def onNewWalkingGoal(self, walkingGoal=None): walkingGoal = walkingGoal or self.newWalkingGoalFrame(self.robotModel) frameObj = vis.updateFrame(walkingGoal, 'walking goal', parent='planning', scale=0.25) frameObj.setProperty('Edit', True) rep = frameObj.widget.GetRepresentation() rep.SetTranslateAxisEnabled(2, False) rep.SetRotateAxisEnabled(0, False) rep.SetRotateAxisEnabled(1, False) frameObj.widget.HandleRotationEnabledOff() if self.placer: self.placer.stop() terrain = om.findObjectByName('HEIGHT_MAP_SCENE') if terrain: pos = np.array(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]) frameObj.transform.Translate( pos - np.array(frameObj.transform.GetPosition())) d = DebugData() d.addSphere((0, 0, 0), radius=0.03) handle = vis.showPolyData(d.getPolyData(), 'walking goal terrain handle', parent=frameObj, visible=True, color=[1, 1, 0]) handle.actor.SetUserTransform(frameObj.transform) self.placer = PlacerWidget(app.getCurrentRenderView(), handle, terrain) def onFramePropertyModified(propertySet, propertyName): if propertyName == 'Edit': if propertySet.getProperty(propertyName): self.placer.start() else: self.placer.stop() frameObj.properties.connectPropertyChanged(onFramePropertyModified) onFramePropertyModified(frameObj, 'Edit') frameObj.connectFrameModified(self.onWalkingGoalModified) self.onWalkingGoalModified(frameObj)
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 onNewWalkingGoal(self, walkingGoal=None): walkingGoal = walkingGoal or self.newWalkingGoalFrame(self.robotModel) frameObj = vis.updateFrame(walkingGoal, 'walking goal', parent='planning', scale=0.25) frameObj.setProperty('Edit', True) rep = frameObj.widget.GetRepresentation() rep.SetTranslateAxisEnabled(2, False) rep.SetRotateAxisEnabled(0, False) rep.SetRotateAxisEnabled(1, False) frameObj.widget.HandleRotationEnabledOff() if self.placer: self.placer.stop() terrain = om.findObjectByName('HEIGHT_MAP_SCENE') if terrain: pos = np.array(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]) frameObj.transform.Translate(pos - np.array(frameObj.transform.GetPosition())) d = DebugData() d.addSphere((0,0,0), radius=0.03) handle = vis.showPolyData(d.getPolyData(), 'walking goal terrain handle', parent=frameObj, visible=True, color=[1,1,0]) handle.actor.SetUserTransform(frameObj.transform) self.placer = PlacerWidget(app.getCurrentRenderView(), handle, terrain) def onFramePropertyModified(propertySet, propertyName): if propertyName == 'Edit': if propertySet.getProperty(propertyName): self.placer.start() else: self.placer.stop() frameObj.properties.connectPropertyChanged(onFramePropertyModified) onFramePropertyModified(frameObj, 'Edit') frameObj.connectFrameModified(self.onWalkingGoalModified) self.onWalkingGoalModified(frameObj)
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))