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import argparse 

from director import consoleapp 

from director import cameraview 

from director import applogic 

from director import viewbehaviors 

from director import objectmodel as om 

from director import vtkAll as vtk 

import PythonQt 

from PythonQt import QtGui 

import bot_core as lcmbotcore 

class ImageViewApp(object): 

    def __init__(self): 

        self.setup() 

    def addShortcuts(self, widget): 

        applogic.addShortcut(widget, 'Ctrl+Q', consoleapp.ConsoleApp.quit) 

        applogic.addShortcut(widget, 'F8', consoleapp.ConsoleApp.showPythonConsole) 

    def parseArgs(self, defaultChannel='MULTISENSE_CAMERA_LEFT'): 

        parser = argparse.ArgumentParser() 

        parser.add_argument('--channel', type=str, help='image channel', default=defaultChannel) 

        parser.add_argument('--pointcloud', action='store_true', help='display pointcloud view for RGB-D messages') 

        parser.add_argument('--disparity', action='store_true', help='receive disparity images for --rgbd flag') 

        imageType = parser.add_mutually_exclusive_group(required=False) 

        imageType.add_argument('--rgb', action='store_const', const='rgb', help='receive RGB image messages', dest='imageType') 

        imageType.add_argument('--rgbd', action='store_const', const='rgbd', help='receive RGB-D images messages', dest='imageType') 

        imageType.set_defaults(imageType='rgb') 

        args, unknown = parser.parse_known_args() 

        return args 

    def setup(self): 

        args = self.parseArgs() 

        imageManager = cameraview.ImageManager() 

        self.imageManager = imageManager 

        channel = args.channel 

        imageType = args.imageType 

        self.app = consoleapp.ConsoleApp() 

        self.views = [] 

        if imageType == 'rgb': 

            imageName = channel 

            imageManager.queue.addCameraStream(channel, imageName, -1) 

            imageManager.addImage(imageName) 

            cameraView = cameraview.CameraImageView(imageManager, imageName, view=PythonQt.dd.ddQVTKWidgetView()) 

            cameraView.eventFilterEnabled = False 

            cameraView.view.renderWindow().GetInteractor().SetInteractorStyle(vtk.vtkInteractorStyleImage()) 

            cameraView.view.resize(640, 480) 

            self.views.append(cameraView.view) 

            self.cameraView = cameraView 

        elif imageType == 'rgbd': 

            imageName = channel + '_LEFT' 

            imageManager.queue.addCameraStream(channel, imageName, 0) 

            imageManager.addImage(imageName) 

            cameraView = cameraview.CameraImageView(imageManager, imageName, view=PythonQt.dd.ddQVTKWidgetView()) 

            cameraView.eventFilterEnabled = False 

            cameraView.view.renderWindow().GetInteractor().SetInteractorStyle(vtk.vtkInteractorStyleImage()) 

            self.views.append(cameraView.view) 

            imageName2 = channel + '_D' 

            if args.disparity: 

                imageManager.queue.addCameraStream(channel, imageName2, lcmbotcore.images_t.DISPARITY_ZIPPED) 

            else: 

                imageManager.queue.addCameraStream(channel, imageName2, lcmbotcore.images_t.DEPTH_MM_ZIPPED) 

            imageManager.addImage(imageName2) 

            cameraView2 = cameraview.CameraImageView(imageManager, imageName2, view=PythonQt.dd.ddQVTKWidgetView()) 

            cameraView2.eventFilterEnabled = False 

            cameraView2.useImageColorMap = True 

            cameraView2.view.renderWindow().GetInteractor().SetInteractorStyle(vtk.vtkInteractorStyleImage()) 

            self.views.append(cameraView2.view) 

            if args.pointcloud: 

                from director import segmentation 

                cameraview.imageManager = imageManager 

                pointCloudObj = segmentation.DisparityPointCloudItem('Point cloud', channel, imageName, imageManager) 

                view = PythonQt.dd.ddQVTKWidgetView() 

                pointCloudObj.addToView(view) 

                om.addToObjectModel(pointCloudObj) 

                pointCloudObj.setProperty('Visible', True) 

                pointCloudObj.setProperty('Target FPS', 30) 

                pointCloudObj.setProperty('Max Range', 30) 

                pointCloudObj.setProperty('Remove Size', 0) 

                viewBehaviors = viewbehaviors.ViewBehaviors(view) 

                view.camera().SetPosition([0, 0, 0]) 

                view.camera().SetFocalPoint([0,0,1]) 

                view.camera().SetViewUp([0,-1,0]) 

                view.camera().SetViewAngle(45) 

                self.views.append(view) 

            self.cameraView = cameraView 

            self.cameraView2 = cameraView2 

        w = QtGui.QWidget() 

        l = QtGui.QHBoxLayout(w) 

        for view in self.views: 

            l.addWidget(view) 

        l.setContentsMargins(0, 0, 0, 0) 

        w.resize(640*len(self.views), 480) 

        w.show() 

        self.addShortcuts(w) 

        self.widget = w 

    def start(self): 

        self.app.start() 

def main(): 

    ImageViewApp().start() 

if __name__ == '__main__': 

    main()