def updateFit(self):
# get and display: .1sec
polyData = segmentation.getDisparityPointCloud()
if (polyData is None):
return
updatePolyData(polyData, 'pointcloud snapshot', colorByName='rgb_colors', visible=False)
t0 = time.time()
if (self.tableCentroid is None):
# initial fit .75 sec
print("Boot Strapping tracker")
self.tableCentroid = segmentation.findAndFitDrillBarrel(polyData)
else:
# refit .07 sec
#print "current centroid"
#print self.tableCentroid
viewFrame = segmentationroutines.SegmentationContext.getGlobalInstance().getViewFrame()
forwardDirection = np.array([1.0, 0.0, 0.0])
viewFrame.TransformVector(forwardDirection, forwardDirection)
robotOrigin = viewFrame.GetPosition()
robotForward =forwardDirection
fitResults = []
drillFrame = segmentation.segmentDrillBarrelFrame(self.tableCentroid, polyData, robotForward)
clusterObj = updatePolyData(polyData, 'surface cluster refit', color=[1,1,0], parent=segmentation.getDebugFolder(), visible=False)
fitResults.append((clusterObj, drillFrame))
segmentation.sortFittedDrills(fitResults, robotOrigin, robotForward)
def getPointCloud(self):
assert self.pointCloudSource in ('lidar', 'stereo')
if self.pointCloudSource == 'stereo':
return segmentation.getDisparityPointCloud(decimation=1,
removeOutliers=False)
else:
return segmentation.getCurrentRevolutionData()
def updateFit(self):
# get and display: .1sec
polyData = segmentation.getDisparityPointCloud()
if polyData is None:
return
updatePolyData(polyData, "pointcloud snapshot", colorByName="rgb_colors", visible=False)
t0 = time.time()
if self.tableCentroid is None:
# initial fit .75 sec
print "Boot Strapping tracker"
self.tableCentroid = segmentation.findAndFitDrillBarrel(polyData)
else:
# refit .07 sec
# print "current centroid"
# print self.tableCentroid
viewFrame = segmentationroutines.SegmentationContext.getGlobalInstance().getViewFrame()
forwardDirection = np.array([1.0, 0.0, 0.0])
viewFrame.TransformVector(forwardDirection, forwardDirection)
robotOrigin = viewFrame.GetPosition()
robotForward = forwardDirection
fitResults = []
drillFrame = segmentation.segmentDrillBarrelFrame(self.tableCentroid, polyData, robotForward)
clusterObj = updatePolyData(
polyData, "surface cluster refit", color=[1, 1, 0], parent=segmentation.getDebugFolder(), visible=False
)
fitResults.append((clusterObj, drillFrame))
segmentation.sortFittedDrills(fitResults, robotOrigin, robotForward)
def getPointCloud(self):
return segmentation.getDisparityPointCloud(decimation=1, removeOutliers=self.getProperty('Remove Outliers'))
def getPointCloud(self):
assert self.pointCloudSource in ('lidar', 'stereo')
if self.pointCloudSource == 'stereo':
return segmentation.getDisparityPointCloud(decimation=1, removeOutliers=False)
else:
return segmentation.getCurrentRevolutionData()
def getPointCloud(self):
return segmentation.getDisparityPointCloud(decimation=1, removeOutliers=self.getProperty('Remove Outliers'))