def disableFrustum():
cameraObj.setProperty('Visible', False)
depthScanner.pointCloudObj.actor.SetUserTransform(None)
depthScanner._updateFunc = None
applogic.setCameraTerrainModeEnabled(depthScanner.pointCloudView, False)
applogic.resetCamera(viewDirection=[0, 0, -1], view=depthScanner.pointCloudView)
depthScanner.pointCloudView.camera().SetViewUp([0, 1, 0])
def initView(self, view):
# Must call the createview function with the robot name so that the view can be associated, but cannot pass
# keyword arguments to python_qt functions so need to also pass the -1 to add the tab to the end of the list
# rather than insert it.
self.view = view or app.getViewManager().createView(
"Camera View", "VTK View", -1, self.robotName)
app.getRobotSelector().associateViewWithRobot(self.view,
self.robotName)
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 enableFrustum():
updateCameraMesh()
cameraObj.setProperty('Visible', True)
onCameraModified()
depthScanner._updateFunc = onCameraModified
applogic.setCameraTerrainModeEnabled(depthScanner.pointCloudView, True)
applogic.resetCamera(viewDirection=[1, 1, -0.4], view=depthScanner.pointCloudView)
depthScanner.pointCloudView.camera().SetViewUp([0, 0, 1])
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)
def disableFrustum():
cameraObj.setProperty('Visible', False)
depthScanner.pointCloudObj.actor.SetUserTransform(None)
depthScanner._updateFunc = None
applogic.setCameraTerrainModeEnabled(depthScanner.pointCloudView,
False)
applogic.resetCamera(viewDirection=[0, 0, -1],
view=depthScanner.pointCloudView)
depthScanner.pointCloudView.camera().SetViewUp([0, 1, 0])
def enableFrustum():
updateCameraMesh()
cameraObj.setProperty('Visible', True)
onCameraModified()
depthScanner._updateFunc = onCameraModified
applogic.setCameraTerrainModeEnabled(depthScanner.pointCloudView, True)
applogic.resetCamera(viewDirection=[1, 1, -0.4],
view=depthScanner.pointCloudView)
depthScanner.pointCloudView.camera().SetViewUp([0, 0, 1])
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 __init__(self, robotSystem, cameraView):
self.meshPoints = None
self.imagePoints = None
self.cameraView = cameraView
self.robotMesh = vtk.vtkPolyData()
robotSystem.robotStateModel.model.getModelMesh(self.robotMesh)
self.robotBaseFrame = robotSystem.robotStateModel.getLinkFrame('base')
self.view = PythonQt.dd.ddQVTKWidgetView()
vis.showPolyData(self.robotMesh, 'robot mesh', view=self.view)
self.imageFitter = ImageFitter(self)
vis.showPolyData(self.imageFitter.getPointCloud(),
'pointcloud',
view=self.view,
colorByName='rgb_colors',
visible=False)
self.picker = pointpicker.PointPicker(self.view)
self.picker.pickType = 'cells'
self.picker.numberOfPoints = 3
self.picker.annotationName = 'mesh annotation'
self.picker.annotationFunc = self.onPickPoints
self.picker.start()
self.widget = QtGui.QWidget()
layout = QtGui.QHBoxLayout(self.widget)
layout.addWidget(self.cameraView.view)
layout.addWidget(self.view)
self.widget.resize(800, 400)
self.widget.setWindowTitle('Camera Alignment Tool')
self.widget.show()
self.viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
applogic.resetCamera(viewDirection=[0, 1, 0], view=self.view)
applogic.setCameraTerrainModeEnabled(self.view, True)
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)
self.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
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)
self.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
def initView(self, fields):
view = PythonQt.dd.ddQVTKWidgetView()
applogic._defaultRenderView = view
applogic.setCameraTerrainModeEnabled(view, True)
applogic.resetCamera(viewDirection=[-1, -1, -0.3], view=view)
return FieldContainer(view=view)
def __init__(self, cameraView, modelPolyData=None, pointCloud=None, resultsDict=None, visualize=True, callback=None):
self.modelPolyData = modelPolyData
self.pointCloud = pointCloud
self.resultsDict = resultsDict
self.visualize = visualize
self.callback = callback
self.parent = om.getOrCreateContainer('object alignment')
self.meshPoints = None
self.imagePoints = None
self.cameraView = cameraView
# viewer for the object
self.view = PythonQt.dd.ddQVTKWidgetView()
# add some special logic to show colors if they exist
colorByName = 'RGB255'
if not self.modelPolyData.GetPointData().GetArray(colorByName):
colorByName = None
vis.showPolyData(self.modelPolyData, 'object poly data', view=self.view,
parent=self.parent, colorByName=colorByName)
self.imageFitter = ImageFitter(self, pointCloud)
self.picker = pointpicker.PointPicker(self.view)
self.picker.pickType = 'cells' # might need to change this
self.picker.numberOfPoints = 3
self.picker.annotationName = 'mesh annotation'
self.picker.annotationFunc = self.onPickPoints
self.picker.start()
# viewer for the pointcloud
self.sceneView = PythonQt.dd.ddQVTKWidgetView()
vis.showPolyData(self.pointCloud, 'pointcloud', view=self.sceneView, colorByName='RGB', parent=self.parent)
self.scenePicker = pointpicker.PointPicker(self.sceneView)
self.scenePicker.pickType = 'points' # might need to change this
self.scenePicker.numberOfPoints = 3
self.scenePicker.annotationName = 'pointcloud annotation'
self.scenePicker.annotationFunc = self.onScenePickPoints
self.scenePicker.start()
# workaround bug in PointPicker implementation
for name in [self.picker.annotationName, self.scenePicker.annotationName]:
om.removeFromObjectModel(om.findObjectByName(name))
self.widget = QtGui.QWidget()
layout = QtGui.QHBoxLayout(self.widget)
# layout.addWidget(self.cameraView.view)
layout.addWidget(self.sceneView)
layout.addWidget(self.view)
# self.widget.resize(800, 400)
self.widget.showMaximized()
self.widget.setWindowTitle('Camera Alignment Tool')
self.widget.show()
self.viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
applogic.resetCamera(viewDirection=[0,1,0], view=self.view)
applogic.setCameraTerrainModeEnabled(self.view, True)
self.sceneViewBehaviors = viewbehaviors.ViewBehaviors(self.sceneView)
applogic.resetCamera(viewDirection=[0, 1, 0], view=self.sceneView)
applogic.setCameraTerrainModeEnabled(self.sceneView, True)
def __init__(self):
self.applicationInstance().setOrganizationName("RobotLocomotionGroup")
self.applicationInstance().setApplicationName("drake-visualizer")
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)
# This setting improves the near plane clipping resolution.
# Drake often draws a very large ground plane which is detrimental to
# the near clipping for up close objects. The trade-off is Z buffer
# resolution but in practice things look good with this setting.
self.view.renderer().SetNearClippingPlaneTolerance(0.0005)
# add view behaviors
self.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.settings = QtCore.QSettings()
self.fileMenu = self.mainWindow.menuBar().addMenu("&File")
self.viewMenu = self.mainWindow.menuBar().addMenu("&View")
self.viewMenuManager = PythonQt.dd.ddViewMenu(self.viewMenu)
self.drakeVisualizer = DrakeVisualizer(self.view)
self.lcmglManager = lcmgl.LCMGLManager(self.view) if lcmgl.LCMGL_AVAILABLE else None
model = om.getDefaultObjectModel()
model.getTreeWidget().setWindowTitle("Scene Browser")
model.getPropertiesPanel().setWindowTitle("Properties Panel")
self.sceneBrowserDock = self.addWidgetToDock(model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea, visible=False)
self.propertiesDock = self.addWidgetToDock(
self.wrapScrollArea(model.getPropertiesPanel()), QtCore.Qt.LeftDockWidgetArea, visible=False
)
self.addViewMenuSeparator()
self.screenGrabberPanel = ScreenGrabberPanel(self.view)
self.screenGrabberDock = self.addWidgetToDock(
self.screenGrabberPanel.widget, QtCore.Qt.RightDockWidgetArea, visible=False
)
self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(self.view)
self.cameraBookmarksDock = self.addWidgetToDock(
self.cameraBookmarksPanel.widget, QtCore.Qt.RightDockWidgetArea, visible=False
)
self.cameraControlPanel = cameracontrolpanel.CameraControlPanel(self.view)
self.cameraControlDock = self.addWidgetToDock(
self.cameraControlPanel.widget, QtCore.Qt.RightDockWidgetArea, visible=False
)
act = self.fileMenu.addAction("&Quit")
act.setShortcut(QtGui.QKeySequence("Ctrl+Q"))
act.connect("triggered()", self.applicationInstance().quit)
self.fileMenu.addSeparator()
act = self.fileMenu.addAction("&Open Data...")
act.setShortcut(QtGui.QKeySequence("Ctrl+O"))
act.connect("triggered()", self._onOpenDataFile)
applogic.addShortcut(self.mainWindow, "F1", self._toggleObjectModel)
applogic.addShortcut(self.mainWindow, "F8", applogic.showPythonConsole)
self.applicationInstance().connect("aboutToQuit()", self._onAboutToQuit)
for obj in om.getObjects():
obj.setProperty("Deletable", False)
self.mainWindow.show()
self._saveWindowState("MainWindowDefault")
self._restoreWindowState("MainWindowCustom")
msg = lcmdrc.utime_t()
msg.utime = 1
lcmUtils.publish('ENABLE_ENCODERS', msg)
def disableArmEncoders():
msg = lcmdrc.utime_t()
msg.utime = -1
lcmUtils.publish('ENABLE_ENCODERS', msg)
def sendDesiredPumpPsi(desiredPsi):
atlasDriver.sendDesiredPumpPsi(desiredPsi)
app.setCameraTerrainModeEnabled(view, True)
app.resetCamera(viewDirection=[-1,0,0], view=view)
# Drill Demo Functions for in-image rendering:
useDrillDemo = False
if useDrillDemo:
def spawnHandAtCurrentLocation(side='left'):
if (side is 'left'):
tf = transformUtils.copyFrame( getLinkFrame( 'l_hand_face') )
handFactory.placeHandModelWithTransform( tf , app.getCurrentView(), 'left')
else:
tf = transformUtils.copyFrame( getLinkFrame( 'right_pointer_tip') )
handFactory.placeHandModelWithTransform( tf , app.getCurrentView(), 'right')
def initView(self, fields):
view = PythonQt.dd.ddQVTKWidgetView()
applogic._defaultRenderView = view
applogic.setCameraTerrainModeEnabled(view, True)
applogic.resetCamera(viewDirection=[-1, -1, -0.3], view=view)
return FieldContainer(view=view)
def setFreeCameraMode(enabled):
applogic.setCameraTerrainModeEnabled(fields.view, not enabled)
def setFreeCameraMode(enabled):
applogic.setCameraTerrainModeEnabled(fields.view, not enabled)
def __init__(self):
self.applicationInstance().setOrganizationName('RobotLocomotionGroup')
self.applicationInstance().setApplicationName('drake-visualizer')
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)
# This setting improves the near plane clipping resolution.
# Drake often draws a very large ground plane which is detrimental to
# the near clipping for up close objects. The trade-off is Z buffer
# resolution but in practice things look good with this setting.
self.view.renderer().SetNearClippingPlaneTolerance(0.0005)
# add view behaviors
self.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.settings = QtCore.QSettings()
self.fileMenu = self.mainWindow.menuBar().addMenu('&File')
self.viewMenu = self.mainWindow.menuBar().addMenu('&View')
self.viewMenuManager = PythonQt.dd.ddViewMenu(self.viewMenu)
self.drakeVisualizer = DrakeVisualizer(self.view)
self.lcmglManager = lcmgl.LCMGLManager(
self.view) if lcmgl.LCMGL_AVAILABLE else None
model = om.getDefaultObjectModel()
model.getTreeWidget().setWindowTitle('Scene Browser')
model.getPropertiesPanel().setWindowTitle('Properties Panel')
self.sceneBrowserDock = self.addWidgetToDock(
model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea, visible=False)
self.propertiesDock = self.addWidgetToDock(
self.wrapScrollArea(model.getPropertiesPanel()),
QtCore.Qt.LeftDockWidgetArea,
visible=False)
self.addViewMenuSeparator()
self.screenGrabberPanel = ScreenGrabberPanel(self.view)
self.screenGrabberDock = self.addWidgetToDock(
self.screenGrabberPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(
self.view)
self.cameraBookmarksDock = self.addWidgetToDock(
self.cameraBookmarksPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
self.cameraControlPanel = cameracontrolpanel.CameraControlPanel(
self.view)
self.cameraControlDock = self.addWidgetToDock(
self.cameraControlPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
act = self.fileMenu.addAction('&Quit')
act.setShortcut(QtGui.QKeySequence('Ctrl+Q'))
act.connect('triggered()', self.applicationInstance().quit)
self.fileMenu.addSeparator()
act = self.fileMenu.addAction('&Open Data...')
act.setShortcut(QtGui.QKeySequence('Ctrl+O'))
act.connect('triggered()', self._onOpenDataFile)
applogic.addShortcut(self.mainWindow, 'F1', self._toggleObjectModel)
applogic.addShortcut(self.mainWindow, 'F8', applogic.showPythonConsole)
self.applicationInstance().connect('aboutToQuit()',
self._onAboutToQuit)
for obj in om.getObjects():
obj.setProperty('Deletable', False)
self.mainWindow.show()
self._saveWindowState('MainWindowDefault')
self._restoreWindowState('MainWindowCustom')
msg = lcmdrc.utime_t()
msg.utime = 1
lcmUtils.publish('ENABLE_ENCODERS', msg)
def disableArmEncoders():
msg = lcmdrc.utime_t()
msg.utime = -1
lcmUtils.publish('ENABLE_ENCODERS', msg)
def sendDesiredPumpPsi(desiredPsi):
atlasDriver.sendDesiredPumpPsi(desiredPsi)
app.setCameraTerrainModeEnabled(view, True)
app.resetCamera(viewDirection=[-1, 0, 0], view=view)
# Drill Demo Functions for in-image rendering:
useDrillDemo = False
if useDrillDemo:
def spawnHandAtCurrentLocation(side='left'):
if (side is 'left'):
tf = transformUtils.copyFrame(getLinkFrame('l_hand_face'))
handFactory.placeHandModelWithTransform(tf, app.getCurrentView(),
'left')
else:
tf = transformUtils.copyFrame(getLinkFrame('right_pointer_tip'))
handFactory.placeHandModelWithTransform(tf, app.getCurrentView(),
'right')
