def getMergedConvexHullsMesh(chulls):
d = DebugData()
for i, chull in enumerate(chulls):
d.addPolyData(chull.convexHull, color=segmentation.getRandomColor())
return d.getPolyData()
def getMergedConvexHullsMesh(chulls):
d = DebugData()
for i, chull in enumerate(chulls):
d.addPolyData(chull.convexHull, color=segmentation.getRandomColor())
return d.getPolyData()
chulls.append(
computePlanarConvexHull(planePoints,
expectedNormal=expectedNormal))
if removeGround:
chulls.append(
computePlanarConvexHull(groundPoints, expectedNormal=[0, 0, 1]))
d = DebugData()
for i, result in enumerate(chulls):
planePoints, chull, plane = result.points, result.convexHull, result.plane
c = segmentation.getRandomColor()
vis.showPolyData(planePoints, 'plane %d' % i, color=c)
chull = vis.showPolyData(chull, 'convex hull %d' % i, color=c)
chull.setProperty('Surface Mode', 'Surface with edges')
chull.actor.GetProperty().SetLineWidth(3)
center = segmentation.computeCentroid(chull.polyData)
chullPoints = vnp.getNumpyFromVtk(chull.polyData, 'Points')
d.addLine(plane.GetOrigin(),
np.array(plane.GetOrigin()) +
0.005 * np.array(plane.GetNormal()),
radius=0.0001,
color=[0, 0, 0])
#d.addArrow(plane.GetOrigin(), np.array(plane.GetOrigin()) + 0.01 * np.array(plane.GetNormal()), headRadius=0.001, tubeRadius=0.0002)
#d.addSphere(chullPoints[0], radius=0.001, color=[1,0,0])
#d.addSphere(chullPoints[1], radius=0.001, color=[0,1,0])
expectedNormal = None
chulls.append(computePlanarConvexHull(planePoints, expectedNormal=expectedNormal))
if removeGround:
chulls.append(computePlanarConvexHull(groundPoints, expectedNormal=[0,0,1]))
d = DebugData()
for i, result in enumerate(chulls):
planePoints, chull, plane = result.points, result.convexHull, result.plane
c = segmentation.getRandomColor()
vis.showPolyData(planePoints, 'plane %d' % i, color=c)
chull = vis.showPolyData(chull, 'convex hull %d' % i, color=c)
chull.setProperty('Surface Mode', 'Surface with edges')
chull.actor.GetProperty().SetLineWidth(3)
center = segmentation.computeCentroid(chull.polyData)
chullPoints = vnp.getNumpyFromVtk(chull.polyData, 'Points')
d.addLine(plane.GetOrigin(), np.array(plane.GetOrigin()) + 0.005 * np.array(plane.GetNormal()), radius=0.0001, color=[0,0,0])
#d.addArrow(plane.GetOrigin(), np.array(plane.GetOrigin()) + 0.01 * np.array(plane.GetNormal()), headRadius=0.001, tubeRadius=0.0002)
#d.addSphere(chullPoints[0], radius=0.001, color=[1,0,0])
#d.addSphere(chullPoints[1], radius=0.001, color=[0,1,0])
vis.showPolyData(d.getPolyData(), 'plane normals', colorByName='RGB255')