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()
