def on_timer(self, event):
model = np.eye(4, dtype=np.float32)
#scale(model, 1, 1, 1)
self.cube['model'] = model
self.view = np.eye(4)
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
translate(self.view, *self.translate)
self.listener.waitForTransform("/robot", "/wrist_joint", rospy.Time(), rospy.Duration(4))
pos, rot = self.listener.lookupTransform("/robot", "/wrist_joint", rospy.Time(0))
print list(pos)
self.translate[0] = -list(pos)[0] * 10
self.translate[1] = -list(pos)[1] * 10
self.translate[2] = -5
self.cube['view'] = self.view
self.update()
def on_key_press(self, event):
"""Controls -
a(A) - move left
d(D) - move right
w(W) - move up
s(S) - move down
x/X - rotate about x-axis cw/anti-cw
y/Y - rotate about y-axis cw/anti-cw
z/Z - rotate about z-axis cw/anti-cw
space - reset view
p(P) - print current view
i(I) - zoom in
o(O) - zoom out
"""
self.translate = [0, 0, 0]
self.rotate = [0, 0, 0]
if(event.text == 'p' or event.text == 'P'):
print(self.view)
elif(event.text == 'd' or event.text == 'D'):
self.translate[0] = 0.3
elif(event.text == 'a' or event.text == 'A'):
self.translate[0] = -0.3
elif(event.text == 'w' or event.text == 'W'):
self.translate[1] = 0.3
elif(event.text == 's' or event.text == 'S'):
self.translate[1] = -0.3
elif(event.text == 'o' or event.text == 'O'):
self.translate[2] = 0.3
elif(event.text == 'i' or event.text == 'I'):
self.translate[2] = -0.3
elif(event.text == 'x'):
self.rotate = [1, 0, 0]
elif(event.text == 'X'):
self.rotate = [-1, 0, 0]
elif(event.text == 'y'):
self.rotate = [0, 1, 0]
elif(event.text == 'Y'):
self.rotate = [0, -1, 0]
elif(event.text == 'z'):
self.rotate = [0, 0, 1]
elif(event.text == 'Z'):
self.rotate = [0, 0, -1]
elif(event.text == ' '):
self.view = self.default_view
translate(self.view, -self.translate[0], -self.translate[1],
-self.translate[2])
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
self.program['u_view'] = self.view
self.update()
def on_key_press(self, event):
"""Controls -
a(A) - move left
d(D) - move right
w(W) - move up
s(S) - move down
x/X - rotate about x-axis cw/anti-cw
y/Y - rotate about y-axis cw/anti-cw
z/Z - rotate about z-axis cw/anti-cw
space - reset view
p(P) - print current view
i(I) - zoom in
o(O) - zoom out
"""
self.translate = [0, 0, 0]
self.rotate = [0, 0, 0]
if (event.text == 'p' or event.text == 'P'):
print(self.view)
elif (event.text == 'd' or event.text == 'D'):
self.translate[0] = 0.3
elif (event.text == 'a' or event.text == 'A'):
self.translate[0] = -0.3
elif (event.text == 'w' or event.text == 'W'):
self.translate[1] = 0.3
elif (event.text == 's' or event.text == 'S'):
self.translate[1] = -0.3
elif (event.text == 'o' or event.text == 'O'):
self.translate[2] = 0.3
elif (event.text == 'i' or event.text == 'I'):
self.translate[2] = -0.3
elif (event.text == 'x'):
self.rotate = [1, 0, 0]
elif (event.text == 'X'):
self.rotate = [-1, 0, 0]
elif (event.text == 'y'):
self.rotate = [0, 1, 0]
elif (event.text == 'Y'):
self.rotate = [0, -1, 0]
elif (event.text == 'z'):
self.rotate = [0, 0, 1]
elif (event.text == 'Z'):
self.rotate = [0, 0, -1]
elif (event.text == ' '):
self.view = self.default_view
translate(self.view, -self.translate[0], -self.translate[1],
-self.translate[2])
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
self.program['u_view'] = self.view
self.update()
def on_timer(self, event):
# self.phi += .5
model = np.eye(4, dtype=np.float32)
scale(model, 1, 1, 1)
# rotate(model, self.phi, 0, 0, 1)
self.cube['model'] = model
self.view = np.eye(4)
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
translate(self.view, *self.translate)
self.cube['view'] = self.view
self.update()
def on_timer(self, event):
# self.phi += .5
model = np.eye(4, dtype=np.float32)
scale(model, 1, 1, 1)
# rotate(model, self.phi, 0, 0, 1)
self.cube['model'] = model
self.view = np.eye(4)
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
translate(self.view, *self.translate)
self.cube['view'] = self.view
self.update()
def __init__(self, text, canvas, position=1, color=(0.1, 0.0, 0.7)):
'''
Give this the
- text to be written
- main app.canvas
- position (1-9, or which button position this should occupy)
'''
# State Controller
State.register_button(position, text)
self.position = position
self.canvas = canvas
self.projection = np.eye(4)
self.view = np.eye(4)
self.model = np.eye(4)
height, width = 5.0, 15.0 # Meters
orientation_vector = (1, 1, 0)
unit_orientation_angle = np.array(orientation_vector) / np.linalg.norm(
orientation_vector)
scale_factor = 0.2
lowest_button = -5.2
midset = 0.2
scale(self.model, scale_factor)
yrotate(self.model, -60)
# rotate(self.model, 30, *unit_orientation_angle)
offset = (position * ((height + midset) * scale_factor))
translate(self.model, -7.4, lowest_button + offset, -10)
pixel_to_length = 10
self.size = map(lambda o: pixel_to_length * o, [width, height])
# Add texture coordinates
# Rectangle of height height
self.vertices = np.array([
[-width / 2, -height / 2, 0],
[width / 2, -height / 2, 0],
[width / 2, height / 2, 0],
[-width / 2, height / 2, 0],
],
dtype=np.float32)
self.tex_coords = np.array([
[0, 0],
[1, 0],
[1, 1],
[0, 1],
],
dtype=np.float32)
self.indices = IndexBuffer([
0,
1,
2,
2,
3,
0,
])
self.program = Program(self.button_vertex_shader,
self.button_fragment_shader)
self.program['vertex_position'] = self.vertices
self.program['default_texcoord'] = self.tex_coords
self.program['view'] = self.view
self.program['model'] = self.model
self.program['projection'] = self.projection
self.program['background_color'] = color
self.program['highlighted'] = 0
# self.texture = Texture2D(shape=(1000, 1000) + (3,))
# self.text_buffer = FrameBuffer(self.texture, RenderBuffer((1000, 1000)))
self.texture = Texture2D(shape=(500, 1500) + (3, ))
self.text_buffer = FrameBuffer(self.texture, RenderBuffer((500, 1500)))
self.program['texture'] = self.texture
self.text = text
self.make_text(self.text)
self.first = True
def __init__(self, text, canvas, position=1, color=(0.1, 0.0, 0.7)):
'''
Give this the
- text to be written
- main app.canvas
- position (1-9, or which button position this should occupy)
'''
# State Controller
State.register_button(position, text)
self.position = position
self.canvas = canvas
self.projection = np.eye(4)
self.view = np.eye(4)
self.model = np.eye(4)
height, width = 5.0, 15.0 # Meters
orientation_vector = (1, 1, 0)
unit_orientation_angle = np.array(orientation_vector) / np.linalg.norm(orientation_vector)
scale_factor = 0.2
lowest_button = -5.2
midset = 0.2
scale(self.model, scale_factor)
yrotate(self.model, -60)
# rotate(self.model, 30, *unit_orientation_angle)
offset = (position * ((height + midset) * scale_factor))
translate(self.model, -7.4, lowest_button + offset, -10)
pixel_to_length = 10
self.size = map(lambda o: pixel_to_length * o, [width, height])
# Add texture coordinates
# Rectangle of height height
self.vertices = np.array([
[-width / 2, -height / 2, 0],
[ width / 2, -height / 2, 0],
[ width / 2, height / 2, 0],
[-width / 2, height / 2, 0],
], dtype=np.float32)
self.tex_coords = np.array([
[0, 0],
[1, 0],
[1, 1],
[0, 1],
], dtype=np.float32)
self.indices = IndexBuffer([
0, 1, 2,
2, 3, 0,
])
self.program = Program(self.button_vertex_shader, self.button_fragment_shader)
self.program['vertex_position'] = self.vertices
self.program['default_texcoord'] = self.tex_coords
self.program['view'] = self.view
self.program['model'] = self.model
self.program['projection'] = self.projection
self.program['background_color'] = color
self.program['highlighted'] = 0
# self.texture = Texture2D(shape=(1000, 1000) + (3,))
# self.text_buffer = FrameBuffer(self.texture, RenderBuffer((1000, 1000)))
self.texture = Texture2D(shape=(500, 1500) + (3,))
self.text_buffer = FrameBuffer(self.texture, RenderBuffer((500, 1500)))
self.program['texture'] = self.texture
self.text = text
self.make_text(self.text)
self.first = True
def __init__(self):
self.projection = np.eye(4)
self.view = np.eye(4)
self.model = np.eye(4)
height, width = 3.0, 6.0
scale_factor = 0.2
x_offset = -8
y_offset = 2
pixel_to_length = 10
color = (1.0, 1.0, 1.0)
scale(self.model, scale_factor)
yrotate(self.model, -60)
translate(self.model, x_offset, y_offset, -10)
size = (int(height * 100), int(width * 100))
self.vertices = np.array([
[-width / 2, -height / 2, 0],
[width / 2, -height / 2, 0],
[width / 2, height / 2, 0],
[-width / 2, height / 2, 0],
],
dtype=np.float32)
self.tex_coords = np.array([
[0, 0],
[1, 0],
[1, 1],
[0, 1],
],
dtype=np.float32)
self.indices = IndexBuffer([
0,
1,
2,
2,
3,
0,
])
self.program = Program(self.battery_vertex_shader,
self.battery_fragment_shader)
self.texture = Texture2D(shape=size + (3, ))
self.text_buffer = FrameBuffer(self.texture, RenderBuffer(size))
images = []
images.append(
Image.open(
os.path.join(Paths.get_path_to_visar(), 'visar', 'images',
'battery', 'battery_low_color.png')))
images.append(
Image.open(
os.path.join(Paths.get_path_to_visar(), 'visar', 'images',
'battery', 'battery_used_color.png')))
images.append(
Image.open(
os.path.join(Paths.get_path_to_visar(), 'visar', 'images',
'battery', 'battery_full_color.png')))
self.level_texture = {} # texture for each level
for x in range(0, len(images)):
default_image = images[x]
default_image = default_image.rotate(-90)
default_image = default_image.resize(size)
default_image = default_image.transpose(Image.FLIP_TOP_BOTTOM)
default_image_array = np.asarray(default_image)
self.level_texture[x + 1] = default_image_array
#default_image_array = imageio.imread(os.path.join(Paths.get_path_to_visar(), 'visar', 'images', 'battery', 'battery_full_color.png'))
# self.default_tex = Texture2D(data=default_image_array)
# self.default_tex = Texture2D(shape=size + (3,))
# self.default_tex.set_data(self.level_texture[3])
self.program['vertex_position'] = self.vertices
self.program['default_texcoord'] = self.tex_coords
self.program['view'] = self.view
self.program['model'] = self.model
self.program['projection'] = self.projection
self.program['hide'] = 0
# self.tex_program = Program(self.tex_vert_shader, self.battery_fragment_shader)
# self.tex_program['vertex_position'] = self.vertices
# self.tex_program['default_texcoord'] = self.tex_coords
# self.tex_program['hide'] = 0
# self.tex_program['texture'] = self.default_tex
self.flag = True # flag to update the texture
self.level = 3 # level of the battery 1 - 3
full_middle_split = 75 # split between levels 2 and 3
middle_low_split = 25 # split between levels 1 and 2
fault_tolerance = 5
self.full_lower = full_middle_split - fault_tolerance # lower limit for going from 3 to 2
self.middle_upper = full_middle_split + fault_tolerance # upper limit for going from 2 to 3
self.middle_lower = middle_low_split - fault_tolerance # lower limit for going from 2 to 1
self.low_upper = middle_low_split + fault_tolerance # upper limit for going from 1 to 2
def __init__(self):
self.projection = np.eye(4)
self.view = np.eye(4)
self.model = np.eye(4)
height, width = 3.0, 6.0
scale_factor = 0.2
x_offset = -8
y_offset = 2
pixel_to_length = 10
color = (1.0, 1.0, 1.0)
scale(self.model, scale_factor)
yrotate(self.model, -60)
translate(self.model, x_offset, y_offset, -10)
size = (int(height*100), int(width*100))
self.vertices = np.array([
[-width / 2, -height / 2, 0],
[ width / 2, -height / 2, 0],
[ width / 2, height / 2, 0],
[-width / 2, height / 2, 0],
], dtype=np.float32)
self.tex_coords = np.array([
[0, 0],
[1, 0],
[1, 1],
[0, 1],
], dtype=np.float32)
self.indices = IndexBuffer([
0, 1, 2,
2, 3, 0,
])
self.program = Program(self.battery_vertex_shader, self.battery_fragment_shader)
self.texture = Texture2D(shape=size + (3,))
self.text_buffer = FrameBuffer(self.texture, RenderBuffer(size))
images = []
images.append(Image.open(os.path.join(Paths.get_path_to_visar(), 'visar', 'images', 'battery', 'battery_low_color.png')))
images.append(Image.open(os.path.join(Paths.get_path_to_visar(), 'visar', 'images', 'battery', 'battery_used_color.png')))
images.append(Image.open(os.path.join(Paths.get_path_to_visar(), 'visar', 'images', 'battery', 'battery_full_color.png')))
self.level_texture = {} # texture for each level
for x in range(0, len(images)):
default_image = images[x]
default_image = default_image.rotate(-90)
default_image = default_image.resize(size)
default_image = default_image.transpose(Image.FLIP_TOP_BOTTOM)
default_image_array = np.asarray(default_image)
self.level_texture[x + 1] = default_image_array
#default_image_array = imageio.imread(os.path.join(Paths.get_path_to_visar(), 'visar', 'images', 'battery', 'battery_full_color.png'))
# self.default_tex = Texture2D(data=default_image_array)
# self.default_tex = Texture2D(shape=size + (3,))
# self.default_tex.set_data(self.level_texture[3])
self.program['vertex_position'] = self.vertices
self.program['default_texcoord'] = self.tex_coords
self.program['view'] = self.view
self.program['model'] = self.model
self.program['projection'] = self.projection
self.program['hide'] = 0
# self.tex_program = Program(self.tex_vert_shader, self.battery_fragment_shader)
# self.tex_program['vertex_position'] = self.vertices
# self.tex_program['default_texcoord'] = self.tex_coords
# self.tex_program['hide'] = 0
# self.tex_program['texture'] = self.default_tex
self.flag = True # flag to update the texture
self.level = 3 # level of the battery 1 - 3
full_middle_split = 75 # split between levels 2 and 3
middle_low_split = 25 # split between levels 1 and 2
fault_tolerance = 5
self.full_lower = full_middle_split - fault_tolerance # lower limit for going from 3 to 2
self.middle_upper = full_middle_split + fault_tolerance # upper limit for going from 2 to 3
self.middle_lower = middle_low_split - fault_tolerance # lower limit for going from 2 to 1
self.low_upper = middle_low_split + fault_tolerance # upper limit for going from 1 to 2
def on_key_press(self, event):
"""Controls -
a(A) - move left
d(D) - move right
w(W) - move up
s(S) - move down
x/X - rotate about x-axis cw/anti-cw
y/Y - rotate about y-axis cw/anti-cw
z/Z - rotate about z-axis cw/anti-cw
space - reset view
p(P) - print current view
i(I) - zoom in
o(O) - zoom out
6 - Move light right
4 - Move light left
8 - Move light up
5 - Move light down
7 - Move light up (depthwise)
1 - Move light down (depthwise)
"""
self.translate = [0, 0, 0]
self.rotate = [0, 0, 0]
if (event.text == 'p' or event.text == 'P'):
print(self.view)
elif (event.text == 'd' or event.text == 'D'):
self.translate[0] = 30.
elif (event.text == 'a' or event.text == 'A'):
self.translate[0] = -30.
elif (event.text == 'w' or event.text == 'W'):
self.translate[1] = 30.
elif (event.text == 's' or event.text == 'S'):
self.translate[1] = -30.
elif (event.text == 'o' or event.text == 'O'):
self.translate[2] = 30.
elif (event.text == 'i' or event.text == 'I'):
self.translate[2] = -30.
elif (event.text == 'x'):
self.rotate = [1, 0, 0]
elif (event.text == 'X'):
self.rotate = [-1, 0, 0]
elif (event.text == 'y'):
self.rotate = [0, 1, 0]
elif (event.text == 'Y'):
self.rotate = [0, -1, 0]
elif (event.text == 'z'):
self.rotate = [0, 0, 1]
elif (event.text == 'Z'):
self.rotate = [0, 0, -1]
elif (event.text == 'h'):
self.rotate = [0, 0, 0]
elif (event.text == 'j'):
self.rotate = [90, 0, 0]
elif (event.text == 'k'):
self.rotate = [180, 0, 0]
elif (event.text == 'l'):
self.rotate = [270, 0, 0]
elif (event.text == ' '):
self.view = self.default_view
elif (event.text == '6'):
self.lightx += 100.
elif (event.text == '4'):
self.lightx += -100.
elif (event.text == '8'):
self.lighty += 100.
elif (event.text == '5'):
self.lighty += -100.
elif (event.text == '7'):
self.lightz += 100.
elif (event.text == '1'):
self.lightz += -100.
translate(self.view, -self.translate[0], -self.translate[1],
-self.translate[2])
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
self.program[
"u_light_position"] = self.lightx, self.lighty, self.lightz
self.program['u_view'] = self.view
self.update()
