def __init__(self, viewOptions, grid): self.viewOptions = viewOptions self.action = app.getToolsMenuActions()['ActionToggleBackgroundLight'] self.action.connect('triggered()', self.toggle) self.properties = { viewOptions : {'Gradient background':True, 'Background color':[0.0, 0.0, 0.0], 'Background color 2':[0.3, 0.3, 0.3]}, grid : {'Surface Mode':'Wireframe', 'Alpha':0.05, 'Color':[1.0, 1.0, 1.0], 'Color By':0} } self.cachedProperties = {} self.storeProperties()
def __init__(self, manager): self.action = app.getToolsMenuActions()['ActionToggleImageView'] self.action.connect('triggered()', self.toggle) self.manager = manager
openniDepthPointCloud = segmentation.DisparityPointCloudItem('openni point cloud', 'OPENNI_FRAME', 'OPENNI_FRAME_LEFT', cameraview.imageManager) openniDepthPointCloud.addToView(view) om.addToObjectModel(openniDepthPointCloud, parentObj=om.findObjectByName('sensors')) if useGrid: grid = vis.showGrid(view, color=[0,0,0], alpha=0.1) grid.setProperty('Surface Mode', 'Surface with edges') app.setBackgroundColor([0.3, 0.3, 0.35], [0.95,0.95,1]) viewOptions = vis.ViewOptionsItem(view) om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors')) viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(viewOptions, grid, app.getToolsMenuActions()['ActionToggleBackgroundLight']) if not useLightColorScheme: viewBackgroundLightHandler.action.trigger() if useHands: handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel, robotStateJointController, view) else: app.removeToolbarMacro('ActionHandControlPanel') if useFootsteps: footstepsPanel = footstepsdriverpanel.init(footstepsDriver, robotStateModel, robotStateJointController, irisDriver) else: app.removeToolbarMacro('ActionFootstepPanel')
openniDepthPointCloud.addToView(view) om.addToObjectModel(openniDepthPointCloud, parentObj=om.findObjectByName('sensors')) if useGrid: grid = vis.showGrid(view, color=[0, 0, 0], alpha=0.1) grid.setProperty('Surface Mode', 'Surface with edges') app.setBackgroundColor([0.3, 0.3, 0.35], [0.95, 0.95, 1]) viewOptions = vis.ViewOptionsItem(view) om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors')) viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler( viewOptions, grid, app.getToolsMenuActions()['ActionToggleBackgroundLight']) if not useLightColorScheme: viewBackgroundLightHandler.action.trigger() if useHands: handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel, robotStateJointController, view) else: app.removeToolbarMacro('ActionHandControlPanel') if useFootsteps: footstepsPanel = footstepsdriverpanel.init(footstepsDriver, robotStateModel, robotStateJointController, irisDriver) else:
# Before going through all the robot systems, we do some setup which is universal and not linked to any specific robot useLightColorScheme = True sceneRoot = om.getOrCreateContainer("scene") grid = vis.showGrid(view, color=[0, 0, 0], alpha=0.1, parent=sceneRoot) grid.setProperty("Surface Mode", "Surface with edges") 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)