def addSignalFunction(channel,
signalFunction,
plot=None,
color=None,
wrap=True,
label=None):
if plot is None:
plot = getPlot()
if plot is None:
plot = addPlot()
if color is not None:
rgb = [int(c * 255) for c in color]
color = QtGui.QColor(*rgb)
else:
color = QtGui.QColor()
if wrap:
def _signalFunction(x):
t, v = signalFunction(x)
return t * 1e-6, float(v)
else:
_signalFunction = signalFunction
_mainWindow.addPythonSignal(
plot,
[channel, _signalFunction, label or signalFunction.__doc__, color])
def _setupTextureColors(self):
# custom colors for non-textured robotiq hand
for name in self.model.getLinkNames():
strs = name.split('_')
if len(strs) >= 2 and strs[0] in ['left', 'right'] and strs[1] in ('finger', 'palm') or name.endswith('hand_force_torque'):
self.model.setLinkColor(name, QtGui.QColor(90, 90, 90) if strs[1] == 'finger' else QtGui.QColor(20,20,20))
else:
self.model.setLinkColor(name, QtGui.QColor(255,255,255))
def _setupTextureColors(self):
# custom colors for non-textured robotiq hand
for name in self.model.getLinkNames():
strs = name.split("_")
if (len(strs) >= 2 and strs[0] in ["left", "right"]
and strs[1] in ("finger", "palm")
or name.endswith("hand_force_torque")):
self.model.setLinkColor(
name,
QtGui.QColor(90, 90, 90)
if strs[1] == "finger" else QtGui.QColor(20, 20, 20),
)
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.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 __init__(self, name, itemRow, itemCul, exportDir=None):
super(xTableItem ,self).__init__()
label = QtGui.QLabel(name).text
self.setText(label)
self.itemRow = itemRow
self.itemCul = itemCul
if self.itemCul == 4:
self.col = QtGui.QColor(10, 100, 100)
else:
self.col = QtGui.QColor(0, 0, 0)
#set background color
self.setBackground(self.col)
def showClusterObjects(clusters, parent):
colors = [ QtCore.Qt.red,
QtCore.Qt.blue,
QtCore.Qt.yellow,
QtCore.Qt.green,
QtCore.Qt.magenta,
QtCore.Qt.cyan,
QtCore.Qt.darkCyan,
QtCore.Qt.darkGreen,
QtCore.Qt.darkMagenta ]
colors = [QtGui.QColor(c) for c in colors]
colors = [(c.red()/255.0, c.green()/255.0, c.blue()/255.0) for c in colors]
objects = []
for i, cluster in enumerate(clusters):
name = 'object %d' % i
color = colors[i % len(colors)]
clusterObj = showPolyData(cluster.mesh, name, color=color, parent=parent, alpha=1.0)
clusterFrame = showFrame(cluster.frame, name + ' frame', scale=0.2, visible=False, parent=clusterObj)
clusterBox = showPolyData(cluster.box, name + ' box', color=color, parent=clusterObj, alpha=0.6, visible=False)
clusterPoints = showPolyData(cluster.points, name + ' points', color=color, parent=clusterObj, visible=False, alpha=1.0)
clusterPoints.setProperty('Point Size', 7)
clusterPoints.colorBy(None)
objects.append(clusterObj)
for obj in [clusterObj, clusterBox, clusterPoints]:
obj.actor.SetUserTransform(cluster.frame)
return objects
def updatePolyDataItemProperties(self, polyDataItem):
polyDataItem._updateColorByProperty()
polyDataItem.setProperty('Alpha', self.color[3])
polyDataItem.actor.SetTexture(
Geometry.TextureCache.get(
Geometry.getTextureFileName(self.polyData)))
if polyDataItem.actor.GetTexture():
polyDataItem.setProperty('Color', QtGui.QColor(255, 255, 255))
else:
polyDataItem.setProperty(
'Color', QtGui.QColor(*(255 * np.asarray(self.color[:3]))))
if USE_SHADOWS:
polyDataItem.shadowOn()
def mesh_to_K(gate_obj, ssv_id, tree_id, obj_type, color):
mesh = gate_obj.syconn_gate.get_ssv_obj_mesh_from_results_store(
ssv_id, obj_type)
if len(mesh[0]) > 0:
KnossosModule.skeleton.add_tree_mesh(tree_id, mesh[1], mesh[2],
mesh[0], [], 4, False)
KnossosModule.skeleton.set_tree_color(tree_id, QtGui.QColor(*color))
def __init__(self, frameProvider):
vis.PolyDataItem.__init__(self, 'spindle axis', vtk.vtkPolyData(), view=None)
self.frameProvider = frameProvider
self.timer = TimerCallback()
self.timer.callback = self.update
self.setProperty('Color', QtGui.QColor(0, 255, 0))
self.setProperty('Visible', False)
def _updateModelColor(self):
if self.getProperty('Color Mode') == 0: # Solid Color
color = QtGui.QColor(*[c * 255 for c in self.getProperty('Color')])
self.model.setColor(color)
elif self.getProperty('Color Mode') == 1: # Textures
self._setupTextureColors()
elif self.getProperty('Color Mode') == 2: # URDF Colors
self.model.setUrdfColors()
def __init__(self):
super(dlg_copyMetricBinding, self).__init__()
# - Init
self.srcGlyphBounds = {}
# - Combos
# -- Mode of operation
self.cmb_mode = QtGui.QComboBox()
self.cmb_mode.addItems(['Active Layer', 'All Master Layers'])
# -- Flag color slector
self.cmb_flag = QtGui.QComboBox()
colorNames = QtGui.QColor.colorNames()
for i in range(len(colorNames)):
self.cmb_flag.addItem(colorNames[i])
self.cmb_flag.setItemData(i, QtGui.QColor(colorNames[i]),
QtCore.Qt.DecorationRole)
self.cmb_flag.setCurrentIndex(colorNames.index('lime'))
# - Buttons
self.btn_copy = QtGui.QPushButton('&Copy Expressions')
self.btn_paste = QtGui.QPushButton('&Paste Expressions')
self.btn_export = QtGui.QPushButton('&Export to File')
self.btn_import = QtGui.QPushButton('&Import from File')
self.btn_importFLC = QtGui.QPushButton('&Import from .FLC')
self.btn_copy.clicked.connect(self.copyExpr)
self.btn_paste.clicked.connect(self.pasteExpr)
self.btn_export.clicked.connect(self.exportExpr)
self.btn_import.clicked.connect(self.importExpr)
self.btn_importFLC.clicked.connect(self.importExprFLC)
self.btn_paste.setEnabled(False)
#self.btn_export.setEnabled(False)
#self.btn_import.setEnabled(False)
# - Build layouts
layoutV = QtGui.QVBoxLayout()
layoutV.addWidget(
QtGui.QLabel('Copy/Paste metric expressions to/from:'))
layoutV.addWidget(self.cmb_mode)
#layoutV.addWidget(QtGui.QLabel('Mark modified glyphs with:'))
#layoutV.addWidget(self.cmb_flag)
layoutV.addWidget(self.btn_copy)
layoutV.addWidget(self.btn_paste)
layoutV.addWidget(self.btn_export)
layoutV.addWidget(self.btn_import)
layoutV.addWidget(self.btn_importFLC)
# - Set Widget
self.setLayout(layoutV)
self.setWindowTitle('%s %s' % (app_name, app_version))
self.setGeometry(300, 300, 220, 120)
self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint) # Always on top!!
self.show()
def toQProperty(propertyName, propertyValue):
if 'color' in propertyName.lower() and isinstance(propertyValue, (list, tuple)) and len(propertyValue) == 3:
return QtGui.QColor(propertyValue[0]*255.0, propertyValue[1]*255.0, propertyValue[2]*255.0)
elif isinstance(propertyValue, np.float):
return float(propertyValue)
elif isinstance(propertyValue, (list, tuple, np.ndarray)) and len(propertyValue) and isinstance(propertyValue[0], np.float):
return [float(x) for x in propertyValue]
else:
return propertyValue
def spawnBoardAffordance(self, randomize=False):
self.boardLength = 1.5
if randomize:
position = [
random.uniform(0.5, 0.8),
random.uniform(-0.2, 0.2),
random.uniform(0.5, 0.8)
]
rpy = [
random.choice((random.uniform(-35,
35), random.uniform(70, 110))),
random.uniform(-10, 10),
random.uniform(-5, 5)
]
zwidth = random.uniform(0.5, 1.0)
else:
if self.b.val:
position = [0.4, 0.0, 1.]
else:
position = [0.6, 0.0, 1.]
rpy = [90, 1, 0]
zwidth = self.boardLength
xwidth = 3.75 * .0254
ywidth = 1.75 * .0254
t = transformUtils.frameFromPositionAndRPY(position, rpy)
t.Concatenate(self.b.computeGroundFrame(self.b.robotModel))
xaxis = [1, 0, 0]
yaxis = [0, 1, 0]
zaxis = [0, 0, 1]
for axis in (xaxis, yaxis, zaxis):
t.TransformVector(axis, axis)
self.affordance = segmentation.createBlockAffordance(
t.GetPosition(),
xaxis,
yaxis,
zaxis,
xwidth,
ywidth,
zwidth,
'board',
parent='affordances')
self.affordance.setProperty('Color', QtGui.QColor(200, 150, 100))
t = self.affordance.actor.GetUserTransform()
self.frame = vis.showFrame(t,
'board frame',
parent=self.affordance,
visible=False,
scale=0.2)
def mesh_loader(gate_obj, ssv_id, tree_id, obj_type, color):
start = time.time()
mesh = gate_obj.syconn_gate.get_ssv_obj_mesh(ssv_id, obj_type)
print("Download time:", time.time() - start)
start = time.time()
if len(mesh[0]) > 0:
KnossosModule.skeleton.add_tree_mesh(tree_id, mesh[1], mesh[2],
mesh[0], [], 4, False)
KnossosModule.skeleton.set_tree_color(tree_id, QtGui.QColor(*color))
print("Loading {}-mesh time (pure KNOSSOS): {:.2f} s".format(
obj_type,
time.time() - start))
def highlightLink(self, linkName, color):
currentColor = self.robotModel.model.getLinkColor(linkName)
if not currentColor.isValid():
return
if linkName not in self.previousColors:
self.previousColors[linkName] = currentColor
alpha = self.robotModel.getProperty('Alpha')
newColor = QtGui.QColor(color[0]*255, color[1]*255, color[2]*255, alpha*255)
self.robotModel.model.setLinkColor(linkName, newColor)
def __init__(self, data):
super(trTableView, self).__init__()
# - Init
self.flag_valueChanged = QtGui.QColor('powderblue')
# - Set
if data is not None: self.setTable(data)
self.itemChanged.connect(self.markChange)
# - Styling
self.horizontalHeader().setStretchLastSection(True)
self.setAlternatingRowColors(True)
self.setShowGrid(False)
self.setSortingEnabled(False)
#self.resizeColumnsToContents()
self.resizeRowsToContents()
def __init__(self, model, jointController, view):
self.model = model
self.jointController = jointController
self.view = view
self.colorNoHighlight = QtGui.QColor(190, 190, 190)
self.colorHighlight = QtCore.Qt.red
self.timer = TimerCallback()
self.timer.callback = self.update
self.timer.targetFps = 60
#self.timer.start()
self.collisionStateIds = []
self.lastRobotStateMessage = None
self.lastPlanMessage = None
self.lastPlanCheckMessage = None
lcmUtils.addSubscriber('EST_ROBOT_STATE', lcmdrc.robot_state_t, self.onRobotState)
lcmUtils.addSubscriber('ROBOT_COLLISIONS', lcmdrc.robot_collision_array_t, self.onPlanCheck)
lcmUtils.addSubscriber('CANDIDATE_MANIP_PLAN', lcmdrc.robot_plan_w_keyframes_t, self.onManipPlan)
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.clearButton = QtGui.QPushButton('clear')
self.zeroButton = QtGui.QPushButton('zero')
l.addWidget(self.clearButton)
l.addWidget(self.zeroButton)
l.addWidget(self.slider)
self.slider.connect(self.slider, 'valueChanged(int)', self.onSlider)
self.slider.connect(self.zeroButton, 'clicked()', self.onZeroButtonClicked)
self.slider.connect(self.clearButton, 'clicked()', self.onClearButtonClicked)
ww = QtGui.QWidget()
ll = QtGui.QVBoxLayout(ww)
ll.addWidget(self.view)
ll.addWidget(w)
ll.setMargin(0)
ww.show()
ww.resize(800, 600)
self.widget = ww
def onAtlasStepParams(self,msg):
if (msg.desired_step_spec.foot_index ==1):
is_right_foot = True
else:
is_right_foot = False
#print msg.desired_step_spec.foot_index , " and " , is_right_foot
foot = msg.desired_step_spec.foot
footTransform = transformUtils.frameFromPositionAndRPY( foot.position , [0, 0, foot.yaw*180/math.pi])
mesh,color = self.getMeshAndColor(is_right_foot)
#color[1] = 0.75 ; color[2] = 0.25
vis.updateFrame(footTransform, 'bdi foot', parent='foot placements', scale=0.2, visible=False)
#bdi_step_mesh = om.findObjectByName('bdi step')
#om.removeFromObjectModel(bdi_step_mesh)
obj = vis.updatePolyData(mesh, 'bdi step', color=color, alpha=1.0, parent='foot placements', visible=False)
obj.setProperty('Color',QtGui.QColor(color[0]*255.0,color[1]*255.0,color[2]*255.0))
obj.actor.SetUserTransform(footTransform)
def pasteAnchor(self):
font = pFont()
dst_glyphs = {glyph.name: glyph for glyph in font.pGlyphs()}
print 'WARN:\t Pasting Glyph Anchors to Font:%s;' % font.name
for glyph_name, layer_anchors in self.srcGlyphAnchors.iteritems():
if glyph_name in dst_glyphs:
w_glyph = dst_glyphs[glyph_name]
if self.cmb_mode.currentIndex == 1:
# - All master layers
for layer in w_glyph.masters():
if layer_anchors.has_key(layer.name):
w_glyph.clearAnchors(layer.name)
for anchor_name, anchor_pos in layer_anchors[
layer.name]:
w_glyph.addAnchor(anchor_pos, anchor_name,
layer.name)
print 'PASTE MM:\t Glyph: /%s;\tLayer: %s.' % (
glyph_name, layer.name)
else:
print 'WARN:\t Glyph /%s - Layer %s not found!' % (
glyph_name, layer.name)
else:
# - Active Layer only
w_glyph.clearAnchors()
for anchor_name, anchor_pos in layer_anchors:
w_glyph.addAnchor(anchor_pos, anchor_name)
print 'PASTE:\t Glyph: /%s;\tLayer: %s.' % (
glyph_name, w_glyph.layer().name)
if self.cmb_flag.currentText != 'None':
w_glyph.setMark(
QtGui.QColor(self.cmb_flag.currentText).hue())
else:
print 'SKIP:\t Glyph /%s not found.' % glyph_name
fl6.Update(CurrentFont())
def __init__(self):
super(dlg_generateUnicode, self).__init__()
self.n2u = {}
# Insert your default folder for custom NAM files
self.namFolder = r''
# Set to True if you want to keep Unicodes for glyphs not in the NAM
self.keepUnicodes = True
# Enter color flag integer if you want to flag modified glyphs, or None
self.flagModified = 1
self.f = CurrentFont()
self.fPath = self.f.path
self.fFolder = os.path.dirname(self.fPath)
self.fPathBase = os.path.splitext(os.path.basename(self.fPath))[0]
self.fgnu = fontGlyphNameUnicodes(self.f)
if not self.namFolder:
if fl.userpath:
self.namFolder = fl.userpath
else:
self.namFolder = self.fFolder
# -- Flag color selector
self.cmb_flag = QtGui.QComboBox()
colorNames = QtGui.QColor.colorNames()
for i in range(len(colorNames)):
self.cmb_flag.addItem(colorNames[i])
self.cmb_flag.setItemData(i, QtGui.QColor(colorNames[i]),
QtCore.Qt.DecorationRole)
self.cmb_flag.insertItem(0, 'None')
self.cmb_flag.setCurrentIndex(0)
# - Options
self.chk_keepUnicodes = QtGui.QCheckBox(
'Keep Unicodes for glyphs not in NAM')
self.chk_keepUnicodes.setCheckState(QtCore.Qt.Checked)
# - Buttons
self.btn_open = QtGui.QPushButton('&Open NAM file')
self.btn_open.clicked.connect(self.openNamFile)
self.btn_save = QtGui.QPushButton('&Save NAM file')
self.btn_save.clicked.connect(self.saveNamFile)
self.btn_run = QtGui.QPushButton('&Generate Unicodes')
self.btn_run.setEnabled(False)
self.btn_run.clicked.connect(self.generateUnicodes)
# - Build layouts
layoutV = QtGui.QVBoxLayout()
layoutV.addWidget(self.btn_open)
layoutV.addWidget(QtGui.QLabel('Flag modified glyphs:'))
layoutV.addWidget(self.cmb_flag)
layoutV.addWidget(self.chk_keepUnicodes)
layoutV.addWidget(self.btn_run)
layoutV.addWidget(self.btn_save)
# - Set Widget
self.setLayout(layoutV)
self.setWindowTitle('%s %s' % (app_name, __version__))
self.setGeometry(300, 300, 220, 120)
self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint) # Always on top!!
self.show()
def getColorFlag(self):
if self.cmb_flag.currentText != 'None':
return QtGui.QColor(self.cmb_flag.currentText).hue()
else:
return None
def __init__(self, uid, view, seed_pose, irisDriver, existing_region=None):
d = DebugData()
self.uid = uid
vis.PolyDataItem.__init__(self, "IRIS region {:d}".format(uid),
d.getPolyData(), view)
self.transform = seed_pose
d.addSphere((0, 0, 0), radius=0.02)
self.seedObj = vis.showPolyData(
d.getPolyData(),
'region seed',
parent=om.getOrCreateContainer('IRIS region seeds'))
self.seedObj.actor.SetUserTransform(self.transform)
self.frameObj = vis.showFrame(self.transform,
'region seed frame',
scale=0.2,
visible=False,
parent=self.seedObj)
self.frameObj.setProperty('Edit', True)
self.frameObj.widget.HandleRotationEnabledOff()
terrain = om.findObjectByName('HEIGHT_MAP_SCENE')
if terrain:
rep = self.frameObj.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
pos = np.array(self.frameObj.transform.GetPosition())
polyData = filterUtils.removeNonFinitePoints(terrain.polyData)
if polyData.GetNumberOfPoints():
polyData = segmentation.labelDistanceToLine(
polyData, pos, pos + [0, 0, 1])
polyData = segmentation.thresholdPoints(
polyData, 'distance_to_line', [0.0, 0.1])
if polyData.GetNumberOfPoints():
pos[2] = np.nanmax(
vnp.getNumpyFromVtk(polyData, 'Points')[:, 2])
self.frameObj.transform.Translate(
pos - np.array(self.frameObj.transform.GetPosition()))
self.placer = PlacerWidget(view, self.seedObj, terrain)
self.placer.start()
else:
self.frameObj.setProperty('Edit', True)
self.frameObj.setProperty('Visible', True)
self.driver = irisDriver
self.safe_region = None
self.addProperty('Visible', True)
self.addProperty('Enabled for Walking', True)
self.addProperty('Alpha', 1.0)
self.addProperty('Color', QtGui.QColor(200, 200, 20))
self.frameObj.connectFrameModified(self.onFrameModified)
if existing_region is None:
self.onFrameModified(self.frameObj)
else:
self.setRegion(existing_region)
self.setProperty('Alpha', 0.5)
self.setProperty('Color', QtGui.QColor(220, 220, 220))
def __init__(self):
super(dlg_copyMetrics, self).__init__()
# - Init
self.srcGlyphBounds = {}
# - Combos
# -- Mode of operation
self.cmb_mode = QtGui.QComboBox()
self.cmb_mode.addItems(['Active Layer', 'All Master Layers'])
# -- Flag color slector
self.cmb_flag = QtGui.QComboBox()
colorNames = QtGui.QColor.colorNames()
for i in range(len(colorNames)):
self.cmb_flag.addItem(colorNames[i])
self.cmb_flag.setItemData(i, QtGui.QColor(colorNames[i]),
QtCore.Qt.DecorationRole)
self.cmb_flag.setCurrentIndex(colorNames.index('lime'))
# - Buttons
self.btn_copy = QtGui.QPushButton('&Copy Metric values')
self.btn_pasteADV = QtGui.QPushButton(
'&Paste Metric values: LSB, Advance')
self.btn_pasteRSB = QtGui.QPushButton('&Paste Metric values: LSB, RSB')
self.btn_export = QtGui.QPushButton('&Export to File (TypeRig *.json)')
self.btn_import = QtGui.QPushButton(
'&Import from File (TypeRig *.json)')
self.btn_importAFM = QtGui.QPushButton(
'&Import from Adobe Font Metrics (*.AFM)')
self.btn_importAFM.setEnabled(False)
self.btn_copy.clicked.connect(self.copyExpr)
self.btn_pasteADV.clicked.connect(lambda: self.pasteExpr(sbMode=False))
self.btn_pasteRSB.clicked.connect(lambda: self.pasteExpr(sbMode=True))
self.btn_export.clicked.connect(self.exportExpr)
self.btn_import.clicked.connect(self.importExpr)
self.btn_importAFM.clicked.connect(self.importExprAFM)
self.btn_pasteADV.setEnabled(False)
self.btn_pasteRSB.setEnabled(False)
#self.btn_export.setEnabled(False)
#self.btn_import.setEnabled(False)
# - Build layouts
layoutV = QtGui.QVBoxLayout()
layoutV.addWidget(QtGui.QLabel('Copy/Paste metrics to/from:'))
layoutV.addWidget(self.cmb_mode)
#layoutV.addWidget(QtGui.QLabel('Mark modified glyphs with:'))
#layoutV.addWidget(self.cmb_flag)
layoutV.addWidget(self.btn_copy)
layoutV.addWidget(self.btn_pasteADV)
layoutV.addWidget(self.btn_pasteRSB)
layoutV.addWidget(self.btn_export)
layoutV.addWidget(self.btn_import)
layoutV.addWidget(self.btn_importAFM)
# - Set Widget
self.setLayout(layoutV)
self.setWindowTitle('%s %s' % (app_name, app_version))
self.setGeometry(300, 300, 280, 140)
self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint) # Always on top!!
self.show()
def markChange(self, item):
item.setBackground(QtGui.QColor('powderblue'))
def showClusterObjects(clusters, parent):
colors = [
QtCore.Qt.red,
QtCore.Qt.blue,
QtCore.Qt.yellow,
QtCore.Qt.green,
QtCore.Qt.magenta,
QtCore.Qt.cyan,
QtCore.Qt.darkCyan,
QtCore.Qt.darkGreen,
QtCore.Qt.darkMagenta,
]
colors = [QtGui.QColor(c) for c in colors]
colors = [(c.red() / 255.0, c.green() / 255.0, c.blue() / 255.0)
for c in colors]
objects = []
for i, cluster in enumerate(clusters):
name = "object %d" % i
color = colors[i % len(colors)]
clusterObj = showPolyData(cluster.mesh,
name,
color=color,
parent=parent,
alpha=1.0)
clusterFrame = showFrame(cluster.frame,
name + " frame",
scale=0.2,
visible=False,
parent=clusterObj)
clusterBox = showPolyData(
cluster.box,
name + " box",
color=color,
parent=clusterObj,
alpha=0.6,
visible=False,
)
clusterPoints = showPolyData(
cluster.points,
name + " points",
color=color,
parent=clusterObj,
visible=False,
alpha=1.0,
)
if hasattr(cluster, "oriented_frame"):
orientedFrame = showFrame(
cluster.oriented_frame,
name + " oriented frame",
scale=0.2,
visible=False,
parent=clusterObj,
)
clusterPoints.setProperty("Point Size", 7)
clusterPoints.colorBy(None)
clusterObj.data = cluster
objects.append(clusterObj)
for obj in [clusterObj, clusterBox, clusterPoints]:
obj.actor.SetUserTransform(cluster.frame)
return objects
def getRobotBlueColor():
return QtGui.QColor(170, 255, 255)
def getRobotOrangeColor():
return QtGui.QColor(255, 190, 0)
def getRobotGrayColor():
return QtGui.QColor(177, 180, 190)
def _updateModelColor(self):
if self.getProperty('Textures'):
self._setupTextureColors()
elif not self.useUrdfColors:
color = QtGui.QColor(*[c*255 for c in self.getProperty('Color')])
self.model.setColor(color)
def setTable(self, data, data_check=[], reset=False):
name_row, name_column = [], []
self.blockSignals(True)
self.setColumnCount(max(map(len, data.values())))
self.setRowCount(len(data.keys()))
# - Populate
for n, layer in enumerate(sorted(data.keys())):
name_row.append(layer)
for m, key in enumerate(data[layer].keys()):
# -- Build name column
name_column.append(key)
# -- Add first data column
newitem = QtGui.QTableWidgetItem(str(data[layer][key])) if m == 0 else QtGui.QTableWidgetItem()
# -- Selectively colorize missing data
if m == 0 and len(data_check) and data[layer][key] not in data_check: newitem.setBackground(QtGui.QColor('red'))
# -- Build Checkbox columns
if m > 0: newitem.setFlags(QtCore.Qt.ItemIsUserCheckable | QtCore.Qt.ItemIsEnabled)
if m > 0: newitem.setCheckState(QtCore.Qt.Unchecked if not data[layer][key] else QtCore.Qt.Checked)
self.setItem(n, m, newitem)
self.setHorizontalHeaderLabels(name_column)
self.setVerticalHeaderLabels(name_row)
self.blockSignals(False)
