def create_change_detection_app(globalsDict=None):
from director import mainwindowapp
from PythonQt import QtCore, QtGui
app = mainwindowapp.construct()
app.gridObj.setProperty('Visible', True)
app.viewOptions.setProperty('Orientation widget', False)
app.viewOptions.setProperty('View angle', 30)
app.sceneBrowserDock.setVisible(False)
app.propertiesDock.setVisible(False)
app.mainWindow.setWindowTitle('Depth Scanner')
app.mainWindow.show()
app.mainWindow.resize(920, 600)
app.mainWindow.move(0, 0)
view = app.view
view.setParent(None)
mdiArea = QtGui.QMdiArea()
app.mainWindow.setCentralWidget(mdiArea)
subWindow = mdiArea.addSubWindow(view)
subWindow.setMinimumSize(300, 300)
subWindow.setWindowTitle('Camera image')
subWindow.resize(640, 480)
mdiArea.tileSubWindows()
globalsDict['view'] = view
globalsDict['app'] = app
def create_change_detection_app(globalsDict=None):
from director import mainwindowapp
from PythonQt import QtCore, QtGui
app = mainwindowapp.construct()
app.gridObj.setProperty('Visible', True)
app.viewOptions.setProperty('Orientation widget', False)
app.viewOptions.setProperty('View angle', 30)
app.sceneBrowserDock.setVisible(False)
app.propertiesDock.setVisible(False)
app.mainWindow.setWindowTitle('Depth Scanner')
app.mainWindow.show()
app.mainWindow.resize(920, 600)
app.mainWindow.move(0, 0)
view = app.view
view.setParent(None)
mdiArea = QtGui.QMdiArea()
app.mainWindow.setCentralWidget(mdiArea)
subWindow = mdiArea.addSubWindow(view)
subWindow.setMinimumSize(300, 300)
subWindow.setWindowTitle('Camera image')
subWindow.resize(640, 480)
mdiArea.tileSubWindows()
globalsDict['view'] = view
globalsDict['app'] = app
def main(globalsDict=None):
from director import mainwindowapp
from PythonQt import QtCore, QtGui
app = mainwindowapp.construct()
app.gridObj.setProperty('Visible', True)
app.viewOptions.setProperty('Orientation widget', False)
app.viewOptions.setProperty('View angle', 30)
app.sceneBrowserDock.setVisible(False)
app.propertiesDock.setVisible(False)
app.mainWindow.setWindowTitle('Depth Scanner')
app.mainWindow.show()
app.mainWindow.resize(920, 600)
app.mainWindow.move(0, 0)
view = app.view
view.setParent(None)
mdiArea = QtGui.QMdiArea()
app.mainWindow.setCentralWidget(mdiArea)
subWindow = mdiArea.addSubWindow(view)
subWindow.setMinimumSize(300, 300)
subWindow.setWindowTitle('Camera image')
subWindow.resize(640, 480)
mdiArea.tileSubWindows()
#affordanceManager = affordancemanager.AffordanceObjectModelManager(view)
depthScanner = DepthScanner(view)
depthScanner.update()
dock = app.app.addWidgetToDock(depthScanner.imageView.view,
QtCore.Qt.RightDockWidgetArea)
dock.setMinimumWidth(300)
dock.setMinimumHeight(300)
dock = app.app.addWidgetToDock(depthScanner.pointCloudView,
QtCore.Qt.RightDockWidgetArea)
dock.setMinimumWidth(300)
dock.setMinimumHeight(300)
# add some test data
def addTestData():
d = DebugData()
# d.addSphere((0,0,0), radius=0.5)
d.addArrow((0, 0, 0), (0, 0, 1), color=[1, 0, 0])
d.addArrow((0, 0, 1), (0, .5, 1), color=[0, 1, 0])
vis.showPolyData(d.getPolyData(), 'debug data', colorByName='RGB255')
view.resetCamera()
addTestData()
# xvfb command
# /usr/bin/Xvfb :99 -ac -screen 0 1280x1024x16
if globalsDict is not None:
globalsDict.update(dict(app=app, view=view, depthScanner=depthScanner))
app.app.start(restoreWindow=False)
def main(globalsDict=None):
from director import mainwindowapp
from PythonQt import QtCore, QtGui
app = mainwindowapp.construct()
app.gridObj.setProperty('Visible', True)
app.viewOptions.setProperty('Orientation widget', False)
app.viewOptions.setProperty('View angle', 30)
app.sceneBrowserDock.setVisible(False)
app.propertiesDock.setVisible(False)
app.mainWindow.setWindowTitle('Depth Scanner')
app.mainWindow.show()
app.mainWindow.resize(920,600)
app.mainWindow.move(0,0)
view = app.view
view.setParent(None)
mdiArea = QtGui.QMdiArea()
app.mainWindow.setCentralWidget(mdiArea)
subWindow = mdiArea.addSubWindow(view)
subWindow.setMinimumSize(300,300)
subWindow.setWindowTitle('Camera image')
subWindow.resize(640, 480)
mdiArea.tileSubWindows()
#affordanceManager = affordancemanager.AffordanceObjectModelManager(view)
depthScanner = DepthScanner(view)
depthScanner.update()
dock = app.app.addWidgetToDock(depthScanner.imageView.view, QtCore.Qt.RightDockWidgetArea)
dock.setMinimumWidth(300)
dock.setMinimumHeight(300)
dock = app.app.addWidgetToDock(depthScanner.pointCloudView, QtCore.Qt.RightDockWidgetArea)
dock.setMinimumWidth(300)
dock.setMinimumHeight(300)
# add some test data
def addTestData():
d = DebugData()
# d.addSphere((0,0,0), radius=0.5)
d.addArrow((0,0,0), (0,0,1), color=[1,0,0])
d.addArrow((0,0,1), (0,.5,1), color=[0,1,0])
vis.showPolyData(d.getPolyData(), 'debug data', colorByName='RGB255')
view.resetCamera()
addTestData()
# xvfb command
# /usr/bin/Xvfb :99 -ac -screen 0 1280x1024x16
if globalsDict is not None:
globalsDict.update(dict(app=app, view=view, depthScanner=depthScanner))
app.app.start(restoreWindow=False)
def createApp(globalsDict=None):
from director import mainwindowapp
from PythonQt import QtCore, QtGui
app = mainwindowapp.construct()
app.gridObj.setProperty('Visible', True)
app.viewOptions.setProperty('Orientation widget', True)
app.viewOptions.setProperty('View angle', 30)
app.sceneBrowserDock.setVisible(True)
app.propertiesDock.setVisible(False)
app.mainWindow.setWindowTitle('Mesh Processing')
app.mainWindow.show()
app.mainWindow.resize(920, 600)
app.mainWindow.move(0, 0)
view = app.view
globalsDict['view'] = view
globalsDict['app'] = app
def createApp(globalsDict=None):
from director import mainwindowapp
from PythonQt import QtCore, QtGui
app = mainwindowapp.construct()
app.gridObj.setProperty('Visible', True)
app.viewOptions.setProperty('Orientation widget', True)
app.viewOptions.setProperty('View angle', 30)
app.sceneBrowserDock.setVisible(False)
app.propertiesDock.setVisible(False)
app.mainWindow.setWindowTitle('Depth Scanner')
app.mainWindow.show()
app.mainWindow.resize(920,600)
app.mainWindow.move(0,0)
view = app.view
globalsDict['view'] = view
globalsDict['app'] = app
"images/0000000001_labels.png")):
print ""
print "Already made labels? Skipping..."
print "To re-extract, either move or delete ./images/"
print ""
quit()
parser = drcargs.getGlobalArgParser().getParser()
parser.add_argument(
'--logFolder',
type=str,
dest='logFolder',
help=
'location of top level folder for this log, relative to CorlDev/data')
parser.add_argument('-debugCorl', action='store_true')
args = parser.parse_args()
app = mainwindowapp.construct(disable_anti_alias=True)
app.view.setParent(None)
app.view.show()
print "logFolder = ", args.logFolder
pathDict = corl.utils.getFilenames(args.logFolder)
rti = RenderTrainingImages(app.view, app.viewOptions, pathDict)
if args.debugCorl:
globals().update(rti=rti)
app.app.start()
else:
rti.renderAndSaveLabeledImages()
def getArgs():
parser = argparse.ArgumentParser()
parser.add_argument('--urdf',
type=str,
default=None,
help='urdf filename to load')
parser.add_argument(
'--glob-dir',
type=str,
default=None,
help='recursively search this directory and load every urdf found')
args, unknown = parser.parse_known_args()
return args
app = mainwindowapp.construct()
view = app.view
args = getArgs()
if args.urdf:
robotModel, jointController = roboturdf.loadRobotModel(urdfFile=args.urdf,
view=view,
useConfigFile=False)
jointNames = robotModel.model.getJointNames()
jointController = jointcontrol.JointController([robotModel],
jointNames=jointNames)
elif args.glob_dir:
def setupToolbar():
toolBar = applogic.findToolBar('Main Toolbar')
app.app.addToolBarAction(toolBar,
'Gripper Open',
icon='',
callback=gripperOpen)
app.app.addToolBarAction(toolBar,
'Gripper Close',
icon='',
callback=gripperClose)
# create a default mainwindow app
app = mainwindowapp.construct(globalsDict=globals())
# load a minimal robot system with ik planning
robotSystem = robotsystem.create(app.view, planningOnly=True)
# add the teleop and playback panels to the mainwindow
app.app.addWidgetToDock(robotSystem.teleopPanel.widget,
QtCore.Qt.RightDockWidgetArea)
app.app.addWidgetToDock(robotSystem.playbackPanel.widget,
QtCore.Qt.BottomDockWidgetArea)
setupToolbar()
# show sim time in the status bar
infoLabel = KukaSimInfoLabel(app.mainWindow.statusBar())
view.renderWindow().GetInteractor().SetInteractorStyle(vtk.vtkInteractorStyleImage())
return cameraView
if __name__ == '__main__':
# parse args first
parser = drcargs.getGlobalArgParser().getParser()
parser.add_argument('--logFolder', type=str, dest='logFolder',
help='location of top level folder for this log, relative to CorlDev/data')
args = parser.parse_args()
print 'log folder:', args.logFolder
# construct the app
fields = mainwindowapp.construct()
imageManager = initImageManager()
openniDepthPointCloud = initDepthPointCloud(imageManager, fields.view)
cameraView = newCameraView(imageManager)
affordanceManager = affordancemanager.AffordanceObjectModelManager(fields.view)
myObjects = dict()
myObjects['imageManager'] = imageManager
myObjects['openniDepthPointCloud'] = openniDepthPointCloud
myObjects['cameraView'] = cameraView
myObjects['affordanceManager'] = affordanceManager
myObjects['CorlUtils'] = corl.utils
# these lines are used to update the globals for the interactive python console
fields.globalsDict.update(**dict(fields))
def gripperClose():
sendGripperCommand(15, 40)
def setupToolbar():
toolBar = applogic.findToolBar('Main Toolbar')
app.app.addToolBarAction(
toolBar, 'Gripper Open', icon='', callback=gripperOpen)
app.app.addToolBarAction(
toolBar, 'Gripper Close', icon='', callback=gripperClose)
# create a default mainwindow app
app = mainwindowapp.construct()
# load a minimal robot system with ik planning
robotSystem = robotsystem.create(app.view, planningOnly=True)
# add the teleop and playback panels to the mainwindow
app.app.addWidgetToDock(robotSystem.teleopPanel.widget,
QtCore.Qt.RightDockWidgetArea)
app.app.addWidgetToDock(robotSystem.playbackPanel.widget,
QtCore.Qt.BottomDockWidgetArea)
setupToolbar()
# show sim time in the status bar
infoLabel = KukaSimInfoLabel(app.mainWindow.statusBar())
def writeMultiBlockPolyData(polyDataList, outFile):
mb = vtk.vtkMultiBlockDataSet()
mb.SetNumberOfBlocks(len(polyDataList))
for i, polyData in enumerate(polyDataList):
mb.SetBlock(i, polyData)
writer = vtk.vtkXMLMultiBlockDataWriter()
writer.SetFileName(outFile)
writer.SetInput(mb)
writer.Write()
if __name__ == '__main__':
if len(sys.argv) < 2:
print 'Usage: %s <mesh file>' % sys.argv[0]
sys.exit(1)
scene = loadAssimpSceneFromFile(sys.argv[1])
from director import mainwindowapp
app = mainwindowapp.construct(globals())
scene.addToView(app.view)
app.app.start()
normal = np.array(pickPointFields.pickedNormal)
image[i, j, :] = normal
# add some rgb conversion step, maybe png writer does that???
return image
if __name__ == '__main__':
#setup
view_height = 640
view_width = 480
data_dir = sys.argv[1]
num_im = int(sys.argv[2])
mesh = sys.argv[3]
#launch app
application = mainwindowapp.construct() #globals?
view = app.getCurrentRenderView()
#app.resetCamera(viewDirection=[-1,0,0], view=view)
#load mesh TODO: load raw point cloud and convert to mesh automatically
polyData = ioUtils.readPolyData(data_dir + '/' + sys.argv[3])
obj = vis.showPolyData(polyData, name=mesh)
#setup
view.setFixedSize(view_height, view_width)
setCameraInstrinsicsAsus(view)
setCameraTransform(view.camera(), vtk.vtkTransform())
view.forceRender()
filter1 = vtk.vtkWindowToImageFilter()
filter1 = vtk.vtkWindowToImageFilter()
