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LightFieldAPI.py
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LightFieldAPI.py
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#!/usr/bin/env python
# Author: Nick R. Rypkema ([email protected])
# License: MIT
'''
The LightField Visualizer - a VTK/PyQt4-based lightweight field robotics viewer
-------------------------------------------------------------------------------
LightField API object
'''
''' standard libs '''
import math
import warnings
import numpy as np
from contextlib import contextmanager
''' VTK and PyQt4 '''
import vtk
from PyQt4 import QtCore, QtGui, uic
''' custom libs '''
from GUIMain import MainApp
import Primitives
@contextmanager
def wait_signal(signal_origin, signal_name, return_status_list, timeout=10000):
"""Block loop until signal emitted, or timeout (ms) elapses."""
return_status_list[0] = 'timeout'
def return_status(status):
return_status_list[0] = status
loop = QtCore.QEventLoop()
QtCore.QObject.connect(signal_origin, QtCore.SIGNAL(signal_name), loop.quit)
QtCore.QObject.connect(signal_origin, QtCore.SIGNAL(signal_name), return_status)
yield
if timeout is not None:
QtCore.QTimer.singleShot(timeout, loop.quit)
loop.exec_()
class LightFieldAPI(object):
''' object to setup and interface with the LightField Visualizer '''
def __init__(self):
# Recompile ui
with open("LightFieldVisualizer.ui") as ui_file:
with open("LightFieldVisualizer_ui.py","w") as py_ui_file:
uic.compileUi(ui_file,py_ui_file)
self.app = QtGui.QApplication([])
self.main_window = MainApp()
self.main_window.show()
def addActor(self, levellist, actor, actortype):
return_status_list = ['request']
with wait_signal(self.main_window, 'addActorStatus', return_status_list):
self.main_window.add_actor_signal.emit(levellist, actor, actortype)
return_status = return_status_list[0]
return return_status
def setActor(self, levellist, actor, actortype):
return_status_list = ['request']
with wait_signal(self.main_window, 'setActorStatus', return_status_list):
self.main_window.set_actor_signal.emit(levellist, actor, actortype)
return_status = return_status_list[0]
return return_status
def addPolyData(self, levellist, vtkpolydata, actortype):
mapper = vtk.vtkDataSetMapper()
mapper.SetInput(vtkpolydata)
actor = vtk.vtkActor()
actor.SetMapper(mapper)
return self.addActor(levellist, actor, actortype)
def addGrid(self, levellist, fulllength, celllength):
actor = Primitives.Grid(fulllength, celllength)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_GRID)
def addAxes(self, levellist):
actor = Primitives.Axes()
return self.addActor(levellist, actor, Primitives.PRIMITIVE_AXES)
def addArrow(self, levellist, resolution):
actor = Primitives.Arrow(resolution)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_ARROW)
def addBox(self, levellist, xlength, ylength, zlength):
actor = Primitives.Box(xlength, ylength, zlength)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_BOX)
def addSphere(self, levellist, radius, thetaresolution, phiresolution):
actor = Primitives.Sphere(radius, thetaresolution, phiresolution)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_SPHERE)
def addCylinder(self, levellist, radius, height, resolution):
actor = Primitives.Cylinder(radius, height, resolution)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_CYLINDER)
def addEllipsoid(self, levellist, xradius, yradius, zradius):
actor = Primitives.Ellipsoid(xradius, yradius, zradius)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_ELLIPSOID)
def addCone(self, levellist, radius, height, resolution):
actor = Primitives.Cone(radius, height, resolution)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_CONE)
def addTorus(self, levellist, ringradius, crosssectionradius):
actor = Primitives.Torus(ringradius, crosssectionradius)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_TORUS)
def addMeshFile(self, levellist, filepath, texturepath=None):
actor = Primitives.Model(filepath, texturepath)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_MODEL)
def addTriangleStrip(self, levellist, vertices, colors=None):
actor = Primitives.TriangleStrip(vertices, colors)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_TRIANGLE_STRIP)
def addLineStrip(self, levellist, vertices, colors=None):
actor = Primitives.LineStrip(vertices, colors)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_LINE_STRIP)
def addPointCloud(self, levellist, points, colors=None):
actor = Primitives.PointCloud(points, colors)
return self.addActor(levellist, actor, Primitives.PRIMITIVE_POINT_CLOUD)
def setPointCloud(self, levellist, points, colors=None):
actor = Primitives.PointCloud(points, colors)
return self.setActor(levellist, actor, Primitives.PRIMITIVE_POINT_CLOUD)
def addDirectory(self, levellist):
return_status_list = ['request']
with wait_signal(self.main_window, 'addDirectoryStatus', return_status_list):
self.main_window.add_dir_signal.emit(levellist)
return_status = return_status_list[0]
return return_status
def removeActor(self, levellist):
return_status_list = ['request']
with wait_signal(self.main_window, 'removeActorStatus', return_status_list):
self.main_window.remove_actor_signal.emit(levellist)
return_status = return_status_list[0]
return return_status
def removeDirectory(self, levellist):
return_status_list = ['request']
with wait_signal(self.main_window, 'removeDirectoryStatus', return_status_list):
self.main_window.remove_dir_signal.emit(levellist)
return_status = return_status_list[0]
return return_status
def setActorOffsetOrientation(self, levellist, offset, orientationeuler):
if len(offset) != 3 and len(orientationeuler) !=3:
warn_str = "setActorOffsetOrientation failed: offset length != 3: " + str(offset) + " or Euler orientation length != 3: " + str(orientationeuler)
warnings.warn(warn_str, RuntimeWarning)
return
return_status_list = ['request']
with wait_signal(self.main_window, 'setActorOffsetOrientationStatus', return_status_list):
self.main_window.set_actor_offset_orientation_signal.emit(levellist, offset, orientationeuler)
return_status = return_status_list[0]
return return_status
def setActorColor(self, levellist, rgb):
if len(rgb) != 3:
warn_str = "setActorColor failed: rgb color length != 3: " + str(rgb)
warnings.warn(warn_str, RuntimeWarning)
return
return_status_list = ['request']
with wait_signal(self.main_window, 'setActorColorStatus', return_status_list):
self.main_window.set_actor_color_signal.emit(levellist, rgb)
return_status = return_status_list[0]
return return_status
def setActorOpacity(self, levellist, opacity):
return_status_list = ['request']
with wait_signal(self.main_window, 'setActorOpacityStatus', return_status_list):
self.main_window.set_actor_alpha_signal.emit(levellist, opacity)
return_status = return_status_list[0]
return return_status
def setActorScale(self, levellist, scale):
return_status_list = ['request']
with wait_signal(self.main_window, 'setActorScaleStatus', return_status_list):
self.main_window.set_actor_scale_signal.emit(levellist, scale)
return_status = return_status_list[0]
return return_status
def setActorPointSize(self, levellist, pointsize):
return_status_list = ['request']
with wait_signal(self.main_window, 'setActorPointSizeStatus', return_status_list):
self.main_window.set_actor_pointsize_signal.emit(levellist, pointsize)
return_status = return_status_list[0]
return return_status
def setActorVisibility(self, levellist, visibility):
return_status_list = ['request']
with wait_signal(self.main_window, 'setActorVisibilityStatus', return_status_list):
self.main_window.set_actor_visibility_signal.emit(levellist, visibility)
return_status = return_status_list[0]
return return_status
def setActorLineWidth(self, levellist, linewidth):
return_status_list = ['request']
with wait_signal(self.main_window, 'setActorLineWidthStatus', return_status_list):
self.main_window.set_actor_linewidth_signal.emit(levellist, linewidth)
return_status = return_status_list[0]
return return_status
def setActorMode(self, levellist, mode):
return_status_list = ['request']
with wait_signal(self.main_window, 'setActorModeStatus', return_status_list):
self.main_window.set_actor_mode_signal.emit(levellist, mode)
return_status = return_status_list[0]
return return_status
def setActorTransform(self, levellist, translation, rotationeuler, order=None):
if len(translation) != 3 and len(rotationeuler) !=3:
warn_str = "setActorTransform failed: translation length != 3: " + str(translation) + " or Euler rotation length != 3: " + str(rotationeuler)
warnings.warn(warn_str, RuntimeWarning)
return
return_status_list = ['request']
with wait_signal(self.main_window, 'setActorTransformStatus', return_status_list):
self.main_window.set_actor_transform_signal.emit(levellist, translation, rotationeuler, order)
return_status = return_status_list[0]
return return_status
def applyActorTransform(self, levellist, translation, rotationeuler, order=None):
if len(translation) != 3 and len(rotationeuler) !=3:
warn_str = "applyActorTransform failed: translation length != 3: " + str(translation) + " or Euler rotation length != 3: " + str(rotationeuler)
warnings.warn(warn_str, RuntimeWarning)
return
return_status_list = ['request']
with wait_signal(self.main_window, 'applyActorTransformStatus', return_status_list):
self.main_window.apply_actor_transform_signal.emit(levellist, translation, rotationeuler, order)
return_status = return_status_list[0]
return return_status
def resetActorTransform(self, levellist):
return_status_list = ['request']
with wait_signal(self.main_window, 'resetActorTransformStatus', return_status_list):
self.main_window.reset_actor_transform_signal.emit(levellist)
return_status = return_status_list[0]
return return_status
def setDirectoryTransform(self, levellist, translation, rotationeuler, order=None):
if len(translation) != 3 and len(rotationeuler) !=3:
warn_str = "setDirectoryTransform failed: translation length != 3: " + str(translation) + " or Euler rotation length != 3: " + str(rotationeuler)
warnings.warn(warn_str, RuntimeWarning)
return
return_status_list = ['request']
with wait_signal(self.main_window, 'setDirectoryTransformStatus', return_status_list):
self.main_window.set_directory_transform_signal.emit(levellist, translation, rotationeuler, order)
return_status = return_status_list[0]
return return_status
def applyDirectoryTransform(self, levellist, translation, rotationeuler, order=None):
if len(translation) != 3 and len(rotationeuler) !=3:
warn_str = "setDirectoryTransform failed: translation length != 3: " + str(translation) + " or Euler rotation length != 3: " + str(rotationeuler)
warnings.warn(warn_str, RuntimeWarning)
return
return_status_list = ['request']
with wait_signal(self.main_window, 'applyDirectoryTransformStatus', return_status_list):
self.main_window.apply_directory_transform_signal.emit(levellist, translation, rotationeuler, order)
return_status = return_status_list[0]
return return_status
def resetDirectoryTransform(self, levellist):
return_status_list = ['request']
with wait_signal(self.main_window, 'resetDirectoryTransformStatus', return_status_list):
self.main_window.reset_directory_transform_signal.emit(levellist)
return_status = return_status_list[0]
return return_status
def start(self, timer_update=False, timer_fps=30):
self.main_window.start(timer_update, timer_fps)
self.app.exec_()
if __name__ == "__main__":
LFAPI = LightFieldAPI()
LFAPI.start()