def rayDebug(position, ray):
d = DebugData()
d.addLine(position, position + ray * 5.0)
drcView = app.getViewManager().findView('DRC View')
obj = vis.updatePolyData(d.getPolyData(),
'camera ray',
view=drcView,
color=[0, 1, 0])
obj.actor.GetProperty().SetLineWidth(2)
def init(poseCollection, costCollection):
global _spreadsheetView
_spreadsheetView = app.getViewManager().createView('Spreadsheet View', 'Spreadsheet View')
updateMethod = functools.partial(updateSpreadsheetPoses, poseCollection)
poseCollection.connect('itemChanged(const QString&)', updateMethod)
poseCollection.connect('itemAdded(const QString&)', updateMethod)
poseCollection.connect('itemRemoved(const QString&)', updateMethod)
initSpreadsheetColumns(costCollection)
updateMethod()
def init(poseCollection, costCollection):
global _spreadsheetView
_spreadsheetView = app.getViewManager().createView('Spreadsheet View',
'Spreadsheet View')
updateMethod = functools.partial(updateSpreadsheetPoses, poseCollection)
poseCollection.connect('itemChanged(const QString&)', updateMethod)
poseCollection.connect('itemAdded(const QString&)', updateMethod)
poseCollection.connect('itemRemoved(const QString&)', updateMethod)
initSpreadsheetColumns(costCollection)
updateMethod()
def initView(self, view):
self.view = view or app.getViewManager().createView(self.viewName, 'VTK View')
self.view.installImageInteractor()
self.interactorStyle = self.view.renderWindow().GetInteractor().GetInteractorStyle()
self.interactorStyle.AddObserver('SelectionChangedEvent', self.onRubberBandPick)
self.imageActor = vtk.vtkImageActor()
self.imageActor.SetInput(self.getImage())
self.imageActor.SetVisibility(False)
self.view.renderer().AddActor(self.imageActor)
self.timerCallback = TimerCallback()
self.timerCallback.targetFps = 60
self.timerCallback.callback = self.updateView
self.timerCallback.start()
def initView(self, view):
self.view = view or app.getViewManager().createView(
self.viewName, 'VTK View')
self.view.installImageInteractor()
self.interactorStyle = self.view.renderWindow().GetInteractor(
).GetInteractorStyle()
self.interactorStyle.AddObserver('SelectionChangedEvent',
self.onRubberBandPick)
self.imageActor = vtk.vtkImageActor()
self.imageActor.SetInput(self.getImage())
self.imageActor.SetVisibility(False)
self.view.renderer().AddActor(self.imageActor)
self.timerCallback = TimerCallback()
self.timerCallback.targetFps = 60
self.timerCallback.callback = self.updateView
self.timerCallback.start()
def initView(self, view):
self.view = view or app.getViewManager().createView('Camera View', 'VTK View')
self.renderers = [self.view.renderer()]
renWin = self.view.renderWindow()
renWin.SetNumberOfLayers(3)
for i in [1, 2]:
ren = vtk.vtkRenderer()
ren.SetLayer(2)
ren.SetActiveCamera(self.view.camera())
renWin.AddRenderer(ren)
self.renderers.append(ren)
def applyCustomBounds():
self.view.addCustomBounds([-100, 100, -100, 100, -100, 100])
self.view.connect('computeBoundsRequest(ddQVTKWidgetView*)', applyCustomBounds)
app.setCameraTerrainModeEnabled(self.view, True)
self.resetCamera()
def initView(self, view):
self.view = view or app.getViewManager().createView(
'Camera View', 'VTK View')
self.renderers = [self.view.renderer()]
renWin = self.view.renderWindow()
renWin.SetNumberOfLayers(3)
for i in [1, 2]:
ren = vtk.vtkRenderer()
ren.SetLayer(2)
ren.SetActiveCamera(self.view.camera())
renWin.AddRenderer(ren)
self.renderers.append(ren)
def applyCustomBounds():
self.view.addCustomBounds([-100, 100, -100, 100, -100, 100])
self.view.connect('computeBoundsRequest(ddQVTKWidgetView*)',
applyCustomBounds)
app.setCameraTerrainModeEnabled(self.view, True)
self.resetCamera()
def rayDebug(position, ray):
d = DebugData()
d.addLine(position, position+ray*5.0)
drcView = app.getViewManager().findView('DRC View')
obj = vis.updatePolyData(d.getPolyData(), 'camera ray', view=drcView, color=[0,1,0])
obj.actor.GetProperty().SetLineWidth(2)
