Coverage for /home/travis/build/RobotLocomotion/director/build/src/director-build/lib/python2.7/dist-packages/director/colorize : 0%

import director.applogic as app 

import director.objectmodel as om 

from director import cameraview 

import functools 

actionName = 'ActionColorizeLidar' 

def setVisProperties(obj, colorModeEnabled): 

    if colorModeEnabled: 

        alpha = 1.0 

        pointSize = 4.0 

        colorBy = 'rgb' 

    else: 

        alpha = 0.5 

        pointSize = 1.0 

        colorBy = None 

    obj.setProperty('Alpha', alpha) 

    obj.setProperty('Point Size', pointSize) 

def colorizePoints(polyData): 

    cameras = ['CAMERACHEST_RIGHT', 'CAMERACHEST_LEFT', 'CAMERA_LEFT'] 

    for camera in cameras: 

        cameraview.colorizePoints(polyData, camera) 

def colorizeSegmentationLidar(enabled): 

    obj = om.findObjectByName('pointcloud snapshot') 

    if not obj: 

        return 

    if enabled: 

        colorizePoints(obj.polyData) 

    else: 

        obj.polyData.GetPointData().RemoveArray('rgb') 

    setVisProperties(obj, enabled) 

_colorizeMapNames = ['HEIGHT_MAP_SCENE', 'SCANS_HALF_SWEEP'] 

def colorizeMapCallback(obj): 

    if obj and obj.getProperty('Name') in _colorizeMapNames: 

        colorizePoints(obj.polyData) 

        obj._updateColorByProperty() 

        obj.setProperty('Color By', 'rgb') 

def colorizeMaps(enabled): 

    if enabled: 

        om.findObjectByName('Map Server').source.colorizeCallback = colorizeMapCallback 

        for name in _colorizeMapNames: 

            colorizeMapCallback(om.findObjectByName(name)) 

    else: 

        om.findObjectByName('Map Server').source.colorizeCallback = None 

def colorizeMultisense(enabled): 

    obj = om.findObjectByName('Multisense') 

    if not obj: 

        return 

    setVisProperties(obj, enabled) 

    colorBy = 'Camera RGB' if enabled else 'Solid Color' 

    obj.setProperty('Color By', colorBy) 

def colorizeMapsOff(): 

    obj = om.findObjectByName('Map Server') 

    obj.source.colorizeCallback = None 

    alpha = 0.7 

    pointSize = 1.0 

    obj.setProperty('Alpha', alpha) 

    obj.setProperty('Point Size', pointSize) 

def onColorizeLidar(): 

    colorizeEnabled = app.getToolBarActions()[actionName].checked 

    colorizeMaps(colorizeEnabled) 

    colorizeMultisense(colorizeEnabled) 

    colorizeSegmentationLidar(colorizeEnabled) 

def initColorizeCallbacks(): 

    obj = om.findObjectByName('Multisense') 

    assert(obj) 

    def callback(): 

        colorizePoints(obj.model.polyDataObj.polyData) 

    obj.model.colorizeCallback = callback 

def init(): 

    action = app.getToolBarActions()[actionName] 

    action.connect(action, 'triggered()', onColorizeLidar) 

    initColorizeCallbacks()