def saveConvexHulls(chulls, outputDir):
if os.path.isdir(outputDir):
print 'removing directory:', outputDir
shutil.rmtree(outputDir)
print 'making directory:', outputDir
os.makedirs(outputDir)
for i, chull in enumerate(chulls):
chull, plane = chull.convexHull, chull.plane
origin = plane.GetOrigin()
normal = plane.GetNormal()
chullPoints = vnp.getNumpyFromVtk(chull, 'Points')
assert np.allclose(np.linalg.norm(normal), 1.0)
output = np.vstack([normal, chullPoints])
outputFilename = os.path.join(outputDir, 'plane_%04d.txt' % i)
np.savetxt(outputFilename, output)
ioutils.writePolyData(getMergedConvexHullsMesh(chulls),
os.path.join(outputDir, 'merged_planes.ply'))
def getFilesystemFilename(self, meshId):
if meshId in self.meshes:
filename = os.path.join(self.cacheDirectory,
"%s.%s" % (meshId, self.cacheDataType))
if not os.path.isfile(filename):
ioutils.writePolyData(self.get(meshId), filename)
return filename
return None
def onFileSaveData():
obj = om.getActiveObject()
if not obj:
app.showErrorMessage("Please select an object",
title="No object selected")
return
if isinstance(obj, otdfmodel.OtdfModelItem):
mainWindow = app.getMainWindow()
filename = QtGui.QFileDialog.getSaveFileName(
mainWindow,
"Save Data...",
getDefaultDirectory(),
"OTDF (*.otdf)",
"OTDF (*.otdf)",
)
if not os.path.splitext(filename)[1]:
filename += ".otdf"
storeDefaultDirectory(filename)
otdfString = obj.parser.getUpdatedOtdf()
otdfFile = open(filename, "w")
otdfFile.write(otdfString)
otdfFile.close()
elif hasattr(obj, "polyData"):
mainWindow = app.getMainWindow()
fileFilters = "PLY (*.ply);;STL (*.stl);;VTP (*.vtp);;VTK (*.vtk)"
defaultFilter = "VTP (*.vtp)"
filename = QtGui.QFileDialog.getSaveFileName(
mainWindow,
"Save Data...",
getDefaultDirectory(),
fileFilters,
defaultFilter,
)
if not filename:
return
if not os.path.splitext(filename)[1]:
filename += ".vtp"
polyData = io.writePolyData(obj.polyData, filename)
else:
app.showErrorMessage(
"Please select an object that contains geometry data or an OTDF object",
title="Invalid object selected",
)
return
storeDefaultDirectory(filename)
'''
directorPython demoPointCloudToFile.py
Listens to the requested topic and writes the first one to file
'''
import time
from director import segmentation
from director import vtkAll as vtk
from director import ioutils
reader = vtk.vtkRosPointCloudSubscriber()
reader.Start("/velodyne/point_cloud_filtered")
continueLoop = True
while (continueLoop):
polyData = vtk.vtkPolyData()
reader.GetPointCloud(polyData)
frame_id = reader.GetFrameId()
sec = reader.GetSec()
nsec = reader.GetNsec()
message = str(polyData.GetNumberOfPoints()) + " points, "
message += frame_id + ", " + str(sec) + "." + str(nsec)
print message
if (polyData.GetNumberOfPoints() > 0):
ioutils.writePolyData(polyData, 'out.vtk')
continueLoop = False
time.sleep(0.1)
import vtkRosPython as vtkRos
from director.shallowCopy import shallowCopy
vtkRos= vtkRos.vtkRosInit()
vtkRos.Start()
reader= vtkRos.vtkRosGridMapSubscriber()
reader.Start()
print reader
import time
continueLoop = True
while (continueLoop):
polyData = vtk.vtkPolyData()
reader.GetMesh(polyData)
n = polyData.GetNumberOfPoints()
print "Number of points", polyData.GetNumberOfPoints()
polyDataPC = vtk.vtkPolyData()
reader.GetPointCloud(polyDataPC)
print "Number of output points", polyDataPC.GetNumberOfPoints()
if (polyDataPC.GetNumberOfPoints() > 0):
ioutils.writePolyData(polyDataPC, 'out.ply')
continueLoop = False
time.sleep(0.1)