def makeMarker(i):
obj = vis.showPolyData(shallowCopy(geom),
modelName + ' marker %d' % i,
color=modelColor,
parent=modelFolder)
vis.addChildFrame(obj)
return obj
def show(data, offset=[0,0,0]):
polyData = data.getPolyData()
obj = vis.showPolyData(polyData, 'data', colorByName='RGB255')
t = vtk.vtkTransform()
t.Translate(offset)
vis.addChildFrame(obj).copyFrame(t)
return obj
def onOpenVrml(self, filename):
meshes, color = ioUtils.readVrml(filename)
folder = om.getOrCreateContainer(os.path.basename(filename), parentObj=om.getOrCreateContainer("files"))
for i, pair in enumerate(zip(meshes, color)):
mesh, color = pair
obj = vis.showPolyData(mesh, "mesh %d" % i, color=color, parent=folder)
vis.addChildFrame(obj)
def onOpenVrml(self, filename):
meshes, color = ioUtils.readVrml(filename)
folder = om.getOrCreateContainer(os.path.basename(filename), parentObj=self.getRootFolder())
for i, pair in enumerate(zip(meshes, color)):
mesh, color = pair
obj = vis.showPolyData(mesh, 'mesh %d' % i, color=color, parent=folder)
vis.addChildFrame(obj)
def centerObject(visObj):
polyData = filterUtils.transformPolyData(visObj.polyData, visObj.actor.GetUserTransform())
name = visObj.getProperty('Name')
om.removeFromObjectModel(visObj)
newVisObj = vis.showPolyData(polyData, name)
vis.addChildFrame(newVisObj)
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 _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 loadReconstructedPointCloud(self, filename=None):
if filename is None:
sourceDir = spartanUtils.getSpartanSourceDir()
filename = os.path.join(sourceDir, 'logs', 'test',
'reconstructed_pointcloud.vtp')
polyData = ioUtils.readPolyData(filename)
self.pointcloud = vis.showPolyData(polyData,
'reconstructed pointcloud',
colorByName='RGB')
vis.addChildFrame(self.pointcloud)
def addLinkGeometry(self, geom, linkName, linkFolder):
geom.polyDataItem.addToView(self.view)
om.addToObjectModel(geom.polyDataItem, parentObj=linkFolder)
vis.addChildFrame(geom.polyDataItem)
if linkName == 'world':
#geom.polyDataItem.actor.SetUseBounds(False)
#geom.polyDataItem.actor.GetProperty().LightingOff()
geom.polyDataItem.actor.GetProperty().SetSpecular(0.0)
else:
geom.polyDataItem.actor.GetProperty().SetSpecular(0.9)
geom.polyDataItem.actor.GetProperty().SetSpecularPower(20)
def addLinkGeometry(self, geom, linkName, linkFolder):
geom.polyDataItem.addToView(self.view)
om.addToObjectModel(geom.polyDataItem, parentObj=linkFolder)
vis.addChildFrame(geom.polyDataItem)
if linkName == 'world':
#geom.polyDataItem.actor.SetUseBounds(False)
#geom.polyDataItem.actor.GetProperty().LightingOff()
geom.polyDataItem.actor.GetProperty().SetSpecular(0.0)
else:
geom.polyDataItem.actor.GetProperty().SetSpecular(0.9)
geom.polyDataItem.actor.GetProperty().SetSpecularPower(20)
def openGeometry(self, filename):
if filename.lower().endswith('wrl'):
self.onOpenVrml(filename)
return
polyData = ioUtils.readPolyData(filename)
if not polyData or not polyData.GetNumberOfPoints():
self.app.showErrorMessage('Failed to read any data from file: %s' % filename, title='Reader error')
return
obj = vis.showPolyData(polyData, os.path.basename(filename), parent=self.getRootFolder())
vis.addChildFrame(obj)
def spawnCropBox(self, dims=None):
if dims is None:
dim_x = CONFIG['crop_box']['dimensions']['x']
dim_y = CONFIG['crop_box']['dimensions']['y']
dim_z = CONFIG['crop_box']['dimensions']['z']
dims = [dim_x, dim_y, dim_z]
transform = director_utils.transformFromPose(CONFIG['crop_box']['transform'])
d = DebugData()
d.addCube(dims, [0,0,0], color=[0,1,0])
self.cube_vis = vis.updatePolyData(d.getPolyData(), 'Crop Cube', colorByName='RGB255')
vis.addChildFrame(self.cube_vis)
self.cube_vis.getChildFrame().copyFrame(transform)
self.cube_vis.setProperty('Alpha', 0.3)
def _handleRigidBodies(self, bodies):
if not bodies:
return
folder = self.getRootFolder()
for body in bodies:
name = 'Body ' + str(body.id)
x,y,z,w = body.quat
quat = (w,x,y,z)
bodyToOptitrack = transformUtils.transformFromPose(body.xyz, quat)
bodyToWorld = transformUtils.concatenateTransforms((bodyToOptitrack, self.optitrackToWorld))
obj = folder.findChild(name)
if not obj:
geometry = self._makeMarkers(body.marker_xyz)
geometry = filterUtils.transformPolyData(geometry, bodyToOptitrack.GetLinearInverse())
obj = vis.showPolyData(geometry, name, parent=folder, color=[1,0,0])
frameObj = vis.addChildFrame(obj)
frameObj.setProperty('Scale', 0.2)
frameObj.setProperty('Visible', True)
obj.getChildFrame().copyFrame(bodyToWorld)
def promotePolyDataItem(cls, obj):
parent = obj.parent()
view = obj.views[0]
name = obj.getProperty('Name')
polyData = obj.polyData
props = obj.properties._properties
childFrame = obj.getChildFrame()
if childFrame:
t = transformUtils.copyFrame(childFrame.transform)
else:
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
polyData = filterUtils.transformPolyData(polyData, t.GetLinearInverse())
children = [c for c in obj.children() if c is not childFrame]
meshId = cls.getMeshManager().add(polyData)
om.removeFromObjectModel(obj)
obj = MeshAffordanceItem(name, view)
obj.setProperty('Filename', meshId)
om.addToObjectModel(obj, parentObj=parent)
frame = vis.addChildFrame(obj)
frame.copyFrame(t)
for child in children:
om.addToObjectModel(child, parentObj=obj)
obj.syncProperties(props)
return obj
def _add_polydata(self, polydata, frame_name, color):
"""Adds polydata to the simulation.
Args:
polydata: Polydata.
frame_name: Frame name.
color: Color of object.
Returns:
Frame.
"""
om.removeFromObjectModel(om.findObjectByName(frame_name))
frame = vis.showPolyData(polydata, frame_name, color=color)
vis.addChildFrame(frame)
return frame
def buildRobot():
d = DebugData()
d.addCone((0, 0, 0), (1, 0, 0), height=0.2, radius=0.1)
obj = vis.showPolyData(d.getPolyData(), 'robot')
frame = vis.addChildFrame(obj)
return obj
def buildRobot(x=0,y=0):
d = DebugData()
d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1)
obj = vis.showPolyData(d.getPolyData(), 'robot')
frame = vis.addChildFrame(obj)
return obj
def _add_polydata(self, polydata, frame_name, color):
"""Adds polydata to the simulation.
Args:
polydata: Polydata.
frame_name: Frame name.
color: Color of object.
Returns:
Frame.
"""
om.removeFromObjectModel(om.findObjectByName(frame_name))
frame = vis.showPolyData(polydata, frame_name, color=color)
vis.addChildFrame(frame)
return frame
def promotePolyDataItem(cls, obj):
parent = obj.parent()
view = obj.views[0]
name = obj.getProperty('Name')
polyData = obj.polyData
props = obj.properties._properties
childFrame = obj.getChildFrame()
if childFrame:
t = transformUtils.copyFrame(childFrame.transform)
else:
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
polyData = filterUtils.transformPolyData(polyData,
t.GetLinearInverse())
children = [c for c in obj.children() if c is not childFrame]
meshId = cls.getMeshManager().add(polyData)
om.removeFromObjectModel(obj)
obj = MeshAffordanceItem(name, view)
obj.setProperty('Filename', meshId)
om.addToObjectModel(obj, parentObj=parent)
frame = vis.addChildFrame(obj)
frame.copyFrame(t)
for child in children:
om.addToObjectModel(child, parentObj=obj)
obj.syncProperties(props)
return obj
def loadHandheldScannerMesh(affordanceManager, filename='oil_bottle.obj', name='oil_bottle', scaleDown=True):
filename = os.path.join(getLabelFusionDataDir(),'object-meshes/handheld-scanner', filename)
print filename
pose = [[0,0,0],[1,0,0,0]]
visObj = loadAffordanceModel(affordanceManager, name, filename, pose)
t = visObj.getChildFrame().transform
center = visObj.polyData.GetCenter()
translation = -np.array(center)
t.Translate(translation)
scale = 0.001
t.Scale(scale, scale, scale)
polyData = filterUtils.transformPolyData(visObj.polyData, t)
om.removeFromObjectModel(visObj)
scaledVisObj = vis.showPolyData(polyData, name+'_small')
vis.addChildFrame(scaledVisObj)
def spawnCropBox(self, dims=None):
if dims is None:
dim_x = CONFIG['crop_box']['dimensions']['x']
dim_y = CONFIG['crop_box']['dimensions']['y']
dim_z = CONFIG['crop_box']['dimensions']['z']
dims = [dim_x, dim_y, dim_z]
transform = director_utils.transformFromPose(
CONFIG['crop_box']['transform'])
d = DebugData()
d.addCube(dims, [0, 0, 0], color=[0, 1, 0])
self.cube_vis = vis.updatePolyData(d.getPolyData(),
'Crop Cube',
colorByName='RGB255')
vis.addChildFrame(self.cube_vis)
self.cube_vis.getChildFrame().copyFrame(transform)
self.cube_vis.setProperty('Alpha', 0.3)
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 _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 setTarget(self, obj):
self.onAbortPick()
if obj and not hasattr(obj, 'getChildFrame'):
obj = None
if obj:
vis.addChildFrame(obj)
obj.connectRemovedFromObjectModel(self.onObjectRemoved)
self.trackerManager.setTarget(obj)
name = self.getObjectShortName(obj) if obj else 'None'
self.ui.targetNameLabel.setText(name)
self.ui.controlFrame.setEnabled(obj is not None)
if not obj:
self.ui.trackModeCombo.setCurrentIndex(0)
def load_object_model(self):
"""
Load the object model poly data
:return:
:rtype:
"""
model_filename = os.path.join(spartan_utils.get_data_dir(),
"pdc/templates/mugs/mug.stl")
print("model_filename", model_filename)
self._poly_data = ioUtils.readPolyData(model_filename)
self._object = vis.updatePolyData(self._poly_data,
"Object",
parent=self._vis_container)
vis.addChildFrame(self._object)
pos = [0.34301733, 0.00805546, 0.92509635]
quat = [0.17589242, 0.98340013, -0.04305877, 0.01148846]
t = transformUtils.transformFromPose(pos, quat)
self._object.getChildFrame().copyFrame(t)
def load_mug_rack(self):
"""
Loads a mug rack and side table poly data
:return:
:rtype:
"""
pdc_data_dir = os.path.join(spartan_utils.get_data_dir(), 'pdc')
rack_ply_file = os.path.join(pdc_data_dir,
self._mug_rack_config["mesh"])
rack_poly_data = ioUtils.readPolyData(rack_ply_file)
self._mug_rack = vis.showPolyData(rack_poly_data,
'Mug Rack',
parent=self._vis_container)
# rack_target_position
target_pose_name = "left_side_table"
target_pose = director_utils.transformFromPose(
self._mug_rack_config['poses'][target_pose_name])
vis.addChildFrame(self._mug_rack)
self._mug_rack.getChildFrame().copyFrame(target_pose)
def initCameraFrustumVisualizer(depthScanner):
cameraObj = vis.showPolyData(vtk.vtkPolyData(), 'camera', parent=depthScanner.parentFolder, view=depthScanner.pointCloudView)
cameraFrame = vis.addChildFrame(cameraObj)
cameraFrame.setProperty('Scale', 50)
cameraObj.setProperty('Visible', False)
pointCloudToCamera = transformUtils.frameFromPositionAndRPY((0,0,0,), (-90, 90, 0)).GetLinearInverse()
def updateCameraMesh():
scale = cameraObj.getChildFrame().getProperty('Scale') * 10.0
rayLength = scale
d = DebugData()
d.addCube(dimensions=[0.04, 0.08, 0.06], center=[-0.02, 0.0, 0.0], color=[1,0.5,0])
d.addLine([0.0, 0.0, 0.0], [0.01, 0.0, 0.0], radius=0.023, color=[1,0.5,0])
cameraModelMesh = d.getPolyData()
t = vtk.vtkTransform()
t.Scale(scale, scale, scale)
cameraModelMesh = filterUtils.transformPolyData(cameraModelMesh, t)
cameraMesh = getCameraFrustumMesh(depthScanner.view, rayLength)
cameraMesh = filterUtils.transformPolyData(cameraMesh, getCameraTransform(depthScanner.view.camera()).GetLinearInverse())
cameraMesh = filterUtils.appendPolyData([cameraMesh, cameraModelMesh])
cameraObj.setPolyData(cameraMesh)
def onCameraModified():
cameraToWorld = getCameraTransform(depthScanner.view.camera())
depthScanner.pointCloudObj.actor.SetUserTransform(transformUtils.concatenateTransforms([pointCloudToCamera, cameraToWorld]))
cameraFrame.copyFrame(cameraToWorld)
def enableFrustum():
updateCameraMesh()
cameraObj.setProperty('Visible', True)
onCameraModified()
depthScanner._updateFunc = onCameraModified
applogic.setCameraTerrainModeEnabled(depthScanner.pointCloudView, True)
applogic.resetCamera(viewDirection=[1, 1, -0.4], view=depthScanner.pointCloudView)
depthScanner.pointCloudView.camera().SetViewUp([0, 0, 1])
def disableFrustum():
cameraObj.setProperty('Visible', False)
depthScanner.pointCloudObj.actor.SetUserTransform(None)
depthScanner._updateFunc = None
applogic.setCameraTerrainModeEnabled(depthScanner.pointCloudView, False)
applogic.resetCamera(viewDirection=[0, 0, -1], view=depthScanner.pointCloudView)
depthScanner.pointCloudView.camera().SetViewUp([0, 1, 0])
return FieldContainer(
updateCameraMesh=updateCameraMesh,
onCameraModified=onCameraModified,
enableFrustum=enableFrustum,
disableFrustum=disableFrustum
)
def load_mug_platform(self):
"""
Load the mug platform
:return:
:rtype:
"""
pdc_data_dir = os.path.join(spartan_utils.get_data_dir(), 'pdc')
platform_ply_file = os.path.join(pdc_data_dir,
self._mug_platform_config['mesh'])
platform_poly_data = ioUtils.readPolyData(platform_ply_file)
self._mug_platform = vis.showPolyData(platform_poly_data,
'Platform',
parent=self._vis_container)
target_pose_name = "left_side_table"
target_pose = director_utils.transformFromPose(
self._mug_platform_config['poses'][target_pose_name])
vis.addChildFrame(self._mug_platform)
self._mug_platform.getChildFrame().copyFrame(target_pose)
def buildRobot(x=0,y=0):
#print "building robot"
polyData = ioUtils.readPolyData('crazyflie.obj')
scale = 0.005
t = vtk.vtkTransform()
t.RotateX(90)
t.Scale(scale, scale, scale)
polyData = filterUtils.transformPolyData(polyData, t)
#d = DebugData()
#d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1)
#polyData = d.getPolyData()
obj = vis.showPolyData(polyData, 'robot')
robotFrame = vis.addChildFrame(obj)
return obj, robotFrame
def buildRobot(x=0, y=0):
#print "building robot"
polyData = ioUtils.readPolyData('celica.obj')
scale = 0.04
t = vtk.vtkTransform()
t.RotateZ(90)
t.Scale(scale, scale, scale)
polyData = filterUtils.transformPolyData(polyData, t)
#d = DebugData()
#d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1)
#polyData = d.getPolyData()
obj = vis.showPolyData(polyData, 'robot')
robotFrame = vis.addChildFrame(obj)
return obj, robotFrame
def makeMarker(i):
obj = vis.showPolyData(
shallowCopy(geom), modelName + " marker %d" % i, color=modelColor, parent=modelFolder
)
vis.addChildFrame(obj)
return obj
def __init__(self, obj):
if obj is not None:
vis.addChildFrame(obj)
self.targetFrame = obj.getChildFrame()
else:
self.targetFrame = None
def initCameraFrustumVisualizer(depthScanner):
cameraObj = vis.showPolyData(vtk.vtkPolyData(),
'camera',
parent=depthScanner.parentFolder,
view=depthScanner.pointCloudView)
cameraFrame = vis.addChildFrame(cameraObj)
cameraFrame.setProperty('Scale', 50)
cameraObj.setProperty('Visible', False)
pointCloudToCamera = transformUtils.frameFromPositionAndRPY((
0,
0,
0,
), (-90, 90, 0)).GetLinearInverse()
def updateCameraMesh():
scale = cameraObj.getChildFrame().getProperty('Scale') * 10.0
rayLength = scale
d = DebugData()
d.addCube(dimensions=[0.04, 0.08, 0.06],
center=[-0.02, 0.0, 0.0],
color=[1, 0.5, 0])
d.addLine([0.0, 0.0, 0.0], [0.01, 0.0, 0.0],
radius=0.023,
color=[1, 0.5, 0])
cameraModelMesh = d.getPolyData()
t = vtk.vtkTransform()
t.Scale(scale, scale, scale)
cameraModelMesh = filterUtils.transformPolyData(cameraModelMesh, t)
cameraMesh = getCameraFrustumMesh(depthScanner.view, rayLength)
cameraMesh = filterUtils.transformPolyData(
cameraMesh,
getCameraTransform(depthScanner.view.camera()).GetLinearInverse())
cameraMesh = filterUtils.appendPolyData([cameraMesh, cameraModelMesh])
cameraObj.setPolyData(cameraMesh)
def onCameraModified():
cameraToWorld = getCameraTransform(depthScanner.view.camera())
depthScanner.pointCloudObj.actor.SetUserTransform(
transformUtils.concatenateTransforms(
[pointCloudToCamera, cameraToWorld]))
cameraFrame.copyFrame(cameraToWorld)
def enableFrustum():
updateCameraMesh()
cameraObj.setProperty('Visible', True)
onCameraModified()
depthScanner._updateFunc = onCameraModified
applogic.setCameraTerrainModeEnabled(depthScanner.pointCloudView, True)
applogic.resetCamera(viewDirection=[1, 1, -0.4],
view=depthScanner.pointCloudView)
depthScanner.pointCloudView.camera().SetViewUp([0, 0, 1])
def disableFrustum():
cameraObj.setProperty('Visible', False)
depthScanner.pointCloudObj.actor.SetUserTransform(None)
depthScanner._updateFunc = None
applogic.setCameraTerrainModeEnabled(depthScanner.pointCloudView,
False)
applogic.resetCamera(viewDirection=[0, 0, -1],
view=depthScanner.pointCloudView)
depthScanner.pointCloudView.camera().SetViewUp([0, 1, 0])
return FieldContainer(updateCameraMesh=updateCameraMesh,
onCameraModified=onCameraModified,
enableFrustum=enableFrustum,
disableFrustum=disableFrustum)
def __init__(self, obj):
if obj is not None:
vis.addChildFrame(obj)
self.targetFrame = obj.getChildFrame()
else:
self.targetFrame = None
self.obj.getChildFrame().copyFrame(t)
self.view.render()
app = ConsoleApp()
app.setupGlobals(globals())
view = app.createView()
obj = vis.showPolyData(makeRobotPolyData(), 'robot', color=[0.7, 0.7, 0.8])
vis.addChildFrame(obj)
animator = AnimateRobot(om.findObjectByName('robot'), view)
animator.start()
panel = cameracontrolpanel.CameraControlPanel(view)
panel.widget.show()
def addWidgetToDock(widget, window, dockArea):
dock = QtGui.QDockWidget()
dock.setWidget(widget)
dock.setWindowTitle(widget.windowTitle)
def _handleRigidBodies(self, rigid_bodies):
# Get the list of existing rigid bodies so we can track any
# which disappear.
remaining_body_names = set(
[x.getProperty('Name') for x in self.rigid_bodies.children()])
bodies_added = False
bodies_removed = False
for body in rigid_bodies:
body_name = 'Body ' + str(body.id)
for desc in self.data_descriptions.rigid_bodies:
if desc.id == body.id:
body_name = desc.name
if body_name in remaining_body_names:
body_obj = om.findObjectByName(body_name,
parent=self.rigid_bodies)
else:
bodies_added = True
# The use of a box here is arbitrary.
body_obj = affordanceitems.BoxAffordanceItem(
body_name, applogic.getCurrentRenderView())
om.addToObjectModel(body_obj, parentObj=self.rigid_bodies)
vis.addChildFrame(body_obj).setProperty('Deletable', False)
body_obj.setProperty('Surface Mode', 'Wireframe')
body_obj.setProperty('Color', [1, 0, 0])
remaining_body_names.discard(body_name)
x, y, z, w = body.quat
quat = (w, x, y, z)
objToOptitrack = transformUtils.transformFromPose(body.xyz, quat)
# Dimension our box based on a bounding across all of our
# markers.
all_xyz = body.marker_xyz + [body.xyz]
all_xyz = [(xyz[0] - body.xyz[0], xyz[1] - body.xyz[1],
xyz[2] - body.xyz[2]) for xyz in all_xyz]
marker_transforms = [
transformUtils.transformFromPose(xyz, (1, 0, 0, 0))
for xyz in all_xyz
]
inv_transform = transformUtils.transformFromPose((0, 0, 0),
(w, -x, -y, -z))
marker_transforms = [
transformUtils.concatenateTransforms([t, inv_transform])
for t in marker_transforms
]
all_xyz = [t.GetPosition() for t in marker_transforms]
(min_x, min_y, min_z) = (min(xyz[0] for xyz in all_xyz),
min(xyz[1] for xyz in all_xyz),
min(xyz[2] for xyz in all_xyz))
(max_x, max_y, max_z) = (max(xyz[0] for xyz in all_xyz),
max(xyz[1] for xyz in all_xyz),
max(xyz[2] for xyz in all_xyz))
dimensions = (max(0.01, max_x - min_x), max(0.01, max_y - min_y),
max(0.01, max_z - min_z))
#print "max, min", (max_x, max_y, max_z), (min_x, min_y, min_z)
body_obj.setProperty('Dimensions', dimensions)
objToWorld = transformUtils.concatenateTransforms(
[objToOptitrack, self.optitrackToWorld])
body_obj.getChildFrame().copyFrame(objToWorld)
folder = om.getOrCreateContainer('Models', parentObj=body_obj)
self._updateMarkerCollection(
body_name + '.', folder, body.marker_ids,
body.marker_xyz) #, base_transform=transform)
if len(remaining_body_names):
bodies_removed = True
for remaining_body in remaining_body_names:
obj = om.findObjectByName(remaining_body, self.rigid_bodies)
om.removeFromObjectModel(obj)
if bodies_added or bodies_removed:
self.callbacks.process(
'RIGID_BODY_LIST_CHANGED',
sorted([
x.getProperty('Name')
for x in self.rigid_bodies.children()
]))
self.obj.getChildFrame().copyFrame(t)
self.view.render()
app = ConsoleApp()
app.setupGlobals(globals())
view = app.createView()
obj = vis.showPolyData(makeRobotPolyData(), 'robot', color=[0.7, 0.7, 0.8])
vis.addChildFrame(obj)
animator = AnimateRobot(om.findObjectByName('robot'), view)
animator.start()
panel = cameracontrolpanel.CameraControlPanel(view)
panel.widget.show()
def addWidgetToDock(widget, window, dockArea):
dock = QtGui.QDockWidget()
dock.setWidget(widget)
dock.setWindowTitle(widget.windowTitle)