def updateMouseHitPoint(self, event):
displayPoint = self.getMousePositionInView(event)
camera = self.view.camera()
actors = self.view.renderer().GetActors()
actors = [
actors.GetItemAsObject(i) for i in range(actors.GetNumberOfItems())
]
pickableSettings = [actor.GetPickable() for actor in actors]
for actor in actors:
if actor != self.cameraCenterObj.actor:
actor.SetPickable(True)
#res = vis.pickPoint(displayPoint, self.view, pickType='render')
#if res.pickedProp:
# print('got pick with hardware')
#if not res.pickedProp:
res = vis.pickPoint(displayPoint,
self.view,
pickType='points',
tolerance=0.0005)
if not res.pickedProp:
res = vis.pickPoint(displayPoint,
self.view,
pickType='points',
tolerance=0.001)
if not res.pickedProp:
res = vis.pickPoint(displayPoint, self.view, pickType='cells')
for actor, pickable in zip(actors, pickableSettings):
actor.SetPickable(pickable)
if res.pickedProp is not None:
worldPoint = res.pickedPoint
else:
pt1, pt2 = vis.getRayFromDisplayPoint(self.view, displayPoint)
if self.lastHitPoint is None:
worldPoint = projectPointToLine(
pt1, pt2, np.array(camera.GetFocalPoint()))
else:
projectedWorldPoint, pcoord = projectPointToLineParam(
pt1, pt2, self.lastHitPoint)
if pcoord >= 0.1:
worldPoint = projectedWorldPoint
else:
worldPoint = projectPointToLine(
pt1, pt2, np.array(camera.GetFocalPoint()))
# don't use last hit point
# self.lastHitPoint = np.array(worldPoint)
t = vtk.vtkTransform()
t.Translate(worldPoint[:3])
self.cameraCenterObj.actor.SetUserTransform(t)
self.showOnMove = True
self.style.SetCustomCenterOfRotation(worldPoint[:3])
def tick(self):
if self.obj is None:
self.hoverPos, prop, _ = vis.pickPoint(self.lastMovePos, self.view, pickType=self.pickType, tolerance=self.tolerance)
if prop is None:
self.hoverPos = None
else:
self.hoverPos = vis.pickPoint(self.lastMovePos, self.view, obj=self.obj, pickType=self.pickType, tolerance=self.tolerance)
self.draw()
def tick(self):
if self.obj is None:
pickedPointFields = vis.pickPoint(self.lastMovePos, self.view, pickType=self.pickType,
tolerance=self.tolerance)
self.hoverPos = pickedPointFields.pickedPoint
prop = pickedPointFields.pickedProp
if prop is None:
self.hoverPos = None
else:
pickedPointFields = vis.pickPoint(self.lastMovePos, self.view, obj=self.obj, pickType=self.pickType, tolerance=self.tolerance)
self.hoverPos = pickedPointFields.pickedPoint
self.draw()
def getPointPick(self, displayPoint):
pickData = vis.pickPoint(displayPoint,
self.view,
obj=self.points,
pickType='cells',
tolerance=0.01)
return pickData.pickedPoint
def getHandlePick(self, displayPoint):
pickData = vis.pickPoint(displayPoint,
self.view,
obj=self.handle,
pickType="cells",
tolerance=0.01)
return pickData.pickedPoint
def tick(self):
if self.obj is None:
self.hoverPos, prop, _ = vis.pickPoint(self.lastMovePos,
self.view,
pickType=self.pickType,
tolerance=self.tolerance)
if prop is None:
self.hoverPos = None
else:
self.hoverPos = vis.pickPoint(self.lastMovePos,
self.view,
obj=self.obj,
pickType=self.pickType,
tolerance=self.tolerance)
self.draw()
def updatePick(self, displayPoint):
pickType = str(self.ui.pickTypeCombo.currentText)
if 'render' in pickType:
pickType = 'render'
elif 'vertex' in pickType:
pickType = 'points'
elif 'surface' in pickType:
pickType = 'cells'
else:
raise Exception('unknown pick type')
tolerance = self.ui.toleranceSpinBox.value
pickPointFields = vis.pickPoint(displayPoint,
self.view,
pickType=pickType,
tolerance=tolerance)
worldPoint = pickPointFields.pickedPoint
prop = pickPointFields.pickedProp
dataset = pickPointFields.pickedDataset
normal = pickPointFields.pickedNormal
if not prop:
worldPoint = np.zeros(3)
normal = np.zeros(3)
obj = vis.getObjectByProp(prop)
self.ui.displayPt.text = '%d, %d' % tuple(displayPoint)
self.ui.worldPt.text = '%.5f, %.5f, %.5f' % tuple(worldPoint)
self.ui.pickPt.text = '%.5f, %.5f, %.5f' % tuple(worldPoint)
if normal is not None:
self.ui.pickNormal.text = '%.5f, %.5f, %.5f' % tuple(normal)
else:
self.ui.pickNormal.text = 'not available'
scale = computeViewScale(self.view, worldPoint)
scale = scale * 10
self.annotation.setProperty('Visible', prop is not None)
t = vtk.vtkTransform()
t.Translate(worldPoint)
t.Scale(scale, scale, scale)
self.annotation.actor.SetUserTransform(t)
self.annotation._renderAllViews()
if obj:
self.ui.objName.text = obj.getProperty('Name')
else:
self.ui.objName.text = 'none'
if dataset:
self.ui.numPts.text = dataset.GetNumberOfPoints()
self.ui.numCells.text = dataset.GetNumberOfCells()
else:
self.ui.numPts.text = '0'
self.ui.numCells.text = '0'
def tick(self):
if self.obj is None:
pickedPointFields = vis.pickPoint(self.lastMovePos,
self.view,
pickType=self.pickType,
tolerance=self.tolerance)
self.hoverPos = pickedPointFields.pickedPoint
prop = pickedPointFields.pickedProp
if prop is None:
self.hoverPos = None
else:
pickedPointFields = vis.pickPoint(self.lastMovePos,
self.view,
obj=self.obj,
pickType=self.pickType,
tolerance=self.tolerance)
self.hoverPos = pickedPointFields.pickedPoint
self.draw()
def getSelection(self, displayPoint):
pickedPoint, pickedProp, pickedDataset, normal = vis.pickPoint(displayPoint, self.view, pickType='cells', tolerance=0.0)
if not pickedDataset:
return None
linkName = self.robotModel.model.getLinkNameForMesh(pickedDataset)
if not linkName:
return None
return pickedPoint, linkName, normal
def tick(self):
objs = self.getObjectsFunction() if self.getObjectsFunction else None
self.hoverPos, prop, _ = vis.pickPoint(self.lastMovePos, self.view, pickType='cells', tolerance=self.tolerance, obj=objs)
prevPickedObj = self.pickedObj
curPickedObj = vis.getObjectByProp(prop)
if curPickedObj is not prevPickedObj:
self.unsetHoverProperties(prevPickedObj)
self.setHoverProperties(curPickedObj)
self.pickedObj = curPickedObj
def updatePick(self, displayPoint):
pickType = str(self.ui.pickTypeCombo.currentText)
if 'render' in pickType:
pickType = 'render'
elif 'vertex' in pickType:
pickType = 'points'
elif 'surface' in pickType:
pickType = 'cells'
else:
raise Exception('unknown pick type')
tolerance = self.ui.toleranceSpinBox.value
pickPointFields = vis.pickPoint(
displayPoint,
self.view,
pickType=pickType,
tolerance=tolerance)
worldPoint = pickPointFields.pickedPoint
prop = pickPointFields.pickedProp
dataset = pickPointFields.pickedDataset
normal = pickPointFields.pickedNormal
if not prop:
worldPoint = np.zeros(3)
normal = np.zeros(3)
obj = vis.getObjectByProp(prop)
self.ui.displayPt.text = '%d, %d' % tuple(displayPoint)
self.ui.worldPt.text = '%.5f, %.5f, %.5f' % tuple(worldPoint)
self.ui.pickPt.text = '%.5f, %.5f, %.5f' % tuple(worldPoint)
self.ui.pickNormal.text = '%.5f, %.5f, %.5f' % tuple(normal)
self.annotation.setProperty('Visible', prop is not None)
t = vtk.vtkTransform()
t.Translate(worldPoint)
self.annotation.actor.SetUserTransform(t)
self.annotation._renderAllViews()
if obj:
self.ui.objName.text = obj.getProperty('Name')
else:
self.ui.objName.text = 'none'
if dataset:
self.ui.numPts.text = dataset.GetNumberOfPoints()
self.ui.numCells.text = dataset.GetNumberOfCells()
else:
self.ui.numPts.text = '0'
self.ui.numCells.text = '0'
def encode_normal_rgb(view, height, width, pickType='cells', tolerance=0.05):
#picktype is one of ('points', 'cells', 'render')
image = np.zeros((height, width, 3))
for i in range(height):
print i
for j in range(width):
pickPointFields = vis.pickPoint([i, j],
view,
pickType=pickType,
tolerance=tolerance)
normal = np.array(pickPointFields.pickedNormal)
image[i, j, :] = normal
# add some rgb conversion step, maybe png writer does that???
return image
def updatePick(self, displayPoint):
pickType = str(self.ui.pickTypeCombo.currentText)
if "render" in pickType:
pickType = "render"
elif "vertex" in pickType:
pickType = "points"
elif "surface" in pickType:
pickType = "cells"
else:
raise Exception("unknown pick type")
tolerance = self.ui.toleranceSpinBox.value
pickPointFields = vis.pickPoint(displayPoint,
self.view,
pickType=pickType,
tolerance=tolerance)
worldPoint = pickPointFields.pickedPoint
prop = pickPointFields.pickedProp
dataset = pickPointFields.pickedDataset
normal = pickPointFields.pickedNormal
if not prop:
worldPoint = np.zeros(3)
normal = np.zeros(3)
obj = vis.getObjectByProp(prop)
self.ui.displayPt.text = "%d, %d" % tuple(displayPoint)
self.ui.worldPt.text = "%.5f, %.5f, %.5f" % tuple(worldPoint)
self.ui.pickPt.text = "%.5f, %.5f, %.5f" % tuple(worldPoint)
self.ui.pickNormal.text = "%.5f, %.5f, %.5f" % tuple(normal)
self.annotation.setProperty("Visible", prop is not None)
t = vtk.vtkTransform()
t.Translate(worldPoint)
self.annotation.actor.SetUserTransform(t)
self.annotation._renderAllViews()
if obj:
self.ui.objName.text = obj.getProperty("Name")
else:
self.ui.objName.text = "none"
if dataset:
self.ui.numPts.text = dataset.GetNumberOfPoints()
self.ui.numCells.text = dataset.GetNumberOfCells()
else:
self.ui.numPts.text = "0"
self.ui.numCells.text = "0"
def getSelection(self, displayPoint):
pickData = vis.pickPoint(displayPoint, self.view, pickType='cells', tolerance=0.0)
pickedPoint = pickData.pickedPoint
pickedDataset = pickData.pickedDataset
normal = pickData.pickedNormal
if not pickedDataset:
return None
linkName = self.robotModel.model.getLinkNameForMesh(pickedDataset)
if not linkName:
return None
return pickedPoint, linkName, normal
def tick(self):
objs = self.getObjectsFunction() if self.getObjectsFunction else None
self.hoverPos, prop, _ = vis.pickPoint(self.lastMovePos,
self.view,
pickType='cells',
tolerance=self.tolerance,
obj=objs)
prevPickedObj = self.pickedObj
curPickedObj = vis.getObjectByProp(prop)
if curPickedObj is not prevPickedObj:
self.unsetHoverProperties(prevPickedObj)
self.setHoverProperties(curPickedObj)
self.pickedObj = curPickedObj
def placeHandModel(displayPoint, view, side='left'):
obj, _ = vis.findPickedObject(displayPoint, view)
if isinstance(obj, vis.FrameItem):
_, handFrame = handFactory.placeHandModelWithTransform(
obj.transform, view, side=side, parent=obj.parent())
handFrame.frameSync = vis.FrameSync()
handFrame.frameSync.addFrame(obj)
handFrame.frameSync.addFrame(handFrame, ignoreIncoming=True)
return
pickedPointFields = vis.pickPoint(displayPoint,
view,
pickType='cells',
tolerance=0.0)
pickedPoint = pickedPointFields.pickedPoint
prop = pickedPointFields.pickedProp
obj = vis.getObjectByProp(prop)
if not obj:
return
yaxis = -normal
zaxis = [0, 0, 1]
xaxis = np.cross(yaxis, zaxis)
xaxis /= np.linalg.norm(xaxis)
zaxis = np.cross(xaxis, yaxis)
zaxis /= np.linalg.norm(zaxis)
t = transformUtils.getTransformFromAxes(-zaxis, yaxis, xaxis)
t.PostMultiply()
t.Translate(pickedPoint)
if side == 'right':
t.PreMultiply()
t.RotateY(180)
handObj, handFrame = handFactory.placeHandModelWithTransform(t,
view,
side=side,
parent=obj)
syncFrame = getChildFrame(obj)
if syncFrame:
handFrame.frameSync = vis.FrameSync()
handFrame.frameSync.addFrame(handFrame, ignoreIncoming=True)
handFrame.frameSync.addFrame(syncFrame)
def tick(self):
objs = self.getObjectsFunction() if self.getObjectsFunction else None
pickedPointFields = vis.pickPoint(
self.lastMovePos,
self.view,
pickType="cells",
tolerance=self.tolerance,
obj=objs,
)
self.hoverPos = pickedPointFields.pickedPoint
prop = pickedPointFields.pickedProp
prevPickedObj = self.pickedObj
curPickedObj = vis.getObjectByProp(prop)
if curPickedObj is not prevPickedObj:
self.unsetHoverProperties(prevPickedObj)
self.setHoverProperties(curPickedObj)
self.pickedObj = curPickedObj
def placeHandModel(displayPoint, view, side='left'):
obj, _ = vis.findPickedObject(displayPoint, view)
if isinstance(obj, vis.FrameItem):
_, handFrame = handFactory.placeHandModelWithTransform(obj.transform, view, side=side, parent=obj.parent())
handFrame.frameSync = vis.FrameSync()
handFrame.frameSync.addFrame(obj)
handFrame.frameSync.addFrame(handFrame, ignoreIncoming=True)
return
pickedPointFields = vis.pickPoint(displayPoint, view, pickType='cells', tolerance=0.0)
pickedPoint = pickedPointFields.pickedPoint
prop = pickedPointFields.pickedProp
obj = vis.getObjectByProp(prop)
if not obj:
return
yaxis = -normal
zaxis = [0,0,1]
xaxis = np.cross(yaxis, zaxis)
xaxis /= np.linalg.norm(xaxis)
zaxis = np.cross(xaxis, yaxis)
zaxis /= np.linalg.norm(zaxis)
t = transformUtils.getTransformFromAxes(-zaxis, yaxis, xaxis)
t.PostMultiply()
t.Translate(pickedPoint)
if side == 'right':
t.PreMultiply()
t.RotateY(180)
handObj, handFrame = handFactory.placeHandModelWithTransform(t, view, side=side, parent=obj)
syncFrame = getChildFrame(obj)
if syncFrame:
handFrame.frameSync = vis.FrameSync()
handFrame.frameSync.addFrame(handFrame, ignoreIncoming=True)
handFrame.frameSync.addFrame(syncFrame)
def getSelection(self, displayPoint):
pickData = vis.pickPoint(displayPoint, self.view, pickType='cells', tolerance=0.0)
pickedPoint = pickData.pickedPoint
pickedDataset = pickData.pickedDataset
normal = pickData.pickedNormal
pickedCellId = pickData.pickedCellId
if not pickedDataset:
return None
linkName = self.robotModel.model.getLinkNameForMesh(pickedDataset)
for name, data in self.linkDict.iteritems():
if pickedDataset == data['polyData']:
linkName = name
if not linkName:
return None
return pickedPoint, linkName, normal, pickedCellId
def tick(self):
# get affordances
affs = self.affordanceManager.getAffordances()
affs = [a for a in affs if a.getProperty('Visible')]
if self.filterFunc is not None:
affs = [a for a in affs if self.filterFunc(a)]
# get picked affordance
self.hoverPos, prop, _ = vis.pickPoint(self.lastMovePos, self.view, pickType='cells', tolerance=self.tolerance, obj=affs)
prevPickedObj = self.pickedObj
curPickedObj = vis.getObjectByProp(prop)
if curPickedObj is not prevPickedObj:
if prevPickedObj is not None:
prevPickedObj.setProperty('Color', self.storedProps['Color'])
prevPickedObj.setProperty('Alpha', self.storedProps['Alpha'])
if curPickedObj is not None:
self.storedProps['Color'] = curPickedObj.getProperty('Color')
self.storedProps['Alpha'] = curPickedObj.getProperty('Alpha')
curPickedObj.setProperty('Color', self.hoverColor)
curPickedObj.setProperty('Alpha', self.hoverAlpha)
self.pickedObj = curPickedObj
self.draw()
def getHandlePick(self, displayPoint):
return vis.pickPoint(displayPoint, self.view, obj=self.handle, pickType='cells', tolerance=0.01)
def getPointPick(self, displayPoint):
return vis.pickPoint(displayPoint, self.view, obj=self.points, pickType='cells', tolerance=0.01)
def updateMouseHitPoint(self, event):
displayPoint = self.getMousePositionInView(event)
camera = self.view.camera()
if self.lastHitPoint is not None:
newFocalPoint = projectPointToLine(
np.array(camera.GetPosition()),
np.array(camera.GetFocalPoint()),
self.lastHitPoint)
camera.SetFocalPoint(newFocalPoint)
actors = self.view.renderer().GetActors()
actors = [actors.GetItemAsObject(i) for i in range(actors.GetNumberOfItems())]
pickableSettings = [actor.GetPickable() for actor in actors]
for actor in actors:
if actor != self.cameraCenterObj.actor:
actor.SetPickable(True)
#res = vis.pickPoint(displayPoint, self.view, pickType='render')
#if res.pickedProp:
# print('got pick with hardware')
#if not res.pickedProp:
res = vis.pickPoint(displayPoint, self.view, pickType='points', tolerance=0.0005)
if not res.pickedProp:
res = vis.pickPoint(displayPoint, self.view, pickType='points', tolerance=0.001)
if res.pickedProp is None:
res = vis.pickPoint(displayPoint, self.view, pickType='cells')
for actor, pickable in zip(actors, pickableSettings):
actor.SetPickable(pickable)
if res.pickedProp is not None:
worldPoint = res.pickedPoint
else:
pt1, pt2 = vis.getRayFromDisplayPoint(self.view, displayPoint)
rayOrigin = pt1
ray = pt2 - pt1
pt1 = np.array(camera.GetPosition())
pt2 = pt1 + ray
#print('cam to ray origin:', rayOrigin - pt1)
if self.lastHitPoint is None:
worldPoint = projectPointToLine(pt1, pt2, np.array(camera.GetFocalPoint()))
else:
#print('no prop was picked, finding a point on the pick ray...')
projectedWorldPoint, pcoord = projectPointToLineParam(pt1, pt2, self.lastHitPoint)
#print('pcoord of last hit point:', pcoord)
if pcoord >= 0.1:
#print('using last hit point projected to pick ray')
worldPoint = projectedWorldPoint
else:
#print('pcoord was bad so using current focal projected to pick ray')
worldPoint = projectPointToLine(pt1, pt2, np.array(camera.GetFocalPoint()))
self.lastHitPoint = np.array(worldPoint)
t = vtk.vtkTransform()
t.Translate(worldPoint[:3])
self.cameraCenterObj.actor.SetUserTransform(t)
self.showOnMove = True
self.style.SetCustomCenterOfRotation(worldPoint[:3])
def getHandlePick(self, displayPoint):
return vis.pickPoint(displayPoint,
self.view,
obj=self.handle,
pickType='cells',
tolerance=0.01)
