def draw(self):
d = DebugData()
points = list(self.points)
if self.hoverPos is not None:
points.append(self.hoverPos)
# draw points
radius = 5
scale = (2 * self.view.camera().GetParallelScale()) / (
self.view.renderer().GetSize()[1])
for p in points:
d.addSphere(p, radius=radius * scale)
if self.drawLines and len(points) > 1:
for a, b in zip(points, points[1:]):
d.addLine(a, b)
# connect end points
# d.addLine(points[0], points[-1])
if self.annotationObj:
self.annotationObj.setPolyData(d.getPolyData())
else:
self.annotationObj = vis.updatePolyData(
d.getPolyData(),
"annotation",
parent="segmentation",
color=[1, 0, 0],
view=self.view,
)
self.annotationObj.addToView(self.view)
self.annotationObj.actor.SetPickable(False)
self.annotationObj.actor.GetProperty().SetLineWidth(2)
def draw(self):
d = DebugData()
points = [p if p is not None else self.hoverPos for p in self.points]
# draw points
for p in points:
if p is not None:
d.addSphere(p, radius=0.008)
if self.drawLines:
# draw lines
for a, b in zip(points, points[1:]):
if b is not None:
d.addLine(a, b)
# connect end points
if points[-1] is not None and self.drawClosedLoop:
d.addLine(points[0], points[-1])
self.annotationObj = vis.updatePolyData(
d.getPolyData(),
self.annotationName,
parent=self.annotationFolder,
view=self.view,
)
self.annotationObj.setProperty("Color", [1, 0, 0])
self.annotationObj.actor.SetPickable(False)
def run(self):
radius = self.properties.getProperty('Radius')
thickness = 0.03
folder = om.getOrCreateContainer('affordances')
frame = self.computeValveFrame()
d = DebugData()
d.addLine(np.array([0, 0, -thickness / 2.0]),
np.array([0, 0, thickness / 2.0]),
radius=radius)
mesh = d.getPolyData()
params = dict(radius=radius,
length=thickness,
xwidth=radius,
ywidth=radius,
zwidth=thickness,
otdf_type='steering_cyl',
friendly_name='valve')
affordance = vis.showPolyData(mesh,
'valve',
color=[0.0, 1.0, 0.0],
cls=affordanceitems.FrameAffordanceItem,
parent=folder,
alpha=1.0)
frame = vis.showFrame(frame,
'valve frame',
parent=affordance,
visible=False,
scale=radius)
affordance.actor.SetUserTransform(frame.transform)
affordance.setAffordanceParams(params)
affordance.updateParamsFromActorTransform()
def rayDebug(position, ray):
d = DebugData()
d.addLine(position, position + ray * 5.0)
drcView = app.getViewManager().findView("DRC View")
obj = vis.updatePolyData(
d.getPolyData(), "camera ray", view=drcView, color=[0, 1, 0]
)
obj.actor.GetProperty().SetLineWidth(2)
def update(self):
t = self.frameProvider.getFrame("MULTISENSE_SCAN")
p1 = [0.0, 0.0, 0.0]
p2 = [2.0, 0.0, 0.0]
p1 = t.TransformPoint(p1)
p2 = t.TransformPoint(p2)
d = DebugData()
d.addSphere(p1, radius=0.01, color=[0, 1, 0])
d.addLine(p1, p2, color=[0, 1, 0])
self.setPolyData(d.getPolyData())
def updateCursor(self, displayPoint):
center = self.displayPointToImagePoint(displayPoint,
restrictToImageDimensions=False)
center = np.array(center)
d = DebugData()
d.addLine(center + [0, -3000, 0], center + [0, 3000, 0])
d.addLine(center + [-3000, 0, 0], center + [3000, 0, 0])
self.cursorObj = vis.updatePolyData(d.getPolyData(),
"cursor",
alpha=0.5,
view=self.view)
self.cursorObj.addToView(self.view)
self.cursorObj.actor.SetUseBounds(False)
self.cursorObj.actor.SetPickable(False)
self.view.render()
d = DebugData()
for i, result in enumerate(chulls):
planePoints, chull, plane = result.points, result.convexHull, result.plane
c = segmentation.getRandomColor()
vis.showPolyData(planePoints, 'plane %d' % i, color=c)
chull = vis.showPolyData(chull, 'convex hull %d' % i, color=c)
chull.setProperty('Surface Mode', 'Surface with edges')
chull.actor.GetProperty().SetLineWidth(3)
center = segmentation.computeCentroid(chull.polyData)
chullPoints = vnp.getNumpyFromVtk(chull.polyData, 'Points')
d.addLine(plane.GetOrigin(), np.array(plane.GetOrigin()) + 0.005 * np.array(plane.GetNormal()), radius=0.0001, color=[0,0,0])
#d.addArrow(plane.GetOrigin(), np.array(plane.GetOrigin()) + 0.01 * np.array(plane.GetNormal()), headRadius=0.001, tubeRadius=0.0002)
#d.addSphere(chullPoints[0], radius=0.001, color=[1,0,0])
#d.addSphere(chullPoints[1], radius=0.001, color=[0,1,0])
vis.showPolyData(d.getPolyData(), 'plane normals', colorByName='RGB255')
#saveConvexHulls(chulls, name)
#vis.showPolyData(ioUtils.readPolyData(os.path.join(name, 'merged_planes.ply')), 'merged_planes')
applogic.resetCamera([1,1,0])
applogic.setBackgroundColor([1,1,1])
view.orientationMarkerWidget().Off()
app.gridObj.setProperty('Color', [0,0,0])
