def run(self):
polyData = self.getPointCloud()
annotation = self.getAnnotationInput()
annotationPoint = annotation.annotationPoints[0]
planePoints, normal = segmentation.applyLocalPlaneFit(polyData, annotationPoint, searchRadius=0.1, searchRadiusEnd=0.2)
viewDirection = segmentation.SegmentationContext.getGlobalInstance().getViewDirection()
if np.dot(normal, viewDirection) < 0:
normal = -normal
xaxis = normal
zaxis = [0, 0, 1]
yaxis = np.cross(zaxis, xaxis)
xaxis = np.cross(yaxis, zaxis)
xaxis /= np.linalg.norm(xaxis)
yaxis /= np.linalg.norm(yaxis)
t = transformUtils.getTransformFromAxes(xaxis, yaxis, zaxis)
t.PostMultiply()
t.Translate(annotationPoint)
polyData = annotation.polyData
polyData = segmentation.transformPolyData(polyData, t.GetLinearInverse())
annotation.setProperty('Visible', False)
om.removeFromObjectModel(om.findObjectByName('wall'))
obj = vis.showPolyData(polyData, 'wall')
obj.actor.SetUserTransform(t)
vis.showFrame(t, 'wall frame', scale=0.2, parent=obj)
def onMergeIntoPointCloud():
allPointClouds = om.findObjectByName('point clouds')
if allPointClouds:
allPointClouds = [i.getProperty('Name') for i in allPointClouds.children()]
sel = QtGui.QInputDialog.getItem(None, "Point Cloud Merging", "Pick point cloud to merge into:", allPointClouds, current=0, editable=False)
sel = om.findObjectByName(sel)
# Make a copy of each in same frame
polyDataInto = vtk.vtkPolyData()
polyDataInto.ShallowCopy(sel.polyData)
if sel.getChildFrame():
polyDataInto = segmentation.transformPolyData(polyDataInto, sel.getChildFrame().transform)
polyDataFrom = vtk.vtkPolyData()
polyDataFrom.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyDataFrom = segmentation.transformPolyData(polyDataFrom, pointCloudObj.getChildFrame().transform)
# Actual merge
append = filterUtils.appendPolyData([polyDataFrom, polyDataInto])
if sel.getChildFrame():
polyDataInto = segmentation.transformPolyData(polyDataInto, sel.getChildFrame().transform.GetInverse())
# resample
append = segmentationroutines.applyVoxelGrid(append, 0.01)
append = segmentation.addCoordArraysToPolyData(append)
# Recenter the frame
sel.setPolyData(append)
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(append))
segmentation.makeMovable(sel, t)
# Hide the old one
if pointCloudObj.getProperty('Name') in allPointClouds:
pointCloudObj.setProperty('Visible', False)
def onCopyPointCloud():
global lastRandomColor
polyData = vtk.vtkPolyData()
polyData.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyData = segmentation.transformPolyData(polyData, pointCloudObj.getChildFrame().transform)
polyData = segmentation.addCoordArraysToPolyData(polyData)
# generate random color, and average with a common color to make them generally similar
lastRandomColor = lastRandomColor + 0.1 + 0.1*random.random()
rgb = colorsys.hls_to_rgb(lastRandomColor, 0.7, 1.0)
obj = vis.showPolyData(polyData, pointCloudObj.getProperty('Name') + ' copy', color=rgb, parent='point clouds')
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
segmentation.makeMovable(obj, t)
om.setActiveObject(obj)
pickedObj.setProperty('Visible', False)
def onCopyPointCloud():
global lastRandomColor
polyData = vtk.vtkPolyData()
polyData.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyData = segmentation.transformPolyData(polyData, pointCloudObj.getChildFrame().transform)
polyData = segmentation.addCoordArraysToPolyData(polyData)
# generate random color, and average with a common color to make them generally similar
lastRandomColor = lastRandomColor + 0.1 + 0.1*random.random()
rgb = colorsys.hls_to_rgb(lastRandomColor, 0.7, 1.0)
obj = vis.showPolyData(polyData, pointCloudObj.getProperty('Name') + ' copy', color=rgb, parent='point clouds')
#t = vtk.vtkTransform()
#t.PostMultiply()
#t.Translate(filterUtils.computeCentroid(polyData))
#segmentation.makeMovable(obj, t)
om.setActiveObject(obj)
pickedObj.setProperty('Visible', False)
