class ImageBasedAffordanceFit(object):
def __init__(self, imageView=None, numberOfPoints=1):
self.imageView = imageView or cameraview.CameraImageView(cameraview.imageManager, 'CAMERA_LEFT', 'image view')
self.imagePicker = ImagePointPicker(self.imageView, numberOfPoints=numberOfPoints)
self.imagePicker.connectDoubleClickEvent(self.onImageViewDoubleClick)
self.imagePicker.annotationFunc = self.onImageAnnotation
self.imagePicker.start()
self.pointCloudSource = 'lidar'
self.pickLineRadius = 0.05
self.pickNearestToCamera = True
def getPointCloud(self):
assert self.pointCloudSource in ('lidar', 'stereo')
if self.pointCloudSource == 'stereo':
return segmentation.getDisparityPointCloud(decimation=1, removeOutliers=False)
else:
return segmentation.getCurrentRevolutionData()
def onImageAnnotation(self, *points):
polyData = self.getPointCloud()
points = [self.getPointCloudLocationFromImage(p, self.imageView, polyData) for p in points]
self.fit(polyData, points)
def getPointCloudLocationFromImage(self, imagePixel, imageView, polyData):
cameraPos, ray = imageView.getWorldPositionAndRay(imagePixel)
return segmentation.extractPointsAlongClickRay(cameraPos, ray, polyData, distanceToLineThreshold=self.pickLineRadius, nearestToCamera=self.pickNearestToCamera)
def onImageViewDoubleClick(self, displayPoint, modifiers, imageView):
pass
def fit(self, pointData, points):
pass
class ImageBasedAffordanceFit(object):
def __init__(self, imageView=None, numberOfPoints=1):
self.imageView = imageView or cameraview.CameraImageView(cameraview.imageManager, 'CAMERA_LEFT', 'image view')
self.imagePicker = ImagePointPicker(self.imageView, numberOfPoints=numberOfPoints)
self.imagePicker.connectDoubleClickEvent(self.onImageViewDoubleClick)
self.imagePicker.annotationFunc = self.onImageAnnotation
self.imagePicker.start()
self.pointCloudSource = 'lidar'
self.pickLineRadius = 0.05
self.pickNearestToCamera = True
def getPointCloud(self):
assert self.pointCloudSource in ('lidar', 'stereo')
if self.pointCloudSource == 'stereo':
return segmentation.getDisparityPointCloud(decimation=1, removeOutliers=False)
else:
return segmentation.getCurrentRevolutionData()
def onImageAnnotation(self, *points):
polyData = self.getPointCloud()
points = [self.getPointCloudLocationFromImage(p, self.imageView, polyData) for p in points]
self.fit(polyData, points)
def getPointCloudLocationFromImage(self, imagePixel, imageView, polyData):
cameraPos, ray = imageView.getWorldPositionAndRay(imagePixel)
return segmentation.extractPointsAlongClickRay(cameraPos, ray, polyData, distanceToLineThreshold=self.pickLineRadius, nearestToCamera=self.pickNearestToCamera)
def onImageViewDoubleClick(self, displayPoint, modifiers, imageView):
pass
def fit(self, pointData, points):
pass
class ImageOverlayManager(object):
def __init__(self, monoCamerasConfig, robotName):
self.viewName = monoCamerasConfig[0]
self.desiredWidth = 400
self.position = [0, 0]
self.usePicker = False
self.imageView = None
self.imagePicker = None
self.robotName = robotName
self._prevParent = None
self._updateAspectRatio()
def setWidth(self, width):
self.desiredWidth = width
self._updateAspectRatio()
self.hide()
self.show()
def _updateAspectRatio(self):
imageExtent = cameraview.imageManager.images[self.robotName][
self.viewName].GetExtent()
if imageExtent[1] != -1 and imageExtent[3] != -1:
self.imageSize = [imageExtent[1] + 1, imageExtent[3] + 1]
imageAspectRatio = self.imageSize[0] / self.imageSize[1]
self.size = [
self.desiredWidth, self.desiredWidth / imageAspectRatio
]
def show(self):
if self.imageView:
return
imageView = cameraview.views[self.viewName]
self.imageView = imageView
self._prevParent = imageView.view.parent()
self._updateAspectRatio()
imageView.view.hide()
imageView.view.setParent(view)
imageView.view.resize(self.size[0], self.size[1])
imageView.view.move(self.position[0], self.position[1])
imageView.view.show()
if self.usePicker:
self.imagePicker = ImagePointPicker(imageView)
self.imagePicker.start()
def hide(self):
if self.imageView:
self.imageView.view.hide()
self.imageView.view.setParent(self._prevParent)
self.imageView.view.show()
self.imageView = None
if self.imagePicker:
self.imagePicker.stop()
def __init__(self, imageView=None, numberOfPoints=1):
self.imageView = imageView or cameraview.CameraImageView(cameraview.imageManager, 'CAMERA_LEFT', 'image view')
self.imagePicker = ImagePointPicker(self.imageView, numberOfPoints=numberOfPoints)
self.imagePicker.connectDoubleClickEvent(self.onImageViewDoubleClick)
self.imagePicker.annotationFunc = self.onImageAnnotation
self.imagePicker.start()
self.pointCloudSource = 'lidar'
self.pickLineRadius = 0.05
self.pickNearestToCamera = True
class ImageOverlayManager(object):
def __init__(self):
self.viewName = 'CAMERA_LEFT'
self.desiredWidth = 400
self.position = [0, 0]
self.usePicker = False
self.imageView = None
self.imagePicker = None
self._prevParent = None
self._updateAspectRatio()
def setWidth(self, width):
self.desiredWidth = width
self._updateAspectRatio()
self.hide()
self.show()
def _updateAspectRatio(self):
imageExtent = cameraview.imageManager.images[self.viewName].GetExtent()
if imageExtent[1] != -1 and imageExtent[3] != -1:
self.imageSize = [imageExtent[1]+1, imageExtent[3]+1]
imageAspectRatio = self.imageSize[0] / self.imageSize[1]
self.size = [self.desiredWidth, self.desiredWidth / imageAspectRatio]
def show(self):
if self.imageView:
return
imageView = cameraview.views[self.viewName]
self.imageView = imageView
self._prevParent = imageView.view.parent()
self._updateAspectRatio()
imageView.view.hide()
imageView.view.setParent(view)
imageView.view.resize(self.size[0], self.size[1])
imageView.view.move(self.position[0], self.position[1])
imageView.view.show()
if self.usePicker:
self.imagePicker = ImagePointPicker(imageView)
self.imagePicker.start()
def hide(self):
if self.imageView:
self.imageView.view.hide()
self.imageView.view.setParent(self._prevParent)
self.imageView.view.show()
self.imageView = None
if self.imagePicker:
self.imagePicker.stop()
def show(self):
if self.imageView:
return
imageView = cameraview.views[self.viewName]
self.imageView = imageView
self._prevParent = imageView.view.parent()
self._updateAspectRatio()
imageView.view.hide()
imageView.view.setParent(view)
imageView.view.resize(self.size[0], self.size[1])
imageView.view.move(self.position[0], self.position[1])
imageView.view.show()
if self.usePicker:
self.imagePicker = ImagePointPicker(imageView)
self.imagePicker.start()
def __init__(self, imageView=None, numberOfPoints=1):
self.imageView = imageView or cameraview.CameraImageView(cameraview.imageManager, self.getImageChannel(), 'image view')
self.imagePicker = ImagePointPicker(self.imageView, numberOfPoints=numberOfPoints)
self.imagePicker.connectDoubleClickEvent(self.onImageViewDoubleClick)
self.imagePicker.annotationFunc = self.onImageAnnotation
self.imagePicker.start()
self.pointCloudSource = 'lidar'
self.pickLineRadius = 0.05
self.pickNearestToCamera = True
class ImageOverlayManager(object):
def __init__(self):
self.viewName = 'CAMERA_LEFT'
#self.viewName = 'KINECT_RGB'
self.size = 400
self.position = [0, 0]
self.usePicker = False
self.imageView = None
self.imagePicker = None
self._prevParent = None
def show(self):
if self.imageView:
return
imageView = cameraview.views[self.viewName]
self.imageView = imageView
self._prevParent = imageView.view.parent()
imageView.view.hide()
imageView.view.setParent(view)
imageView.view.resize(self.size, self.size)
imageView.view.move(*self.position)
imageView.view.show()
if self.usePicker:
self.imagePicker = ImagePointPicker(imageView)
self.imagePicker.start()
def hide(self):
if self.imageView:
self.imageView.view.hide()
self.imageView.view.setParent(self._prevParent)
self.imageView.view.show()
self.imageView = None
if self.imagePicker:
self.imagePicker.stop()
def show(self):
if self.imageView:
return
imageView = cameraview.views[self.viewName]
self.imageView = imageView
self._prevParent = imageView.view.parent()
imageView.view.hide()
imageView.view.setParent(view)
imageView.view.resize(self.size, self.size)
imageView.view.move(*self.position)
imageView.view.show()
if self.usePicker:
self.imagePicker = ImagePointPicker(imageView)
self.imagePicker.start()
def show(self):
if self.imageView:
return
imageView = cameraview.views[self.viewName]
self.imageView = imageView
self._prevParent = imageView.view.parent()
self._updateAspectRatio()
imageView.view.hide()
imageView.view.setParent(view)
imageView.view.resize(self.size[0], self.size[1])
imageView.view.move(self.position[0], self.position[1])
imageView.view.show()
if self.usePicker:
self.imagePicker = ImagePointPicker(imageView)
self.imagePicker.start()
