Python getCurrentView Examples

Example #1

File: startup.py Project: openhumanoids/director

 def spawnHandAtCurrentLocation(side='left'):
     if (side is 'left'):
         tf = transformUtils.copyFrame( getLinkFrame( 'l_hand_face') )
         handFactory.placeHandModelWithTransform( tf , app.getCurrentView(), 'left')
     else:
         tf = transformUtils.copyFrame( getLinkFrame( 'right_pointer_tip') )
         handFactory.placeHandModelWithTransform( tf , app.getCurrentView(), 'right')

Example #2

 def spawnHandAtCurrentLocation(side='left'):
     if (side is 'left'):
         tf = transformUtils.copyFrame( getLinkFrame( 'l_hand_face') )
         handFactory.placeHandModelWithTransform( tf , app.getCurrentView(), 'left')
     else:
         tf = transformUtils.copyFrame( getLinkFrame( 'right_pointer_tip') )
         handFactory.placeHandModelWithTransform( tf , app.getCurrentView(), 'right')

Example #3

File: testTableFitStereo.py Project: david-german-tri/director

segmentationroutines.SegmentationContext.initWithUser(groundHeight, viewFrame)

# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioUtils.readPolyData(
    os.path.join(dataDir, '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])

segmentation.segmentTableThenFindDrills(polyData,
                                        [1.2864902, -0.93351376, 1.10208917])

if app.getTestingInteractiveEnabled():

    v = applogic.getCurrentView()
    v.camera().SetPosition([3, 3, 3])
    v.camera().SetFocalPoint([0, 0, 0])

    view.show()
    app.showObjectModel()
    app.start()

Example #4

File: testValveFitStereo.py Project: RobotLocomotion/director

app = ConsoleApp()

# create a view
view = app.createView()
segmentation._defaultSegmentationView = view
segmentation.initAffordanceManager(view)

robotStateModel, robotStateJointController = roboturdf.loadRobotModel('robot state model', view, parent='sensors', color=roboturdf.getRobotGrayColor(), visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)

# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioUtils.readPolyData(os.path.join(dataDir, '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])

    view.show()
    app.showObjectModel()
    app.start()