def __init__(self, name, geom, polyData, parentTransform):
self.polyDataItem = vis.PolyDataItem(name, polyData, view=None)
self.polyDataItem.setProperty('Alpha', geom.color[3])
self.polyDataItem.actor.SetUserTransform(parentTransform)
self.polyDataItem.actor.SetTexture(Geometry.TextureCache.get( Geometry.getTextureFileName(polyData) ))
if self.polyDataItem.actor.GetTexture():
self.polyDataItem.setProperty('Color', QtGui.QColor(255, 255, 255))
else:
self.polyDataItem.setProperty('Color', QtGui.QColor(geom.color[0]*255, geom.color[1]*255, geom.color[2]*255))
if USE_SHADOWS:
self.polyDataItem.shadowOn()
def createSkybox(imageMap, view):
objs = {}
planes = createSkyboxPlanes()
for side, imageFilename in imageMap.iteritems():
texture = createTexture(imageFilename)
obj = vis.PolyDataItem('skybox %s' % side, planes[side], view=None)
obj.actor.SetTexture(texture)
obj.actor.GetProperty().LightingOff()
view.backgroundRenderer().AddActor(obj.actor)
objs[side] = obj
return objs
def initScanLines(self):
for scanLine in self.scanLines:
scanLine.removeFromAllViews()
self.scanLines = []
self.nextScanLineId = 0
self.lastScanLine = max(self.lastScanLine - self.numberOfScanLines, 0)
for i in xrange(self.numberOfScanLines):
polyData = vtk.vtkPolyData()
scanLine = vis.PolyDataItem('scan line %d' % i, polyData, self.view)
scanLine.actor.SetPickable(0)
scanLine.setSolidColor((1,0,0))
self.scanLines.append(scanLine)
def __init__(self, view, _KinectQueue):
self.view = view
self.KinectQueue = _KinectQueue
self.visible = True
self.p = vtk.vtkPolyData()
utime = KinectQueue.getPointCloudFromKinect(self.p)
self.polyDataObj = vis.PolyDataItem('kinect source',
shallowCopy(self.p), view)
self.polyDataObj.actor.SetPickable(1)
self.polyDataObj.initialized = False
om.addToObjectModel(self.polyDataObj)
self.queue = PythonQt.dd.ddBotImageQueue(lcmUtils.getGlobalLCMThread())
self.queue.init(lcmUtils.getGlobalLCMThread(),
drcargs.args().config_file)
self.targetFps = 30
self.timerCallback = TimerCallback(targetFps=self.targetFps)
self.timerCallback.callback = self._updateSource
def updatePolyData(self, viewId, polyData):
obj = self.polyDataObjects.get(viewId)
if obj not in om.getObjects():
obj = None
if not obj:
hiddenMapIds = [9999]
visibleDefault = False if viewId in hiddenMapIds else True
obj = vis.PolyDataItem(self.getNameForViewId(viewId), polyData, self.view)
obj.setProperty('Visible', visibleDefault)
if obj._isPointCloud():
obj.setProperty('Color', [1, 1, 1])
obj.setProperty('Alpha', 0.5)
else:
obj.setProperty('Color', [0, 0.68, 1])
if viewId == lcmdrc.data_request_t.HEIGHT_MAP_SCENE:
obj.setProperty('Surface Mode', 'Wireframe')
folder = om.findObjectByName('Map Server')
folder.addProperty('Min Range', self.reader.GetDistanceRange()[0],
attributes=om.PropertyAttributes(decimals=2, minimum=0.0, maximum=100.0, singleStep=0.25, hidden=False))
folder.addProperty('Max Range', self.reader.GetDistanceRange()[1],
attributes=om.PropertyAttributes(decimals=2, minimum=0.0, maximum=100.0, singleStep=0.25, hidden=False))
folder.addProperty('Edge Filter Angle', self.reader.GetEdgeAngleThreshold(),
attributes=om.PropertyAttributes(decimals=0, minimum=0.0, maximum=60.0, singleStep=1, hidden=False))
om.addToObjectModel(obj, folder)
om.expand(folder)
self.folder = folder
self.polyDataObjects[viewId] = obj
else:
obj.setPolyData(polyData)
if self.colorizeCallback:
self.colorizeCallback(obj)
def __init__(self, view):
TimerCallback.__init__(self)
self.view = view
self.reader = None
self.displayedRevolution = -1
self.lastScanLine = 0
self.numberOfScanLines = 1
self.nextScanLineId = 0
self.scanLines = []
self.pointSize = 1
self.alpha = 0.5
self.visible = True
self.initScanLines()
self.revPolyData = vtk.vtkPolyData()
self.polyDataObj = vis.PolyDataItem('Multisense Sweep', self.revPolyData, view)
self.polyDataObj.actor.SetPickable(1)
self.setPointSize(self.pointSize)
self.setAlpha(self.alpha)
self.targetFps = 60
self.showRevolutionCallback = None
self.colorizeCallback = None