53 lines
1.7 KiB
Python
53 lines
1.7 KiB
Python
import time
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import numpy as np
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from PyQt6.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy
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from PyQt6.QtGui import QImage, QPixmap
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from PyQt6.QtCore import Qt, QTimer
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from logger import logger
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class Visualize(QWidget):
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def __init__(self, get_pybullet_image):
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super().__init__()
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self.get_pybullet_image = get_pybullet_image
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# Настройка компоновки
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self.layout = QVBoxLayout(self)
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self.layout.setContentsMargins(0, 0, 0, 0) # Убираем отступы по краям
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self.h_layout = QHBoxLayout()
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self.h_layout.setContentsMargins(0, 0, 0, 0) # Убираем отступы по краям
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self.label = QLabel(self)
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self.layout.addWidget(self.label)
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# Таймер для обновления изображения
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self.timer = QTimer()
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self.timer.timeout.connect(self.update_image)
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self.timer.start(30)
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def update_image(self):
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res = self.get_pybullet_image()
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if not res:
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return
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(rgb, width, height) = res
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bytesPerLine = 2 * width
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# print(type(rgb))
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image = QImage(np.asarray(rgb), width, height, bytesPerLine, QImage.Format.Format_RGBA8888).rgbSwapped()
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image = image.convertToFormat(QImage.Format.Format_RGB888)
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pixmap = QPixmap.fromImage(image)
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self.label.setPixmap(pixmap)
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self.label.setAlignment(Qt.AlignmentFlag.AlignHCenter)
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self.label.update()
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def paintEvent(self, event):
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p = self.palette()
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p.setColor(self.backgroundRole(), Qt.GlobalColor.magenta)
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self.setPalette(p)
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super().paintEvent(event)
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