def setCameraTransform(camera, transform):
'''Set camera transform so that view direction is +Z and view up is -Y'''
origin = np.array(transform.GetPosition())
axes = transformUtils.getAxesFromTransform(transform)
camera.SetPosition(origin)
camera.SetFocalPoint(origin + axes[2])
camera.SetViewUp(-axes[1])
def setCameraTransform(camera, transform):
"""
Camera transform is of the Right-Down-Forward (XYZ) convention.
See http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/OWENS/LECT9/node2.html
"""
origin = np.array(transform.GetPosition())
axes = transformUtils.getAxesFromTransform(transform)
camera.SetPosition(origin)
camera.SetFocalPoint(origin + axes[2])
camera.SetViewUp(-axes[1])
camera.Modified()
def setCameraTransform(camera, transform):
"""
Camera transform is of the Right-Down-Forward (XYZ) convention.
See http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/OWENS/LECT9/node2.html
"""
origin = np.array(transform.GetPosition())
axes = transformUtils.getAxesFromTransform(transform)
camera.SetPosition(origin)
camera.SetFocalPoint(origin+axes[2])
camera.SetViewUp(-axes[1])
camera.Modified()
def cropToBox(polyData, transform, dimensions, data_type='cells'):
'''
dimensions is length 3 describing box dimensions
'''
origin = np.array(transform.GetPosition())
axes = transformUtils.getAxesFromTransform(transform)
for axis, length in zip(axes, dimensions):
cropAxis = np.array(axis)*(length/2.0)
polyData = cropToLineSegment(polyData, origin - cropAxis, origin + cropAxis)
return polyData
def cropToBox(polyData, transform, dimensions, data_type='cells'):
'''
dimensions is length 3 describing box dimensions
'''
origin = np.array(transform.GetPosition())
axes = transformUtils.getAxesFromTransform(transform)
for axis, length in zip(axes, dimensions):
cropAxis = np.array(axis) * (length / 2.0)
polyData = cropToLineSegment(polyData, origin - cropAxis,
origin + cropAxis)
return polyData
def testTransform():
'''
test transformFromPose --> getAxesFromTransform is same as quat --> matrix
'''
quat = transformations.random_quaternion()
pos = np.random.rand(3)
frame = transformUtils.transformFromPose(pos, quat)
axes = transformUtils.getAxesFromTransform(frame)
mat = transformUtils.getNumpyFromTransform(frame)
assert np.allclose(mat[:3,:3], np.array(axes).transpose())
mat2 = transformations.quaternion_matrix(quat)
mat2[:3,3] = pos
print mat
print mat2
assert np.allclose(mat, mat2)
def testTransform():
'''
test transformFromPose --> getAxesFromTransform is same as quat --> matrix
'''
quat = transformations.random_quaternion()
pos = np.random.rand(3)
frame = transformUtils.transformFromPose(pos, quat)
axes = transformUtils.getAxesFromTransform(frame)
mat = transformUtils.getNumpyFromTransform(frame)
assert np.allclose(mat[:3, :3], np.array(axes).transpose())
mat2 = transformations.quaternion_matrix(quat)
mat2[:3, 3] = pos
print(mat)
print(mat2)
assert np.allclose(mat, mat2)
def createUtorsoGazeConstraints(self, tspan):
constraints = []
g = ik.WorldGazeDirConstraint()
g.linkName = 'utorso'
g.targetFrame = vtk.vtkTransform()
axes = transformUtils.getAxesFromTransform(self.polaris.leftFootEgressOutsideFrame.transform)
g.targetAxis = axes[0]
g.bodyAxis = [1,0,0]
g.coneThreshold = self.coneThreshold
g.tspan = tspan
constraints.append(g)
g = ik.WorldGazeDirConstraint()
g.linkName = 'utorso'
g.targetFrame = vtk.vtkTransform()
g.targetAxis = [0,0,1]
g.bodyAxis = [0,0,1]
g.coneThreshold = self.coneThreshold
g.tspan = tspan
constraints.append(g)
return constraints
def setCameraTransform(camera, transform):
"""
Camera transform is of the Right-Down-Forward (XYZ) convention.
See http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/OWENS/LECT9/node2.html
Note you may need to re-render afterwards by calling view.forceRender()
:param camera: vtkCamera object
:type camera:
:param transform: vtkTransform
:type transform:
:return:
:rtype:
"""
origin = np.array(transform.GetPosition())
axes = transformUtils.getAxesFromTransform(transform)
camera.SetPosition(origin)
camera.SetFocalPoint(origin + axes[2])
camera.SetViewUp(-axes[1])
camera.Modified()
def fitRunningBoardAtFeet(self):
# get stance frame
startPose = self.getPlanningStartPose()
stanceFrame = self.robotSystem.footstepsDriver.getFeetMidPoint(
self.robotSystem.robotStateModel, useWorldZ=False)
stanceFrameAxes = transformUtils.getAxesFromTransform(stanceFrame)
# get pointcloud and extract search region covering the running board
polyData = segmentation.getCurrentRevolutionData()
polyData = segmentation.applyVoxelGrid(polyData, leafSize=0.01)
_, polyData = segmentation.removeGround(polyData)
polyData = segmentation.cropToBox(polyData, stanceFrame,
[1.0, 1.0, 0.1])
if not polyData.GetNumberOfPoints():
print('empty search region point cloud')
return
vis.updatePolyData(polyData,
'running board search points',
parent=segmentation.getDebugFolder(),
color=[0, 1, 0],
visible=False)
# extract maximal points along the stance x axis
perpAxis = stanceFrameAxes[0]
edgeAxis = stanceFrameAxes[1]
edgePoints = segmentation.computeEdge(polyData, edgeAxis, perpAxis)
edgePoints = vnp.getVtkPolyDataFromNumpyPoints(edgePoints)
vis.updatePolyData(edgePoints,
'edge points',
parent=segmentation.getDebugFolder(),
visible=True)
# ransac fit a line to the edge points
linePoint, lineDirection, fitPoints = segmentation.applyLineFit(
edgePoints)
if np.dot(lineDirection, stanceFrameAxes[1]) < 0:
lineDirection = -lineDirection
linePoints = segmentation.thresholdPoints(fitPoints, 'ransac_labels',
[1.0, 1.0])
dists = np.dot(
vnp.getNumpyFromVtk(linePoints, 'Points') - linePoint,
lineDirection)
p1 = linePoint + lineDirection * np.min(dists)
p2 = linePoint + lineDirection * np.max(dists)
vis.updatePolyData(fitPoints,
'line fit points',
parent=segmentation.getDebugFolder(),
colorByName='ransac_labels',
visible=False)
# compute a new frame that is in plane with the stance frame
# and matches the orientation and position of the detected edge
origin = np.array(stanceFrame.GetPosition())
normal = np.array(stanceFrameAxes[2])
# project stance origin to edge, then back to foot frame
originProjectedToEdge = linePoint + lineDirection * np.dot(
origin - linePoint, lineDirection)
originProjectedToPlane = segmentation.projectPointToPlane(
originProjectedToEdge, origin, normal)
zaxis = np.array(stanceFrameAxes[2])
yaxis = np.array(lineDirection)
xaxis = np.cross(yaxis, zaxis)
xaxis /= np.linalg.norm(xaxis)
yaxis = np.cross(zaxis, xaxis)
yaxis /= np.linalg.norm(yaxis)
d = DebugData()
d.addSphere(p1, radius=0.005)
d.addSphere(p2, radius=0.005)
d.addLine(p1, p2)
d.addSphere(originProjectedToEdge, radius=0.001, color=[1, 0, 0])
d.addSphere(originProjectedToPlane, radius=0.001, color=[0, 1, 0])
d.addLine(originProjectedToPlane, origin, color=[0, 1, 0])
d.addLine(originProjectedToEdge, origin, color=[1, 0, 0])
vis.updatePolyData(d.getPolyData(),
'running board edge',
parent=segmentation.getDebugFolder(),
colorByName='RGB255',
visible=False)
# update the running board box affordance position and orientation to
# fit the detected edge
box = self.spawnRunningBoardAffordance()
boxDimensions = box.getProperty('Dimensions')
t = transformUtils.getTransformFromAxesAndOrigin(
xaxis, yaxis, zaxis, originProjectedToPlane)
t.PreMultiply()
t.Translate(-boxDimensions[0] / 2.0, 0.0, -boxDimensions[2] / 2.0)
box.getChildFrame().copyFrame(t)
self.initialize()
def fitRunningBoardAtFeet(self):
# get stance frame
startPose = self.getPlanningStartPose()
stanceFrame = self.robotSystem.footstepsDriver.getFeetMidPoint(self.robotSystem.robotStateModel, useWorldZ=False)
stanceFrameAxes = transformUtils.getAxesFromTransform(stanceFrame)
# get pointcloud and extract search region covering the running board
polyData = segmentation.getCurrentRevolutionData()
polyData = segmentation.applyVoxelGrid(polyData, leafSize=0.01)
_, polyData = segmentation.removeGround(polyData)
polyData = segmentation.cropToBox(polyData, stanceFrame, [1.0, 1.0, 0.1])
if not polyData.GetNumberOfPoints():
print 'empty search region point cloud'
return
vis.updatePolyData(polyData, 'running board search points', parent=segmentation.getDebugFolder(), color=[0,1,0], visible=False)
# extract maximal points along the stance x axis
perpAxis = stanceFrameAxes[0]
edgeAxis = stanceFrameAxes[1]
edgePoints = segmentation.computeEdge(polyData, edgeAxis, perpAxis)
edgePoints = vnp.getVtkPolyDataFromNumpyPoints(edgePoints)
vis.updatePolyData(edgePoints, 'edge points', parent=segmentation.getDebugFolder(), visible=True)
# ransac fit a line to the edge points
linePoint, lineDirection, fitPoints = segmentation.applyLineFit(edgePoints)
if np.dot(lineDirection, stanceFrameAxes[1]) < 0:
lineDirection = -lineDirection
linePoints = segmentation.thresholdPoints(fitPoints, 'ransac_labels', [1.0, 1.0])
dists = np.dot(vnp.getNumpyFromVtk(linePoints, 'Points')-linePoint, lineDirection)
p1 = linePoint + lineDirection*np.min(dists)
p2 = linePoint + lineDirection*np.max(dists)
vis.updatePolyData(fitPoints, 'line fit points', parent=segmentation.getDebugFolder(), colorByName='ransac_labels', visible=False)
# compute a new frame that is in plane with the stance frame
# and matches the orientation and position of the detected edge
origin = np.array(stanceFrame.GetPosition())
normal = np.array(stanceFrameAxes[2])
# project stance origin to edge, then back to foot frame
originProjectedToEdge = linePoint + lineDirection*np.dot(origin - linePoint, lineDirection)
originProjectedToPlane = segmentation.projectPointToPlane(originProjectedToEdge, origin, normal)
zaxis = np.array(stanceFrameAxes[2])
yaxis = np.array(lineDirection)
xaxis = np.cross(yaxis, zaxis)
xaxis /= np.linalg.norm(xaxis)
yaxis = np.cross(zaxis, xaxis)
yaxis /= np.linalg.norm(yaxis)
d = DebugData()
d.addSphere(p1, radius=0.005)
d.addSphere(p2, radius=0.005)
d.addLine(p1, p2)
d.addSphere(originProjectedToEdge, radius=0.001, color=[1,0,0])
d.addSphere(originProjectedToPlane, radius=0.001, color=[0,1,0])
d.addLine(originProjectedToPlane, origin, color=[0,1,0])
d.addLine(originProjectedToEdge, origin, color=[1,0,0])
vis.updatePolyData(d.getPolyData(), 'running board edge', parent=segmentation.getDebugFolder(), colorByName='RGB255', visible=False)
# update the running board box affordance position and orientation to
# fit the detected edge
box = self.spawnRunningBoardAffordance()
boxDimensions = box.getProperty('Dimensions')
t = transformUtils.getTransformFromAxesAndOrigin(xaxis, yaxis, zaxis, originProjectedToPlane)
t.PreMultiply()
t.Translate(-boxDimensions[0]/2.0, 0.0, -boxDimensions[2]/2.0)
box.getChildFrame().copyFrame(t)
self.initialize()
