def _create_deferred(self):
# Defer creating viewer until we have a message.
def callback(msg):
# Create.
frame_names = [image.header.frame_name for image in msg.images]
print("DrakeLcmImageViewer: Received on '{}', frame_names = {}"
.format(self._channel, frame_names))
self._init_full(frame_names)
print("DrakeLcmImageViewer: Defer setup until '{}' is received".format(
self._channel))
self._defer_sub = lcmUtils.captureMessageCallback(
self._channel, rl.image_array_t, callback)
def _create_deferred(self):
# Defer creating viewer until we have a message.
def callback(msg):
# Create.
frame_names = [image.header.frame_name for image in msg.images]
print("DrakeLcmImageViewer: Received on '{}', frame_names = {}".
format(self._channel, frame_names))
self._init_full(frame_names)
print("DrakeLcmImageViewer: Defer setup until '{}' is received".format(
self._channel))
self._defer_sub = lcmUtils.captureMessageCallback(
self._channel, rl.image_array_t, callback)
# initialize camera view
cameraChannel = 'MULTISENSE_CAMERA_LEFT'
imageManager = cameraview.ImageManager()
imageManager.queue.addCameraStream(cameraChannel)
imageManager.addImage(cameraChannel)
cameraView = cameraview.CameraImageView(imageManager,
cameraChannel,
view=app.createView(useGrid=False))
# show widgets with a grid layout
w = QtGui.QWidget()
l = QtGui.QGridLayout(w)
l.addWidget(view, 0, 0)
l.addWidget(cameraView.view, 0, 1)
l.addWidget(playbackPanel.widget, 1, 0, 1,
2) # row, column, row span, column span
l.setContentsMargins(0, 0, 0, 0)
w.resize(1024, 600)
w.show()
# add lcm logplayer keyboard shortcuts
logCommander = robotviewbehaviors.KeyPressLogCommander(view)
# reset camera position when first robot state message is received
lcmUtils.captureMessageCallback('EST_ROBOT_STATE', lcmbotcore.robot_state_t,
lambda x: view.resetCamera())
# start the application
app.start()
manipPlanner.connectPlanReceived(playbackPanel.setPlan)
# initialize pointcloud lcm
pointcloudlcm.init(view)
# initialize camera view
cameraChannel = 'MULTISENSE_CAMERA_LEFT'
imageManager = cameraview.ImageManager()
imageManager.queue.addCameraStream(cameraChannel)
imageManager.addImage(cameraChannel)
cameraView = cameraview.CameraImageView(imageManager, cameraChannel, view=app.createView(useGrid=False))
# show widgets with a grid layout
w = QtGui.QWidget()
l = QtGui.QGridLayout(w)
l.addWidget(view, 0, 0)
l.addWidget(cameraView.view, 0, 1)
l.addWidget(playbackPanel.widget, 1, 0, 1, 2) # row, column, row span, column span
l.setContentsMargins(0, 0, 0, 0)
w.resize(1024, 600)
w.show()
# add lcm logplayer keyboard shortcuts
logCommander = robotviewbehaviors.KeyPressLogCommander(view)
# reset camera position when first robot state message is received
lcmUtils.captureMessageCallback('EST_ROBOT_STATE', lcmbotcore.robot_state_t, lambda x: view.resetCamera())
# start the application
app.start()
