def set_message(self, msg):
"""
Clears the tree view and displays the new message
:param msg: message object to display in the treeview, ''msg''
"""
# Remember whether items were expanded or not before deleting
if self._msg:
for item in self.get_all_items():
path = self.get_item_path(item)
if item.isExpanded():
self._expanded_paths.add(path)
elif path in self._expanded_paths:
self._expanded_paths.remove(path)
self.clear()
if msg:
self.setHeaderLabel(msg._type)
# Populate the tree
self._add_msg_object(None, '', '', msg, msg._type)
if self._expanded_paths is None:
self._expanded_paths = set()
else:
# Expand those that were previously expanded, and collapse any paths that
# we've seen for the first time
for item in self.get_all_items():
path = self.get_item_path(item)
if path in self._expanded_paths:
item.setExpanded(True)
else:
item.setExpanded(False)
self._msg = msg
QWidget.update(self)
def set_message(self, msg):
"""
Clears the tree view and displays the new message
:param msg: message object to display in the treeview, ''msg''
"""
# Remember whether items were expanded or not before deleting
if self._msg:
for item in self.get_all_items():
path = self.get_item_path(item)
if item.isExpanded():
self._expanded_paths.add(path)
elif path in self._expanded_paths:
self._expanded_paths.remove(path)
self.clear()
if msg:
# Populate the tree
self._add_msg_object(None, '', '', msg, msg._type)
if self._expanded_paths is None:
self._expanded_paths = set()
else:
# Expand those that were previously expanded, and collapse any paths that we've seen for the first time
for item in self.get_all_items():
path = self.get_item_path(item)
if path in self._expanded_paths:
item.setExpanded(True)
else:
item.setExpanded(False)
self._msg = msg
QWidget.update(self)
class FakeMotionRendererPlugin(Plugin):
def __init__(self, context):
super(FakeMotionRendererPlugin, self).__init__(context)
self.setObjectName('FakeMotionRendererPlugin')
self._widget = QWidget()
if context.serial_number() > 1:
self._widget.setWindowTitle(
self._widget.windowTitle() + (' (%d)' % context.serial_number()))
ui_file = os.path.join(rospkg.RosPack().get_path('motion_renderer'), 'resource', 'fake_motion_renderer.ui')
loadUi(ui_file, self._widget)
self._widget.resizeEvent = self.widget_resized
context.add_widget(self._widget)
self.frame = QFrame()
self.vtkWidget = QVTKRenderWindowInteractor(self.frame)
self._widget.verticalLayout.addWidget(self.vtkWidget)
self._widget.update()
self.ren = vtk.vtkRenderer()
self.vtkWidget.GetRenderWindow().AddRenderer(self.ren)
self.iren = self.vtkWidget.GetRenderWindow().GetInteractor()
self.vtkWidget.GetRenderWindow().SetLineSmoothing(2)
self.vtkWidget.GetRenderWindow().SetPointSmoothing(2)
# self.vtkWidget.GetRenderWindow().SetPolygonSmoothing(2)
self.vtkWidget.GetRenderWindow().AlphaBitPlanesOn()
self.vtkWidget.GetRenderWindow().SetMultiSamples(32)
self.eye_ball = []
self.eye_ball.append(self.add_eye_ball(pose=[-0.8, 0.0, 0.0], orientation=[90, 0, 0]))
self.eye_ball.append(self.add_eye_ball(pose=[0.8, 0.0, 0.0], orientation=[90, 0, 0]))
self.eye_lid = []
self.eye_lid.append(self.add_eye_lid(pose=[-0.8, 0.0, 0.0], orientation=[90, 0, 0]))
self.eye_lid.append(self.add_eye_lid(pose=[0.8, 0.0, 0.0], orientation=[90, 0, 0]))
self.eye_brow = []
self.eye_brow.append(self.add_eye_brow(pose=[-0.8, 0.55, 0.4], orientation=[0, 0, 0]))
self.eye_brow.append(self.add_eye_brow(pose=[0.8, 0.55, 0.4], orientation=[0, 0, 0]))
# Initial Pose and Rotation for Eyeball
self.eye_ball[0].RotateZ(-2.0)
self.eye_ball[1].RotateZ(2.0)
self.eye_lid[0][0].RotateX(-30)
self.eye_lid[0][1].RotateX(30)
self.eye_lid[1][0].RotateX(-30)
self.eye_lid[1][1].RotateX(30)
self.subtitle = vtk.vtkTextActor()
self.subtitle.SetInput('대화가 나타남.')
self.subtitle.GetTextProperty().SetFontFamily(vtk.VTK_FONT_FILE)
self.subtitle.GetTextProperty().SetFontFile('/usr/share/fonts/truetype/nanum/NanumBarunGothic.ttf')
self.subtitle.GetTextProperty().SetColor(1, 1, 1)
self.subtitle.GetTextProperty().SetJustificationToCentered()
self.subtitle.GetTextProperty().SetBackgroundColor(0.5, 0.2, 1)
self.subtitle.GetTextProperty().ShadowOn()
self.subtitle.GetTextProperty().SetFontSize(26)
self.subtitle.GetProperty().SetOpacity(0.5)
self.ren.AddActor2D(self.subtitle)
self.ren.SetBackground(0.1, 0.2, 0.3)
camera = vtk.vtkCamera();
camera.SetPosition(0, 0, 5);
camera.SetFocalPoint(0, 0, 0);
self.iren.RemoveAllObservers()
self.ren.SetActiveCamera(camera);
self.iren.Initialize()
self.iren.Start()
def widget_resized(self, event):
self.subtitle.SetDisplayPosition(
self.vtkWidget.width()/2, self.vtkWidget.height()/16)
def add_eye_brow(self, pose, orientation):
cube = vtk.vtkCubeSource()
cube.SetXLength(1.0)
cube.SetYLength(0.12)
cube.SetZLength(0.05)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(cube.GetOutputPort())
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetColor(0.4, 0.4, 0.4)
actor.SetPosition(pose[0], pose[1], pose[2])
actor.RotateX(orientation[0])
actor.RotateY(orientation[1])
actor.RotateZ(orientation[2])
self.ren.AddActor(actor)
return actor
def add_eye_lid(self, pose, orientation):
reader = vtk.vtkSTLReader()
reader.SetFileName(os.path.join(rospkg.RosPack().get_path('motion_renderer'), 'resource', 'eyelid.stl'))
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(reader.GetOutputPort())
eyelid_up_actor = vtk.vtkActor()
eyelid_up_actor.SetMapper(mapper)
eyelid_up_actor.SetScale(0.0107, 0.0107, 0.0107)
eyelid_up_actor.GetProperty().SetColor(0.5, 0.5, 0.5)
eyelid_up_actor.RotateX(-1.0 * orientation[0])
eyelid_up_actor.RotateY(orientation[1])
eyelid_up_actor.RotateZ(orientation[2])
eyelid_up_actor.SetPosition(pose[0], pose[1], pose[2])
eyelid_up_actor.GetProperty().SetRepresentationToSurface()
eyelid_down_actor = vtk.vtkActor()
eyelid_down_actor.SetMapper(mapper)
eyelid_down_actor.SetScale(0.0107, 0.0107, 0.0107)
eyelid_down_actor.GetProperty().SetColor(0.5, 0.5, 0.5)
eyelid_down_actor.RotateX(1.0 * orientation[0])
eyelid_down_actor.RotateY(orientation[1])
eyelid_down_actor.RotateZ(orientation[2])
eyelid_down_actor.SetPosition(pose[0], pose[1], pose[2])
eyelid_down_actor.GetProperty().SetRepresentationToSurface()
self.ren.AddActor(eyelid_up_actor)
self.ren.AddActor(eyelid_down_actor)
return (eyelid_up_actor, eyelid_down_actor)
def add_eye_ball(self, pose, orientation):
# Eye ball
sphere = vtk.vtkSphereSource()
sphere.SetThetaResolution(64)
sphere.SetPhiResolution(64)
sphere.SetRadius(0.5)
reader = vtk.vtkJPEGReader()
reader.SetFileName(os.path.join(rospkg.RosPack().get_path('motion_renderer'), 'resource', 'green_eye.jpg'))
texture = vtk.vtkTexture()
texture.SetInputConnection(reader.GetOutputPort())
map_to_sphere = vtk.vtkTextureMapToSphere()
map_to_sphere.SetInputConnection(sphere.GetOutputPort())
map_to_sphere.PreventSeamOn()
xform = vtk.vtkTransformTextureCoords()
xform.SetInputConnection(map_to_sphere.GetOutputPort())
xform.SetScale(1.5, 1.5, 1)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(xform.GetOutputPort())
# Left Eye Actor
eye_actor = vtk.vtkActor()
eye_actor.SetMapper(mapper)
eye_actor.SetTexture(texture)
eye_actor.SetPosition(pose[0], pose[1], pose[2])
eye_actor.RotateX(orientation[0])
eye_actor.RotateY(orientation[1])
eye_actor.RotateZ(orientation[2])
self.ren.AddActor(eye_actor)
return eye_actor
def shutdown_plugin(self):
pass
def save_settings(self, plugin_settings, instance_settings):
pass
def restore_settings(self, plugin_settings, instance_settings):
pass
