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 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 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
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 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
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)
viewBehaviors = viewbehaviors.ViewBehaviors(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')
