def fitObjectsOnShelf(polyData, maxHeight = 0.25):
# find the shelf plane:
polyDataWithoutFront, _ = segmentation.removeMajorPlane(polyData, distanceThreshold=0.02)
polyDataPlaneFit, origin, normal = segmentation.applyPlaneFit(polyDataWithoutFront, expectedNormal=np.array([0.0,0.0,1.0]), perpendicularAxis=np.array([0.0,0.0,1.0]), returnOrigin=True)
vis.updatePolyData(polyDataPlaneFit, 'polyDataPlaneFit', parent='segmentation', visible=False)
shelfSurfacePoints = segmentation.thresholdPoints(polyDataPlaneFit, 'dist_to_plane', [-0.01, 0.01])
shelfCenter = segmentation.computeCentroid(shelfSurfacePoints)
shelfFrame = transformUtils.getTransformFromOriginAndNormal(shelfCenter, normal, normalAxis=2)
vis.showFrame(shelfFrame, 'shelfFrame', parent='segmentation', scale=0.15 , visible=False)
# find the points near to the shelf plane and find objects on it:
points = vnp.getNumpyFromVtk(polyData, 'Points')
dist = np.dot(points - origin, normal)
vnp.addNumpyToVtk(polyData, dist, 'dist_to_plane')
shelfPoints = segmentation.thresholdPoints(polyData, 'dist_to_plane', [-0.01, maxHeight])
vis.updatePolyData(shelfPoints, 'shelf', parent='segmentation', visible=False)
data = segmentation.segmentTableScene(shelfPoints, shelfCenter, filterClustering = False )
vis.showClusterObjects(data.clusters + [data.table], parent='segmentation')
# remove the points that we considered from the orginal cloud
dists = vnp.getNumpyFromVtk(polyData, 'dist_to_plane')
diffShelf = ( ((dists > maxHeight) + (dists < -0.01))) + 0.1 -0.1
vnp.addNumpyToVtk(polyData, diffShelf, 'diff_shelf')
polyData = segmentation.thresholdPoints(polyData, 'diff_shelf', [1, 1])
vis.updatePolyData(polyData, 'rest', parent='segmentation', visible=False)
return polyData
def fitObjectsOnShelf(polyData, maxHeight = 0.25):
# find the shelf plane:
polyDataWithoutFront, _ = segmentation.removeMajorPlane(polyData, distanceThreshold=0.02)
polyDataPlaneFit, origin, normal = segmentation.applyPlaneFit(polyDataWithoutFront, expectedNormal=np.array([0.0,0.0,1.0]), perpendicularAxis=np.array([0.0,0.0,1.0]), returnOrigin=True)
vis.updatePolyData(polyDataPlaneFit, 'polyDataPlaneFit', parent='segmentation', visible=False)
shelfSurfacePoints = segmentation.thresholdPoints(polyDataPlaneFit, 'dist_to_plane', [-0.01, 0.01])
shelfCenter = segmentation.computeCentroid(shelfSurfacePoints)
shelfFrame = transformUtils.getTransformFromOriginAndNormal(shelfCenter, normal, normalAxis=2)
vis.showFrame(shelfFrame, 'shelfFrame', parent='segmentation', scale=0.15 , visible=False)
# find the points near to the shelf plane and find objects on it:
points = vnp.getNumpyFromVtk(polyData, 'Points')
dist = np.dot(points - origin, normal)
vnp.addNumpyToVtk(polyData, dist, 'dist_to_plane')
shelfPoints = segmentation.thresholdPoints(polyData, 'dist_to_plane', [-0.01, maxHeight])
vis.updatePolyData(shelfPoints, 'shelf', parent='segmentation', visible=False)
data = segmentation.segmentTableScene(shelfPoints, shelfCenter, filterClustering = False )
vis.showClusterObjects(data.clusters + [data.table], parent='segmentation')
# remove the points that we considered from the orginal cloud
dists = vnp.getNumpyFromVtk(polyData, 'dist_to_plane')
diffShelf = ( ((dists > maxHeight) + (dists < -0.01))) + 0.1 -0.1
vnp.addNumpyToVtk(polyData, diffShelf, 'diff_shelf')
polyData = segmentation.thresholdPoints(polyData, 'diff_shelf', [1, 1])
vis.updatePolyData(polyData, 'rest', parent='segmentation', visible=False)
return polyData
def removePlaneAndBeyond(polyData, expectedNormal=[1,0,0], filterRange=[-np.inf, -0.03], whichAxis=1, whichAxisLetter='y', percentile = 95):
yvalues = vnp.getNumpyFromVtk(polyData, 'Points')[:, whichAxis]
backY = np.percentile(yvalues, percentile)
if ( percentile > 50):
searchRegion = segmentation.thresholdPoints(polyData, whichAxisLetter, [backY - 0.1, np.inf])
else:
searchRegion = segmentation.thresholdPoints(polyData, whichAxisLetter, [-np.inf, backY + 0.1])
vis.updatePolyData(searchRegion, 'search region', parent="segmentation", colorByName=whichAxisLetter, visible=False)
# find the plane of the back wall, remove it and the points behind it:
_, origin, normal = segmentation.applyPlaneFit(searchRegion, distanceThreshold=0.02, expectedNormal=expectedNormal, perpendicularAxis=expectedNormal, returnOrigin=True)
points = vnp.getNumpyFromVtk(polyData, 'Points')
dist = np.dot(points - origin, normal)
vnp.addNumpyToVtk(polyData, dist, 'dist_to_plane')
backFrame = transformUtils.getTransformFromOriginAndNormal(origin, normal, normalAxis=2)
vis.updateFrame(backFrame, 'back frame', parent='segmentation', scale=0.15 , visible=False)
vis.updatePolyData(polyData, 'dist to back', parent='segmentation', visible=False)
polyData = segmentation.thresholdPoints(polyData, 'dist_to_plane', filterRange)
vis.updatePolyData(polyData, 'back off and all', parent='segmentation', visible=False)
return polyData
def removePlaneAndBeyond(polyData, expectedNormal=[1,0,0], filterRange=[-np.inf, -0.03], whichAxis=1, whichAxisLetter='y', percentile = 95):
yvalues = vnp.getNumpyFromVtk(polyData, 'Points')[:, whichAxis]
backY = np.percentile(yvalues, percentile)
if ( percentile > 50):
searchRegion = segmentation.thresholdPoints(polyData, whichAxisLetter, [backY - 0.1, np.inf])
else:
searchRegion = segmentation.thresholdPoints(polyData, whichAxisLetter, [-np.inf, backY + 0.1])
vis.updatePolyData(searchRegion, 'search region', parent="segmentation", colorByName=whichAxisLetter, visible=False)
# find the plane of the back wall, remove it and the points behind it:
_, origin, normal = segmentation.applyPlaneFit(searchRegion, distanceThreshold=0.02, expectedNormal=expectedNormal, perpendicularAxis=expectedNormal, returnOrigin=True)
points = vnp.getNumpyFromVtk(polyData, 'Points')
dist = np.dot(points - origin, normal)
vnp.addNumpyToVtk(polyData, dist, 'dist_to_plane')
backFrame = transformUtils.getTransformFromOriginAndNormal(origin, normal, normalAxis=2)
vis.updateFrame(backFrame, 'back frame', parent='segmentation', scale=0.15 , visible=False)
vis.updatePolyData(polyData, 'dist to back', parent='segmentation', visible=False)
polyData = segmentation.thresholdPoints(polyData, 'dist_to_plane', filterRange)
vis.updatePolyData(polyData, 'back off and all', parent='segmentation', visible=False)
return polyData
def segmentTable(scenePolyData=None,
searchRadius=0.3,
visualize=True,
thickness=0.01,
pointOnTable=None,
pointAboveTable=None,
computeAboveTablePolyData=False):
"""
This requires two clicks using measurement panel. One on the table, one above the table on one of the objects. Call them point0, point1. Then we will attempt to fit a plane that passes through point0 with approximate normal point1 - point0
:param scenePolyData:
:param searchRadius:
:return:
"""
if scenePolyData is None:
scenePolyData = om.findObjectByName('reconstruction').polyData
assert scenePolyData is not None
assert pointOnTable is not None
assert pointAboveTable is not None
expectedNormal = pointAboveTable - pointOnTable
expectedNormal = expectedNormal / np.linalg.norm(expectedNormal)
polyData, normal = segmentation.applyPlaneFit(
scenePolyData,
searchOrigin=pointOnTable,
searchRadius=searchRadius,
expectedNormal=expectedNormal)
# get points above plane
abovePolyData = None
belowPolyData = None
if computeAboveTablePolyData:
abovePolyData = filterUtils.thresholdPoints(
polyData, 'dist_to_plane', [thickness / 2.0, np.inf])
belowPolyData = filterUtils.thresholdPoints(
polyData, 'dist_to_plane', [-np.inf, -thickness / 2.0])
# some debugging visualization
if visualize:
visFolder = om.getOrCreateContainer('debug')
if abovePolyData is not None:
vis.showPolyData(abovePolyData,
'above table segmentation',
color=[0, 1, 0],
parent=visFolder)
arrowLength = 0.3
headRadius = 0.02
d = DebugData()
visFolder = om.getOrCreateContainer('debug')
d.addArrow(pointOnTable,
pointOnTable + arrowLength * expectedNormal,
headRadius=headRadius)
vis.showPolyData(d.getPolyData(),
'expected normal',
color=[1, 0, 0],
parent=visFolder)
d = DebugData()
d.addArrow(pointOnTable,
pointOnTable + arrowLength * normal,
headRadius=headRadius)
vis.showPolyData(d.getPolyData(),
'computed normal',
color=[0, 1, 0],
parent=visFolder)
returnData = dict()
returnData['abovePolyData'] = abovePolyData
returnData['polyData'] = polyData
returnData['normal'] = normal
returnData['pointOnTable'] = pointOnTable
return returnData