imageOverlayManager = ImageOverlayManager()
imageWidget = cameraview.ImageWidget(cameraview.imageManager,
'CAMERA_LEFT',
view,
visible=False)
imageViewHandler = ToggleImageViewHandler(imageWidget)
setImageWidgetSource = imageWidget.setImageName
screengrabberpanel.init(view)
framevisualization.init(view)
affordancePanel = affordancepanel.init(view, affordanceManager,
robotStateJointController,
raycastDriver)
camerabookmarks.init(view)
cameraControlPanel = cameracontrolpanel.CameraControlPanel(view)
app.addWidgetToDock(cameraControlPanel.widget, action=None).hide()
def getLinkFrame(linkName, model=None):
model = model or robotStateModel
return model.getLinkFrame(linkName)
def getBotFrame(frameName):
t = vtk.vtkTransform()
t.PostMultiply()
cameraview.imageManager.queue.getTransform(frameName, 'local', t)
return t
def toggle(self):
if self.action.checked:
self.manager.show()
else:
self.manager.hide()
imageOverlayManager = ImageOverlayManager()
imageWidget = cameraview.ImageWidget(cameraview.imageManager, 'CAMERA_LEFT', view, visible=False)
imageViewHandler = ToggleImageViewHandler(imageWidget)
setImageWidgetSource = imageWidget.setImageName
screengrabberpanel.init(view)
framevisualization.init(view)
affordancePanel = affordancepanel.init(view, affordanceManager, robotStateJointController, raycastDriver)
camerabookmarks.init(view)
cameraControlPanel = cameracontrolpanel.CameraControlPanel(view)
app.addWidgetToDock(cameraControlPanel.widget, action=None).hide()
def getLinkFrame(linkName, model=None):
model = model or robotStateModel
return model.getLinkFrame(linkName)
def getBotFrame(frameName):
t = vtk.vtkTransform()
t.PostMultiply()
cameraview.imageManager.queue.getTransform(frameName, 'local', t)
return t
app.setBackgroundColor([0.3, 0.3, 0.35], [0.95, 0.95, 1])
viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(viewOptions, parentObj=sceneRoot)
viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(
viewOptions, grid,
app.getToolsMenuActions()["ActionToggleBackgroundLight"])
viewFramesHandler = viewframes.ViewFramesSizeHandler(
app.getToolsMenuActions()["ActionToggleFramesSize"])
if not useLightColorScheme:
viewBackgroundLightHandler.action.trigger()
cameraBooksmarksPanel = camerabookmarks.init(view)
cameraControlPanel = cameracontrolpanel.CameraControlPanel(view)
app.addWidgetToDock(cameraControlPanel.widget, action=None).hide()
app.setCameraTerrainModeEnabled(view, True)
app.resetCamera(viewDirection=[-1, 0, 0], view=view)
for robotSystem in robotSystems:
selector.addRobot(robotSystem.robotName)
selector.associateViewBehaviorWithRobot(robotSystem.viewBehaviors,
robotSystem.robotName)
directorConfig = drcargs.getRobotConfig(robotSystem.robotName)
usePerception = True
useDataFiles = True