def onOpenGeometry(filename):
if filename.lower().endswith("wrl"):
onOpenVrml(filename)
return
polyData = io.readPolyData(filename)
if not polyData or not polyData.GetNumberOfPoints():
app.showErrorMessage("Failed to read any data from file: %s" %
filename,
title="Reader error")
return
vis.showPolyData(polyData, os.path.basename(filename), parent="files")
def openGeometry(self, filename):
if filename.lower().endswith("wrl"):
self.onOpenVrml(filename)
return
polyData = ioutils.readPolyData(filename)
if not polyData or not polyData.GetNumberOfPoints():
self.app.showErrorMessage(
"Failed to read any data from file: %s" % filename, title="Reader error"
)
return
obj = vis.showPolyData(
polyData, os.path.basename(filename), parent=self.getRootFolder()
)
vis.addChildFrame(obj)
def updateGeometryFromProperties(self):
filename = self.getProperty("Filename")
if not filename:
polyData = vtk.vtkPolyData()
else:
polyData = self.getMeshManager().get(filename)
if not polyData:
if not os.path.isabs(filename):
filename = os.path.join(director.getDRCBaseDir(), filename)
if os.path.isfile(filename):
polyData = ioutils.readPolyData(filename)
else:
# use axes as a placeholder mesh
d = DebugData()
d.addFrame(vtk.vtkTransform(), scale=0.1, tubeRadius=0.005)
polyData = d.getPolyData()
self.setPolyData(polyData)
robot_config = drcargs.getRobotConfig()
urdf_path = os.path.join(robot_config.dirname,
robot_config['urdfConfig']['default'])
robotStateModel, robotStateJointController = roboturdf.loadRobotModel(
'robot state model',
view,
parent='sensors',
urdfFile=urdf_path,
color=roboturdf.getRobotGrayColor(),
visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioutils.readPolyData(
os.path.join(dataDir, 'misc/valve/valve-sparse-stereo.pcd'))
vis.showPolyData(polyData,
'pointcloud snapshot original',
colorByName='rgb_colors')
polyData = segmentationroutines.sparsifyStereoCloud(polyData)
vis.showPolyData(polyData, 'pointcloud snapshot')
# fit valve and lever
segmentation.segmentValveWallAuto(
.2, mode='valve', removeGroundMethod=segmentation.removeGroundSimple)
if app.getTestingInteractiveEnabled():
v = applogic.getCurrentView()
v.camera().SetPosition([3, 3, 3])
v.camera().SetFocalPoint([0, 0, 0])
'robot state model',
view,
parent='sensors',
urdfFile=urdf_path,
color=roboturdf.getRobotGrayColor(),
visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)
# Move robot to near to table:
robotStateJointController.q[5] = math.radians(120)
robotStateJointController.q[0] = -1.5
robotStateJointController.q[1] = 2
robotStateJointController.q[2] = 0.95
robotStateJointController.push()
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioutils.readPolyData(
os.path.join(dataDir, 'misc/tabletop/table-and-bin-scene.vtp'))
vis.showPolyData(polyData, 'pointcloud snapshot')
p1 = [-1.58661389, 2.91242337, 0.79958105]
data = segmentation.segmentTableScene(polyData, p1)
vis.showClusterObjects(data.clusters, parent='segmentation')
segmentation.showTable(data.table, parent='segmentation')
if app.getTestingInteractiveEnabled():
view.show()
app.showObjectModel()
app.start()
def loadTableTopPointCloud():
dataDir = app.getTestingDataDirectory()
polyData = ioutils.readPolyData(os.path.join(dataDir, 'tabletop/table-and-door-scene.vtp'))
return vis.showPolyData(polyData, 'pointcloud snapshot')
app = ConsoleApp()
# create a view
view = app.createView()
segmentation._defaultSegmentationView = view
robot_config = drcargs.getRobotConfig()
urdf_path = os.path.join(robot_config.dirname, robot_config['urdfConfig']['default'])
robotStateModel, robotStateJointController = roboturdf.loadRobotModel('robot state model', view, parent='sensors', urdfFile = urdf_path, color=roboturdf.getRobotGrayColor(), visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioutils.readPolyData(os.path.join(dataDir, 'misc/amazon-pod/01-small-changes.vtp'))
vis.showPolyData(polyData, 'pointcloud snapshot', visible=False)
# remove ground and clip to just the pod:
groundPoints, polyData = segmentation.removeGround(polyData)
vis.showPolyData(polyData, 'scene', visible=False)
polyData = segmentation.addCoordArraysToPolyData(polyData)
polyData = segmentation.thresholdPoints(polyData, 'y', [1, 1.6])
polyData = segmentation.thresholdPoints(polyData, 'x', [-1.2, 0.5])
vis.showPolyData(polyData, 'clipped', visible=False)
# remove outliers
polyData = segmentation.labelOutliers(polyData, searchRadius=0.03, neighborsInSearchRadius=40)
polyData = segmentation.thresholdPoints(polyData, 'is_outlier', [0, 0])
vis.showPolyData(polyData, 'inliers', visible=False)
#robotStateJointController.q [0] = 1
#robotStateJointController.q [1] = 1
#robotStateJointController.q[2] = 0.85
#robotStateJointController.push()
groundHeight = 0.0
viewFrame = segmentation.transformUtils.frameFromPositionAndRPY([1, 1, groundHeight + 1.5], [0, 0, -120])
segmentationroutines.SegmentationContext.initWithUser(groundHeight, viewFrame)
# load poly data
dataDir = app.getTestingDataDirectory()
#polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-lever-scene.vtp'))
#polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-lever-scene-30.vtp'))
#polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-lever-scene-60.vtp'))
polyData = ioutils.readPolyData(os.path.join(dataDir, 'misc/valve/valve-lever-scene-90.vtp'))
vis.showPolyData(polyData, 'pointcloud snapshot')
segmentation.segmentValveWallAuto(.2, mode='both', removeGroundMethod=segmentation.removeGround )
if app.getTestingInteractiveEnabled():
view.show()
app.showObjectModel()
app.start()
app = ConsoleApp()
# create a view
view = app.createView()
segmentation._defaultSegmentationView = view
# load poly data
dataDir = app.getTestingDataDirectory()
filename = os.path.join(dataDir, 'terrain/tilted_steps_lidar.pcd')
#filename = os.path.join(dataDir, 'BigBIRD/tapatio_hot_sauce/meshes/poisson.ply')
#filename = os.path.join(dataDir, 'BigBIRD/cheez_it_white_cheddar/meshes/poisson.ply')
name = 'terrain'
polyData = ioutils.readPolyData(filename)
vis.showPolyData(polyData, name, visible=False)
useTerrainOptions = True
if useTerrainOptions:
removeGround = True
useVoxelGrid = True
reorientNormals = False
testNormals = False
showGlyphs = False
testPlaneSegmentation = True
else:
removeGround = False
robotStateJointController.q[0] = 0.728
robotStateJointController.q[1] = -0.7596
robotStateJointController.q[2] = 0.79788
robotStateJointController.q[33] = 0.5 # head down
robotStateJointController.push()
'''
groundHeight = 0.0
viewFrame = segmentation.transformUtils.frameFromPositionAndRPY(
[1, -1, groundHeight + 1.5], [0, 0, -35])
segmentationroutines.SegmentationContext.initWithUser(groundHeight, viewFrame)
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioutils.readPolyData(
os.path.join(dataDir, 'misc/tabletop/table-sparse-stereo.vtp'))
vis.showPolyData(polyData,
'pointcloud snapshot original',
colorByName='rgb_colors')
#polyData = segmentationroutines.sparsifyStereoCloud( polyData )
vis.showPolyData(polyData, 'pointcloud snapshot')
# Use only returns near the robot:
polyData = segmentation.addCoordArraysToPolyData(polyData)
polyData = segmentation.thresholdPoints(polyData, 'distance_along_view_x',
[0, 1.3])
# I removed segmentTableThenFindDrills() because it used a depreciated function:
#segmentation.segmentTableThenFindDrills(polyData, [1.2864902, -0.93351376, 1.10208917])
objectClusters, tableData = segmentation.segmentTableSceneClusters(
polyData, [1.2864902, -0.93351376, 1.10208917], clusterInXY=True)
