Пример #1
0
    def __init__(self):

        app.setupPackagePaths()

        self.setupUi()

        app.toggleCameraTerrainMode(self.view)
        self.resetCamera()

        self.drakeVis = drakevisualizer.DrakeVisualizer(self.view)

        vis.showGrid(self.view, color=[0,0,0], parent=None)

        self.timer = TimerCallback()
        self.timer.callback = self.update
        self.timer.targetFps = 60
Пример #2
0
    def __init__(self):

        app.setupPackagePaths()

        self.setupUi()

        app.toggleCameraTerrainMode(self.view)
        self.resetCamera()

        self.drakeVis = drakevisualizer.DrakeVisualizer(self.view)

        vis.showGrid(self.view, color=[0, 0, 0], parent=None)

        self.timer = TimerCallback()
        self.timer.callback = self.update
        self.timer.targetFps = 60
Пример #3
0
    def __init__(self):

        om.init()
        self.view = PythonQt.dd.ddQVTKWidgetView()

        # init grid
        self.gridObj = vis.showGrid(self.view, parent='scene')
        self.gridObj.setProperty('Surface Mode', 'Surface with edges')
        self.gridObj.setProperty('Color', [0,0,0])
        self.gridObj.setProperty('Alpha', 0.1)

        # init view options
        self.viewOptions = vis.ViewOptionsItem(self.view)
        om.addToObjectModel(self.viewOptions, parentObj=om.findObjectByName('scene'))
        self.viewOptions.setProperty('Background color', [0.3, 0.3, 0.35])
        self.viewOptions.setProperty('Background color 2', [0.95,0.95,1])

        # setup camera
        applogic.setCameraTerrainModeEnabled(self.view, True)
        applogic.resetCamera(viewDirection=[-1, 0, -0.3], view=self.view)

        # add view behaviors
        viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
        applogic._defaultRenderView = self.view

        self.mainWindow = QtGui.QMainWindow()
        self.mainWindow.setCentralWidget(self.view)
        self.mainWindow.resize(768 * (16/9.0), 768)
        self.mainWindow.setWindowTitle('Drake Visualizer')
        self.mainWindow.setWindowIcon(QtGui.QIcon(':/images/drake_logo.png'))
        self.mainWindow.show()

        self.drakeVisualizer = DrakeVisualizer(self.view)
        self.lcmglManager = lcmgl.LCMGLManager(self.view) if lcmgl.LCMGL_AVAILABLE else None

        self.screenGrabberPanel = ScreenGrabberPanel(self.view)
        self.screenGrabberDock = self.addWidgetToDock(self.screenGrabberPanel.widget, QtCore.Qt.RightDockWidgetArea)
        self.screenGrabberDock.setVisible(False)

        self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(self.view)
        self.cameraBookmarksDock = self.addWidgetToDock(self.cameraBookmarksPanel.widget, QtCore.Qt.RightDockWidgetArea)
        self.cameraBookmarksDock.setVisible(False)

        model = om.getDefaultObjectModel()
        model.getTreeWidget().setWindowTitle('Scene Browser')
        model.getPropertiesPanel().setWindowTitle('Properties Panel')
        model.setActiveObject(self.viewOptions)

        self.sceneBrowserDock = self.addWidgetToDock(model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea)
        self.propertiesDock = self.addWidgetToDock(self.wrapScrollArea(model.getPropertiesPanel()), QtCore.Qt.LeftDockWidgetArea)
        self.sceneBrowserDock.setVisible(False)
        self.propertiesDock.setVisible(False)

        applogic.addShortcut(self.mainWindow, 'Ctrl+Q', self.applicationInstance().quit)
        applogic.addShortcut(self.mainWindow, 'F1', self._toggleObjectModel)
        applogic.addShortcut(self.mainWindow, 'F2', self._toggleScreenGrabber)
        applogic.addShortcut(self.mainWindow, 'F3', self._toggleCameraBookmarks)
        applogic.addShortcut(self.mainWindow, 'F8', applogic.showPythonConsole)
Пример #4
0
    def createView(self, useGrid=True):
        view = PythonQt.dd.ddQVTKWidgetView()
        view.resize(600, 400)

        applogic.setCameraTerrainModeEnabled(view, True)
        if useGrid:
            self.gridObj = vis.showGrid(view, parent='scene')

        self.viewOptions = vis.ViewOptionsItem(view)
        om.addToObjectModel(self.viewOptions, parentObj=om.findObjectByName('scene'))

        applogic.resetCamera(viewDirection=[-1,-1,-0.3], view=view)
        viewBehaviors = viewbehaviors.ViewBehaviors(view)
        applogic._defaultRenderView = view

        applogic.addShortcut(view, 'Ctrl+Q', self.quit)
        applogic.addShortcut(view, 'F8', self.showPythonConsole)
        applogic.addShortcut(view, 'F1', self.showObjectModel)

        view.setWindowIcon(om.Icons.getIcon(om.Icons.Robot))
        view.setWindowTitle('View')

        return view
Пример #5
0
    def createView(self, useGrid=True):
        view = PythonQt.dd.ddQVTKWidgetView()
        view.resize(600, 400)

        applogic.setCameraTerrainModeEnabled(view, True)
        if useGrid:
            self.gridObj = vis.showGrid(view, parent='scene')

        self.viewOptions = vis.ViewOptionsItem(view)
        om.addToObjectModel(self.viewOptions,
                            parentObj=om.findObjectByName('scene'))

        applogic.resetCamera(viewDirection=[-1, -1, -0.3], view=view)
        viewBehaviors = viewbehaviors.ViewBehaviors(view)
        applogic._defaultRenderView = view

        applogic.addShortcut(view, 'Ctrl+Q', self.quit)
        applogic.addShortcut(view, 'F8', self.showPythonConsole)
        applogic.addShortcut(view, 'F1', self.showObjectModel)

        view.setWindowIcon(om.Icons.getIcon(om.Icons.Robot))
        view.setWindowTitle('View')

        return view
Пример #6
0
    cameraview.cameraView.rayCallback = segmentation.extractPointsAlongClickRay
    multisensepanel.init(perception.multisenseDriver, neckDriver)
    sensordatarequestpanel.init()

    # for kintinuous, use 'CAMERA_FUSED', 'CAMERA_TSDF'
    disparityPointCloud = segmentation.DisparityPointCloudItem('stereo point cloud', 'CAMERA', 'CAMERA_LEFT', cameraview.imageManager)
    disparityPointCloud.addToView(view)
    om.addToObjectModel(disparityPointCloud, parentObj=om.findObjectByName('sensors'))

    def createPointerTracker():
        return trackers.PointerTracker(robotStateModel, disparityPointCloud)


if useGrid:
    grid = vis.showGrid(view, color=[0,0,0], alpha=0.1)
    grid.setProperty('Surface Mode', 'Surface with edges')

app.setBackgroundColor([0.3, 0.3, 0.35], [0.95,0.95,1])

viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors'))

class ViewBackgroundLightHandler(object):

    def __init__(self, viewOptions, grid):
        self.viewOptions = viewOptions
        self.action = app.getToolsMenuActions()['ActionToggleBackgroundLight']
        self.action.connect('triggered()', self.toggle)

        self.properties = { viewOptions : {'Gradient background':True, 'Background color':[0.0, 0.0, 0.0], 'Background color 2':[0.3, 0.3, 0.3]},