def transformPolyData(polyData, transform):
t = vtk.vtkTransformPolyDataFilter()
t.SetTransform(transform)
t.SetInputData(shallowCopy(polyData))
t.Update()
return shallowCopy(t.GetOutput())
def transformPolyData(polyData, transform):
t = vtk.vtkTransformPolyDataFilter()
t.SetTransform(transform)
t.SetInput(shallowCopy(polyData))
t.Update()
return shallowCopy(t.GetOutput())
def updateGeometryFromProperties(self):
filename = self.getProperty('Filename')
scale = self.getProperty('Scale')
if not filename:
polyData = vtk.vtkPolyData()
else:
polyData = self.getMeshManager().get(filename)
if not polyData:
if not os.path.isabs(filename):
filename = os.path.join(director.getDRCBaseDir(), filename)
if os.path.isfile(filename):
polyData = ioUtils.readPolyData(filename)
if not scale == [1, 1, 1]:
transform = vtk.vtkTransform()
transform.Scale(scale)
transformFilter = vtk.vtkTransformPolyDataFilter()
transformFilter.SetInput(polyData)
transformFilter.SetTransform(transform)
transformFilter.Update()
polyData = transformFilter.GetOutput()
else:
# use axes as a placeholder mesh
d = DebugData()
d.addFrame(vtk.vtkTransform(), scale=0.1, tubeRadius=0.005)
polyData = d.getPolyData()
self.setPolyData(polyData)
def updateGeometryFromProperties(self):
filename = self.getProperty('Filename')
scale = self.getProperty('Scale')
if not filename:
polyData = vtk.vtkPolyData()
else:
polyData = self.getMeshManager().get(filename)
if not polyData:
if not os.path.isabs(filename):
filename = os.path.join(director.getDRCBaseDir(), filename)
if os.path.isfile(filename):
polyData = ioUtils.readPolyData(filename)
if not scale == [1, 1, 1]:
transform = vtk.vtkTransform()
transform.Scale(scale)
transformFilter = vtk.vtkTransformPolyDataFilter()
transformFilter.SetInput(polyData)
transformFilter.SetTransform(transform)
transformFilter.Update()
polyData = transformFilter.GetOutput()
else:
# use axes as a placeholder mesh
d = DebugData()
d.addFrame(vtk.vtkTransform(), scale=0.1, tubeRadius=0.005)
polyData = d.getPolyData()
self.setPolyData(polyData)
def vtkICP(self):
object_name = str(self.ui.alignObject.text)
if object_name == "" or not om.findObjectByName(object_name):
print "object: " + object_name + " not found"
return
model = vtk.vtkPolyData()
om.findObjectByName(object_name + ".urdf").model.getModelMesh(model)
scene = om.findObjectByName(object_name).polyData
icp = vtk.vtkIterativeClosestPointTransform()
icp.SetMaximumNumberOfIterations(100)
#need to shift centroid to center of abject after clicking on it
icp.StartByMatchingCentroidsOn()
icp.SetSource(model)
icp.SetTarget(scene)
icp.GetLandmarkTransform().SetModeToRigidBody()
icp.Modified()
icp.Update()
t = vtk.vtkTransformPolyDataFilter()
t.SetInput(model)
t.SetTransform(icp)
t.Update()
transformedObject = t.GetOutput()
print transformedObject
vis.showPolyData(transformedObject,
object_name + "_transform",
color=[0, 1, 0],
parent=self.getTransformedObjectsFolder())
self.packageAlignmentResult(object_name, icp.GetMatrix())
def addFrame(self, frame, scale, tubeRadius=0.0):
axes = vtk.vtkAxes()
axes.ComputeNormalsOff()
axes.SetScaleFactor(scale)
transformFilter = vtk.vtkTransformPolyDataFilter()
transformFilter.SetTransform(frame)
transformFilter.SetInputConnection(axes.GetOutputPort())
transformFilter.Update()
polyData = transformFilter.GetOutput()
colors = np.array([[255, 0, 0], [255, 0, 0], [0, 255, 0], [0, 255, 0],
[0, 0, 255], [0, 0, 255]],
dtype=np.uint8)
vnp.addNumpyToVtk(polyData, colors, 'RGB255')
if tubeRadius:
polyData = applyTubeFilter(polyData, tubeRadius)
self.addPolyData(polyData, color=None)
def addTorus(self, radius, thickness, resolution=30):
q = vtk.vtkSuperquadricSource()
q.SetToroidal(1)
q.SetSize(radius)
q.SetThetaResolution(resolution)
# thickness doesnt seem to match to Eucliean units. 0 is none. 1 is full. .1 is a good valve
q.SetThickness(thickness)
q.Update()
# rotate Torus so that the hole axis (internally y), is set to be z, which we use for valves
transform = vtk.vtkTransform()
transform.RotateWXYZ(90, 1, 0, 0)
transformFilter = vtk.vtkTransformPolyDataFilter()
transformFilter.SetTransform(transform)
transformFilter.SetInputConnection(q.GetOutputPort())
transformFilter.Update()
self.addPolyData(transformFilter.GetOutput())
def addFrame(self, frame, scale, tubeRadius=0.0):
axes = vtk.vtkAxes()
axes.ComputeNormalsOff()
axes.SetScaleFactor(scale)
transformFilter=vtk.vtkTransformPolyDataFilter()
transformFilter.SetTransform(frame)
transformFilter.SetInputConnection(axes.GetOutputPort())
transformFilter.Update()
polyData = transformFilter.GetOutput()
colors = np.array(
[[255, 0, 0], [255, 0, 0],
[0, 255, 0], [0, 255, 0],
[0, 0, 255], [0, 0, 255]], dtype=np.uint8)
vnp.addNumpyToVtk(polyData, colors, 'RGB255')
if tubeRadius:
polyData = applyTubeFilter(polyData, tubeRadius)
self.addPolyData(polyData, color=None)
def addTorus(self, radius, thickness, resolution=30):
q = vtk.vtkSuperquadricSource()
q.SetToroidal(1)
q.SetSize(radius)
q.SetThetaResolution(resolution)
# thickness doesnt seem to match to Eucliean units. 0 is none. 1 is full. .1 is a good valve
q.SetThickness(thickness)
q.Update()
# rotate Torus so that the hole axis (internally y), is set to be z, which we use for valves
transform = vtk.vtkTransform()
transform.RotateWXYZ(90,1,0,0)
transformFilter=vtk.vtkTransformPolyDataFilter()
transformFilter.SetTransform(transform)
transformFilter.SetInputConnection(q.GetOutputPort())
transformFilter.Update()
self.addPolyData(transformFilter.GetOutput())
def addEllipsoid(self, center, radii, resolution=24, color=[1, 1, 1]):
"""
Add an ellipsoid centered at [center] with x, y, and z principal axis radii given by
radii = [x_scale, y_scale, z_scale]
"""
sphere = vtk.vtkSphereSource()
sphere.SetCenter([0, 0, 0])
sphere.SetThetaResolution(resolution)
sphere.SetPhiResolution(resolution)
sphere.SetRadius(1.0)
sphere.Update()
transform = vtk.vtkTransform()
transform.Translate(center)
transform.Scale(radii)
transformFilter = vtk.vtkTransformPolyDataFilter()
transformFilter.SetTransform(transform)
transformFilter.SetInputConnection(sphere.GetOutputPort())
transformFilter.Update()
self.addPolyData(transformFilter.GetOutput(), color)
def addEllipsoid(self, center, radii, resolution=24, color=[1,1,1]):
"""
Add an ellipsoid centered at [center] with x, y, and z principal axis radii given by
radii = [x_scale, y_scale, z_scale]
"""
sphere = vtk.vtkSphereSource()
sphere.SetCenter([0,0,0])
sphere.SetThetaResolution(resolution)
sphere.SetPhiResolution(resolution)
sphere.SetRadius(1.0)
sphere.Update()
transform = vtk.vtkTransform()
transform.Translate(center)
transform.Scale(radii)
transformFilter = vtk.vtkTransformPolyDataFilter()
transformFilter.SetTransform(transform)
transformFilter.SetInputConnection(sphere.GetOutputPort())
transformFilter.Update()
self.addPolyData(transformFilter.GetOutput(), color)
