconds)
class DepthScanner(object):
def __init__(self, view):
self.view = view
self.depthImage = None
self.pointCloudObj = None
self.renderObserver = None
self.windowToDepthBuffer = vtk.vtkWindowToImageFilter()
self.windowToDepthBuffer.SetInput(self.view.renderWindow())
self.windowToDepthBuffer.SetInputBufferTypeToZBuffer()
self.windowToDepthBuffer.ShouldRerenderOff()
self.windowToColorBuffer = vtk.vtkWindowToImageFilter()
self.windowToColorBuffer.SetInput(self.view.renderWindow())
self.windowToColorBuffer.SetInputBufferTypeToRGB()
self.windowToColorBuffer.ShouldRerenderOff()
useBackBuffer = False
if useBackBuffer:
self.windowToDepthBuffer.ReadFrontBufferOff()
self.windowToColorBuffer.ReadFrontBufferOff()
self.initDepthImageView()
self.initPointCloudView()
self._block = False
self.singleShotTimer = TimerCallback()
self.singleShotTimer.callback = self.update
def getDepthBufferImage(self):
return self.windowToDepthBuffer.GetOutput()
def getDepthImage(self):
return self.depthScaleFilter.GetOutput()
def getDepthImageAsNumpyArray(self):
vtk_image = self.getDepthImage()
return vtk_image_to_numpy_array(vtk_image)
def getColorBufferImage(self):
return self.windowToColorBuffer.GetOutput()
def updateBufferImages(self):
for f in [self.windowToDepthBuffer, self.windowToColorBuffer]:
f.Modified()
f.Update()
def initDepthImageView(self):
self.depthImageColorByRange = [0.0, 4.0]
lut = vtk.vtkLookupTable()
lut.SetNumberOfColors(256)
lut.SetHueRange(0, 0.667) # red to blue
lut.SetRange(
self.depthImageColorByRange) # map red (near) to blue (far)
lut.SetRampToLinear()
lut.Build()
self.depthScaleFilter = vtk.vtkImageShiftScale()
self.depthScaleFilter.SetScale(1000)
self.depthScaleFilter.SetOutputScalarTypeToUnsignedShort()
self.depthImageLookupTable = lut
self.imageMapToColors = vtk.vtkImageMapToColors()
self.imageMapToColors.SetLookupTable(self.depthImageLookupTable)
self.imageMapToColors.SetInputConnection(
self.depthScaleFilter.GetOutputPort())
self.imageView = imageview.ImageView()
self.imageView.view.setWindowTitle('Depth image')
self.imageView.setImage(self.imageMapToColors.GetOutput())
def initPointCloudView(self):
self.pointCloudView = PythonQt.dd.ddQVTKWidgetView()
self.pointCloudView.setWindowTitle('Pointcloud')
self.pointCloudViewBehaviors = viewbehaviors.ViewBehaviors(
self.pointCloudView)
def update(self):
if not self.renderObserver:
def onEndRender(obj, event):
if self._block:
return
if not self.singleShotTimer.singleShotTimer.isActive():
self.singleShotTimer.singleShot(0)
self.renderObserver = self.view.renderWindow().AddObserver(
'EndEvent', onEndRender)
self._block = True
self.view.forceRender()
self.updateBufferImages()
self._block = False
depthImage, polyData, _ = computeDepthImageAndPointCloud(
self.getDepthBufferImage(), self.getColorBufferImage(),
self.view.camera())
self.depthScaleFilter.SetInputData(depthImage)
self.depthScaleFilter.Update()
self.depthImageLookupTable.SetRange(
self.depthScaleFilter.GetOutput().GetScalarRange())
self.imageMapToColors.Update()
self.imageView.resetCamera()
#self.imageView.view.render()
if not self.pointCloudObj:
self.pointCloudObj = vis.showPolyData(polyData,
'point cloud',
colorByName='rgb',
view=self.pointCloudView)
else:
self.pointCloudObj.setPolyData(polyData)
self.pointCloudView.render()
def getDepthImageAndPointCloud(self):
return computeDepthImageAndPointCloud(self.getDepthBufferImage(),
self.getColorBufferImage(),
self.view.camera())
def startQuitTimer(timeoutInSeconds):
quitTimer = TimerCallback()
quitTimer.callback = ConsoleApp.quit
quitTimer.singleShot(timeoutInSeconds)
class DepthScanner(object):
def __init__(self, view):
self.view = view
self.depthImage = None
self.pointCloudObj = None
self.renderObserver = None
self.windowToDepthBuffer = vtk.vtkWindowToImageFilter()
self.windowToDepthBuffer.SetInput(self.view.renderWindow())
self.windowToDepthBuffer.SetInputBufferTypeToZBuffer()
self.windowToDepthBuffer.ShouldRerenderOff()
self.windowToColorBuffer = vtk.vtkWindowToImageFilter()
self.windowToColorBuffer.SetInput(self.view.renderWindow())
self.windowToColorBuffer.SetInputBufferTypeToRGB()
self.windowToColorBuffer.ShouldRerenderOff()
useBackBuffer = False
if useBackBuffer:
self.windowToDepthBuffer.ReadFrontBufferOff()
self.windowToColorBuffer.ReadFrontBufferOff()
self.initDepthImageView()
self.initPointCloudView()
self._block = False
self.singleShotTimer = TimerCallback()
self.singleShotTimer.callback = self.update
def getDepthBufferImage(self):
return self.windowToDepthBuffer.GetOutput()
def getDepthImage(self):
return self.depthScaleFilter.GetOutput()
def getDepthImageAsNumpyArray(self):
vtk_image = self.getDepthImage()
return vtk_image_to_numpy_array(vtk_image)
def getColorBufferImage(self):
return self.windowToColorBuffer.GetOutput()
def updateBufferImages(self):
for f in [self.windowToDepthBuffer, self.windowToColorBuffer]:
f.Modified()
f.Update()
def initDepthImageView(self):
self.depthImageColorByRange = [0.0, 4.0]
lut = vtk.vtkLookupTable()
lut.SetNumberOfColors(256)
lut.SetHueRange(0, 0.667) # red to blue
lut.SetRange(self.depthImageColorByRange) # map red (near) to blue (far)
lut.SetRampToLinear()
lut.Build()
self.depthScaleFilter = vtk.vtkImageShiftScale()
self.depthScaleFilter.SetScale(1000)
self.depthScaleFilter.SetOutputScalarTypeToUnsignedShort()
self.depthImageLookupTable = lut
self.imageMapToColors = vtk.vtkImageMapToColors()
self.imageMapToColors.SetLookupTable(self.depthImageLookupTable)
self.imageMapToColors.SetInputConnection(self.depthScaleFilter.GetOutputPort())
self.imageView = imageview.ImageView()
self.imageView.view.setWindowTitle('Depth image')
self.imageView.setImage(self.imageMapToColors.GetOutput())
def initPointCloudView(self):
self.pointCloudView = PythonQt.dd.ddQVTKWidgetView()
self.pointCloudView.setWindowTitle('Pointcloud')
self.pointCloudViewBehaviors = viewbehaviors.ViewBehaviors(self.pointCloudView)
def update(self):
if not self.renderObserver:
def onEndRender(obj, event):
if self._block:
return
if not self.singleShotTimer.singleShotTimer.isActive():
self.singleShotTimer.singleShot(0)
self.renderObserver = self.view.renderWindow().AddObserver('EndEvent', onEndRender)
self._block = True
self.view.forceRender()
self.updateBufferImages()
self._block = False
depthImage, polyData, _ = computeDepthImageAndPointCloud(self.getDepthBufferImage(), self.getColorBufferImage(), self.view.camera())
self.depthScaleFilter.SetInputData(depthImage)
self.depthScaleFilter.Update()
self.depthImageLookupTable.SetRange(self.depthScaleFilter.GetOutput().GetScalarRange())
self.imageMapToColors.Update()
self.imageView.resetCamera()
#self.imageView.view.render()
if not self.pointCloudObj:
self.pointCloudObj = vis.showPolyData(polyData, 'point cloud', colorByName='rgb', view=self.pointCloudView)
else:
self.pointCloudObj.setPolyData(polyData)
self.pointCloudView.render()
def getDepthImageAndPointCloud(self):
return computeDepthImageAndPointCloud(self.getDepthBufferImage(), self.getColorBufferImage(), self.view.camera())
class AffordanceObjectModelManager(object):
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
self.affordanceUpdater = None
def setAffordanceUpdater(self, affordanceUpdater):
self.affordanceUpdater = affordanceUpdater
def getAffordances(self):
return [obj for obj in om.getObjects() if isinstance(obj, affordanceitems.AffordanceItem)]
def getCollisionAffordances(self):
affs = []
for aff in self.getAffordances():
if aff.getProperty('Collision Enabled'):
affs.append(aff)
return affs
def getAffordanceId(self, aff):
return aff.getProperty('uuid')
def newAffordanceFromDescription(self, desc):
if 'uuid' not in desc:
desc['uuid'] = newUUID()
self.collection.updateDescription(desc)
return self.getAffordanceById(desc['uuid'])
def getAffordanceById(self, affordanceId):
for aff in self.getAffordances():
if self.getAffordanceId(aff) == affordanceId:
return aff
def getAffordanceDescription(self, aff):
return aff.getDescription()
def registerAffordance(self, aff, notify=True):
aff.connectRemovedFromObjectModel(self._onAffordanceRemovedFromObjectModel)
aff.properties.connectPropertyChanged(self._onAffordancePropertyChanged)
aff.getChildFrame().connectFrameModified(self._onAffordanceFrameChanged)
if notify:
self.notifyAffordanceUpdate(aff)
def removeAffordance(self, aff):
self.collection.removeDescription(aff.getProperty('uuid'), notify=False)
def notifyAffordanceUpdate(self, aff):
if not isinstance(aff, affordanceitems.AffordanceItem):
return
shouldNotify = not self._pendingUpdates and not self.timer.singleShotTimer.isActive()
self._pendingUpdates.add(aff)
if shouldNotify:
self._notifyPendingUpdates()
def _notifyPendingUpdates(self):
if self._pendingUpdates:
self.timer.singleShot(1.0/self.notifyFrequency)
for aff in self._pendingUpdates:
try:
self.collection.updateDescription(self.getAffordanceDescription(aff), notify=False)
except:
print traceback.format_exc()
self._pendingUpdates.clear()
def _onAffordancePropertyChanged(self, propertySet, propertyName):
if self._ignoreChanges:
return
self.notifyAffordanceUpdate(self.getAffordanceById(propertySet.getProperty('uuid')))
def _onAffordanceFrameChanged(self, frameObj):
if self._ignoreChanges:
return
aff = frameObj.parent()
self.notifyAffordanceUpdate(aff)
def _onAffordanceRemovedFromObjectModel(self, objectModel, aff):
if self._ignoreChanges:
return
self.removeAffordance(aff)
def _loadAffordanceFromDescription(self, desc):
className = desc['classname']
cls = getattr(affordanceitems, className)
aff = cls(desc['Name'], self.view)
om.addToObjectModel(aff, parentObj=om.getOrCreateContainer('affordances'))
vis.addChildFrame(aff)
aff.loadDescription(desc, copyMode=aff.COPY_MODE_ALL)
self.registerAffordance(aff, notify=False)
def _onDescriptionUpdated(self, collection, descriptionId):
aff = self.getAffordanceById(descriptionId)
desc = collection.getDescription(descriptionId)
if aff:
self._ignoreChanges = True
aff.loadDescription(desc, copyMode=aff.COPY_MODE_SKIP_LOCAL)
self._ignoreChanges = False
else:
aff = self._loadAffordanceFromDescription(desc)
def _onDescriptionRemoved(self, collection, descriptionId):
self._ignoreChanges = True
om.removeFromObjectModel(self.getAffordanceById(descriptionId))
self._ignoreChanges = False
class DepthScanner(object):
def __init__(self, view):
self.view = view
self.depthImage = None
self.pointCloudObj = None
self.renderObserver = None
self.parentFolder = 'depth scanner'
self.windowToDepthBuffer = vtk.vtkWindowToImageFilter()
self.windowToDepthBuffer.SetInput(self.view.renderWindow())
self.windowToDepthBuffer.SetInputBufferTypeToZBuffer()
self.windowToDepthBuffer.ShouldRerenderOff()
self.windowToColorBuffer = vtk.vtkWindowToImageFilter()
self.windowToColorBuffer.SetInput(self.view.renderWindow())
self.windowToColorBuffer.SetInputBufferTypeToRGB()
self.windowToColorBuffer.ShouldRerenderOff()
useBackBuffer = False
if useBackBuffer:
self.windowToDepthBuffer.ReadFrontBufferOff()
self.windowToColorBuffer.ReadFrontBufferOff()
self.initDepthImageView()
self.initPointCloudView()
self._block = False
self.singleShotTimer = TimerCallback()
self.singleShotTimer.callback = self.update
self._updateFunc = None
def getDepthBufferImage(self):
return self.windowToDepthBuffer.GetOutput()
def getDepthImage(self):
return self.depthScaleFilter.GetOutput()
def getColorBufferImage(self):
return self.windowToColorBuffer.GetOutput()
def updateBufferImages(self):
for f in [self.windowToDepthBuffer, self.windowToColorBuffer]:
f.Modified()
f.Update()
def initDepthImageView(self):
self.depthImageColorByRange = [0.0, 4.0]
lut = vtk.vtkLookupTable()
lut.SetNumberOfColors(256)
lut.SetHueRange(0, 0.667) # red to blue
lut.SetRange(
self.depthImageColorByRange) # map red (near) to blue (far)
lut.SetRampToLinear()
lut.Build()
self.depthScaleFilter = vtk.vtkImageShiftScale()
self.depthScaleFilter.SetScale(1.0)
self.depthScaleFilter.SetOutputScalarTypeToDouble()
self.depthImageLookupTable = lut
self.imageMapToColors = vtk.vtkImageMapToColors()
self.imageMapToColors.SetLookupTable(self.depthImageLookupTable)
self.imageMapToColors.SetInputConnection(
self.depthScaleFilter.GetOutputPort())
self.imageView = imageview.ImageView()
self.imageView.view.setWindowTitle('Depth image')
self.imageView.setImage(self.imageMapToColors.GetOutput())
def initPointCloudView(self):
self.pointCloudView = PythonQt.dd.ddQVTKWidgetView()
self.pointCloudView.setWindowTitle('Pointcloud')
self.pointCloudViewBehaviors = viewbehaviors.ViewBehaviors(
self.pointCloudView)
def update(self):
if not self.renderObserver:
def onEndRender(obj, event):
if self._block:
return
if not self.singleShotTimer.singleShotTimer.isActive():
self.singleShotTimer.singleShot(0)
self.renderObserver = self.view.renderWindow().AddObserver(
'EndEvent', onEndRender)
if not self.pointCloudView.visible and not self.imageView.view.visible:
return
self._block = True
self.view.forceRender()
self.updateBufferImages()
self._block = False
depthImage, polyData = computeDepthImageAndPointCloud(
self.getDepthBufferImage(), self.getColorBufferImage(),
self.view.camera())
self.depthScaleFilter.SetInputData(depthImage)
self.depthScaleFilter.Update()
self.depthImageLookupTable.SetRange(
self.depthScaleFilter.GetOutput().GetScalarRange())
self.imageMapToColors.Update()
self.imageView.resetCamera()
#self.imageView.view.render()
if not self.pointCloudObj:
self.pointCloudObj = vis.showPolyData(polyData,
'point cloud',
colorByName='rgb',
view=self.pointCloudView,
parent=self.parentFolder)
else:
self.pointCloudObj.setPolyData(polyData)
self.pointCloudView.render()
if self._updateFunc:
self._updateFunc()
def addViewsToDock(self, app):
for view in [self.imageView.view, self.pointCloudView]:
dock = app.addWidgetToDock(view, QtCore.Qt.RightDockWidgetArea)
dock.setMinimumWidth(300)
dock.setMinimumHeight(300)
class DepthScanner(object):
def __init__(self, view):
self.view = view
self.depthImage = None
self.pointCloudObj = None
self.renderObserver = None
self.parentFolder = 'depth scanner'
self.windowToDepthBuffer = vtk.vtkWindowToImageFilter()
self.windowToDepthBuffer.SetInput(self.view.renderWindow())
self.windowToDepthBuffer.SetInputBufferTypeToZBuffer()
self.windowToDepthBuffer.ShouldRerenderOff()
self.windowToColorBuffer = vtk.vtkWindowToImageFilter()
self.windowToColorBuffer.SetInput(self.view.renderWindow())
self.windowToColorBuffer.SetInputBufferTypeToRGB()
self.windowToColorBuffer.ShouldRerenderOff()
useBackBuffer = False
if useBackBuffer:
self.windowToDepthBuffer.ReadFrontBufferOff()
self.windowToColorBuffer.ReadFrontBufferOff()
self.initDepthImageView()
self.initPointCloudView()
self._block = False
self.singleShotTimer = TimerCallback()
self.singleShotTimer.callback = self.update
self._updateFunc = None
def getDepthBufferImage(self):
return self.windowToDepthBuffer.GetOutput()
def getDepthImage(self):
return self.depthScaleFilter.GetOutput()
def getColorBufferImage(self):
return self.windowToColorBuffer.GetOutput()
def updateBufferImages(self):
for f in [self.windowToDepthBuffer, self.windowToColorBuffer]:
f.Modified()
f.Update()
def initDepthImageView(self):
self.depthImageColorByRange = [0.0, 4.0]
lut = vtk.vtkLookupTable()
lut.SetNumberOfColors(256)
lut.SetHueRange(0, 0.667) # red to blue
lut.SetRange(self.depthImageColorByRange) # map red (near) to blue (far)
lut.SetRampToLinear()
lut.Build()
self.depthScaleFilter = vtk.vtkImageShiftScale()
self.depthScaleFilter.SetScale(1.0)
self.depthScaleFilter.SetOutputScalarTypeToDouble()
self.depthImageLookupTable = lut
self.imageMapToColors = vtk.vtkImageMapToColors()
self.imageMapToColors.SetLookupTable(self.depthImageLookupTable)
self.imageMapToColors.SetInputConnection(self.depthScaleFilter.GetOutputPort())
self.imageView = imageview.ImageView()
self.imageView.view.setWindowTitle('Depth image')
self.imageView.setImage(self.imageMapToColors.GetOutput())
def initPointCloudView(self):
self.pointCloudView = PythonQt.dd.ddQVTKWidgetView()
self.pointCloudView.setWindowTitle('Pointcloud')
self.pointCloudViewBehaviors = viewbehaviors.ViewBehaviors(self.pointCloudView)
def update(self):
if not self.renderObserver:
def onEndRender(obj, event):
if self._block:
return
if not self.singleShotTimer.singleShotTimer.isActive():
self.singleShotTimer.singleShot(0)
self.renderObserver = self.view.renderWindow().AddObserver('EndEvent', onEndRender)
if not self.pointCloudView.visible and not self.imageView.view.visible:
return
self._block = True
self.view.forceRender()
self.updateBufferImages()
self._block = False
depthImage, polyData = computeDepthImageAndPointCloud(self.getDepthBufferImage(), self.getColorBufferImage(), self.view.camera())
self.depthScaleFilter.SetInputData(depthImage)
self.depthScaleFilter.Update()
self.depthImageLookupTable.SetRange(self.depthScaleFilter.GetOutput().GetScalarRange())
self.imageMapToColors.Update()
self.imageView.resetCamera()
#self.imageView.view.render()
if not self.pointCloudObj:
self.pointCloudObj = vis.showPolyData(polyData, 'point cloud', colorByName='rgb', view=self.pointCloudView, parent=self.parentFolder)
else:
self.pointCloudObj.setPolyData(polyData)
self.pointCloudView.render()
if self._updateFunc:
self._updateFunc()
def addViewsToDock(self, app):
for view in [self.imageView.view, self.pointCloudView]:
dock = app.addWidgetToDock(view, QtCore.Qt.RightDockWidgetArea)
dock.setMinimumWidth(300)
dock.setMinimumHeight(300)
