def onFileSaveData():
obj = om.getActiveObject()
if not obj:
app.showErrorMessage('Please select an object', title='No object selected')
return
if isinstance(obj, otdfmodel.OtdfModelItem):
mainWindow = app.getMainWindow()
filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), 'OTDF (*.otdf)', 'OTDF (*.otdf)')
if not os.path.splitext(filename)[1]:
filename += '.otdf'
storeDefaultDirectory(filename)
otdfString = obj.parser.getUpdatedOtdf()
otdfFile = open(filename, 'w')
otdfFile.write(otdfString)
otdfFile.close()
elif hasattr(obj, 'polyData'):
mainWindow = app.getMainWindow()
fileFilters = "PLY (*.ply);;STL (*.stl);;VTP (*.vtp)";
filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), fileFilters, 'VTP (*.vtp)')
if not filename:
return
if not os.path.splitext(filename)[1]:
filename += '.vtp'
polyData = io.writePolyData(obj.polyData, filename)
else:
app.showErrorMessage('Please select an object that contains geometry data or an OTDF object', title='Invalid object selected')
return
storeDefaultDirectory(filename)
def getPointCloud(self):
obj = om.getActiveObject()
if obj and obj.getProperty('Name') == 'Multisense':
return SnapshotMultisensePointcloud().getPointCloud()
elif obj and obj.getProperty('Name') == 'stereo point cloud':
return SnapshotStereoPointcloud().getPointCloud()
elif obj and hasattr(obj, 'polyData'):
return obj.polyData
else:
self.fail('no pointcloud is selected')
def getPointCloud(self):
obj = om.getActiveObject()
if obj and obj.getProperty('Name') == 'Multisense':
return SnapshotMultisensePointcloud().getPointCloud()
elif obj and obj.getProperty('Name') == 'stereo point cloud':
return SnapshotStereoPointcloud().getPointCloud()
elif obj and hasattr(obj, 'polyData'):
return obj.polyData
else:
self.fail('no pointcloud is selected')
def onFileExportUrdf():
obj = om.getActiveObject()
if not obj or not isinstance(obj, otdfmodel.OtdfModelItem):
app.showErrorMessage('Please select an OTDF object', title='OTDF object not selected')
return
mainWindow = app.getMainWindow()
filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), 'URDF (*.urdf)', 'URDF (*.urdf)')
if not os.path.splitext(filename)[1]:
filename += '.urdf'
storeDefaultDirectory(filename)
urdfString = obj.parser.getUrdfFromOtdf()
urdfFile = open(filename, 'w')
urdfFile.write(urdfString)
urdfFile.close()
def onFileSaveData():
obj = om.getActiveObject()
if not obj:
app.showErrorMessage('Please select an object',
title='No object selected')
return
if isinstance(obj, otdfmodel.OtdfModelItem):
mainWindow = app.getMainWindow()
filename = QtGui.QFileDialog.getSaveFileName(mainWindow,
"Save Data...",
getDefaultDirectory(),
'OTDF (*.otdf)',
'OTDF (*.otdf)')
if not os.path.splitext(filename)[1]:
filename += '.otdf'
storeDefaultDirectory(filename)
otdfString = obj.parser.getUpdatedOtdf()
otdfFile = open(filename, 'w')
otdfFile.write(otdfString)
otdfFile.close()
elif hasattr(obj, 'polyData'):
mainWindow = app.getMainWindow()
fileFilters = "PLY (*.ply);;STL (*.stl);;VTP (*.vtp)"
filename = QtGui.QFileDialog.getSaveFileName(mainWindow,
"Save Data...",
getDefaultDirectory(),
fileFilters,
'VTP (*.vtp)')
if not filename:
return
if not os.path.splitext(filename)[1]:
filename += '.vtp'
polyData = io.writePolyData(obj.polyData, filename)
else:
app.showErrorMessage(
'Please select an object that contains geometry data or an OTDF object',
title='Invalid object selected')
return
storeDefaultDirectory(filename)
def run(self):
candidates = self.getCandidates()
if not candidates:
self.fail('no affordance candidates found')
om.clearSelection()
self.statusMessage = 'Please select affordance candidate: %s' % self.properties.getProperty('Candidate name prefix')
while True:
obj = om.getActiveObject()
if obj and obj in candidates:
break
else:
yield
self.selectCandidate(obj, candidates)
def run(self):
candidates = self.getCandidates()
if not candidates:
self.fail('no affordance candidates found')
om.clearSelection()
self.statusMessage = 'Please select affordance candidate: %s' % self.properties.getProperty(
'Candidate name prefix')
while True:
obj = om.getActiveObject()
if obj and obj in candidates:
break
else:
yield
self.selectCandidate(obj, candidates)
def getSelectedAffordance(self):
affordanceName = self.properties.getProperty('Affordance name')
if affordanceName:
obj = om.findObjectByName(affordanceName)
if not obj:
self.fail('could not find affordance: %s' % affordanceName)
else:
obj = om.getActiveObject()
if obj is None:
self.fail('no affordance is selected')
try:
frame = obj.getChildFrame()
except AttributeError:
frame = None
if frame is None:
self.fail('affordance does not have a frame')
return obj
def getSelectedAffordance(self):
affordanceName = self.properties.getProperty('Affordance name')
if affordanceName:
obj = om.findObjectByName(affordanceName)
if not obj:
self.fail('could not find affordance: %s' % affordanceName)
else:
obj = om.getActiveObject()
if obj is None:
self.fail('no affordance is selected')
try:
frame = obj.getChildFrame()
except AttributeError:
frame = None
if frame is None:
self.fail('affordance does not have a frame')
return obj
def onFileExportUrdf():
obj = om.getActiveObject()
if not obj or not isinstance(obj, otdfmodel.OtdfModelItem):
app.showErrorMessage('Please select an OTDF object',
title='OTDF object not selected')
return
mainWindow = app.getMainWindow()
filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...",
getDefaultDirectory(),
'URDF (*.urdf)',
'URDF (*.urdf)')
if not os.path.splitext(filename)[1]:
filename += '.urdf'
storeDefaultDirectory(filename)
urdfString = obj.parser.getUrdfFromOtdf()
urdfFile = open(filename, 'w')
urdfFile.write(urdfString)
urdfFile.close()
