Exemple #1
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def applyVoxelGrid(polyData, leafSize=0.01):

    v = vtk.vtkPCLVoxelGrid()
    v.SetLeafSize(leafSize, leafSize, leafSize)
    v.SetInputData(polyData)  # regression: vtk6->5. was SetInput
    v.Update()
    return shallowCopy(v.GetOutput())
Exemple #2
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def readPolyData(filename, computeNormals=False):

    ext = os.path.splitext(filename)[1].lower()

    readers = {
            '.vtp' : vtk.vtkXMLPolyDataReader,
            '.vtk' : vtk.vtkPolyDataReader,
            '.ply' : vtk.vtkPLYReader,
            '.obj' : vtk.vtkOBJReader,
            '.stl' : vtk.vtkSTLReader,
              }

    try:
        readers['.pcd'] = vtk.vtkPCDReader
    except AttributeError:
        pass

    if ext not in readers:
        raise Exception('Unknown file extension in readPolyData: %s' % filename)

    reader = readers[ext]()
    reader.SetFileName(filename)
    reader.Update()
    polyData = shallowCopy(reader.GetOutput())

    if computeNormals:
        return _computeNormals(polyData)
    else:
        return polyData
Exemple #3
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def readPolyData(filename, computeNormals=False):

    ext = os.path.splitext(filename)[1].lower()

    readers = {
        '.vtp': vtk.vtkXMLPolyDataReader,
        '.vtk': vtk.vtkPolyDataReader,
        '.ply': vtk.vtkPLYReader,
        '.obj': vtk.vtkOBJReader,
        '.stl': vtk.vtkSTLReader,
    }

    try:
        readers['.pcd'] = vtk.vtkPCDReader
    except AttributeError:
        pass

    if ext not in readers:
        raise Exception('Unknown file extension in readPolyData: %s' %
                        filename)

    reader = readers[ext]()
    reader.SetFileName(filename)
    reader.Update()
    polyData = shallowCopy(reader.GetOutput())

    if computeNormals:
        return _computeNormals(polyData)
    else:
        return polyData
def applyVoxelGrid(polyData, leafSize=0.01):

    v = vtk.vtkPCLVoxelGrid()
    v.SetLeafSize(leafSize, leafSize, leafSize)
    v.SetInput(polyData)
    v.Update()
    return shallowCopy(v.GetOutput())
Exemple #5
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def readPolyData(filename, computeNormals=False):

    ext = os.path.splitext(filename)[1].lower()

    readers = {
        ".vtp": vtk.vtkXMLPolyDataReader,
        ".vtk": vtk.vtkPolyDataReader,
        ".ply": vtk.vtkPLYReader,
        ".obj": vtk.vtkOBJReader,
        ".stl": vtk.vtkSTLReader,
    }

    try:
        readers[".pcd"] = vtk.vtkPCDReader
    except AttributeError:
        pass

    if ext not in readers:
        raise Exception("Unknown file extension in readPolyData: %s" %
                        filename)

    reader = readers[ext]()
    reader.SetFileName(filename)
    reader.Update()
    polyData = shallowCopy(reader.GetOutput())
    if ext == ".ply":
        vtk.vtkPCLConversions.AddVertexCells(polyData)

    if computeNormals:
        return _computeNormals(polyData)
    else:
        return polyData
def labelOutliers(dataObj, searchRadius=0.03, neighborsInSearchRadius=10):

    f = vtk.vtkPCLRadiusOutlierRemoval()
    f.SetInput(dataObj)
    f.SetSearchRadius(searchRadius)
    f.SetNeighborsInSearchRadius(int(neighborsInSearchRadius))
    f.Update()
    return shallowCopy(f.GetOutput())
def applyEuclideanClustering(dataObj, clusterTolerance=0.05, minClusterSize=100, maxClusterSize=1e6):

    f = vtk.vtkPCLEuclideanClusterExtraction()
    f.SetInput(dataObj)
    f.SetClusterTolerance(clusterTolerance)
    f.SetMinClusterSize(int(minClusterSize))
    f.SetMaxClusterSize(int(maxClusterSize))
    f.Update()
    return shallowCopy(f.GetOutput())
def applyLineFit(dataObj, distanceThreshold=0.02):

    f = vtk.vtkPCLSACSegmentationLine()
    f.SetInput(dataObj)
    f.SetDistanceThreshold(distanceThreshold)
    f.Update()
    origin = np.array(f.GetLineOrigin())
    direction = np.array(f.GetLineDirection())

    return origin, direction, shallowCopy(f.GetOutput())
def labelPointDistanceAlongAxis(polyData, axis, origin=None, resultArrayName='distance_along_axis'):

    points = vtkNumpy.getNumpyFromVtk(polyData, 'Points')
    if origin is not None:
        points = points - origin
    distanceValues = np.dot(points, axis)
    if origin is None:
        distanceValues -= np.nanmin(distanceValues)
    newData = shallowCopy(polyData)
    vtkNumpy.addNumpyToVtk(newData, distanceValues, resultArrayName)
    return newData
Exemple #10
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def createAxesPolyData(scale, useTube, tubeWidth=0.002):
    axes = vtk.vtkAxes()
    axes.SetComputeNormals(0)
    axes.SetScaleFactor(scale)
    axes.Update()

    if useTube:
        tube = vtk.vtkTubeFilter()
        tube.SetInputConnection(axes.GetOutputPort())
        tube.SetRadius(tubeWidth)
        tube.SetNumberOfSides(12)
        tube.Update()
        axes = tube

    return shallowCopy(axes.GetOutput())
Exemple #11
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    def _createAxes(self, scale, useTube):
        axes = vtk.vtkAxes()
        axes.SetComputeNormals(0)
        axes.SetScaleFactor(scale)
        axes.Update()

        if useTube:
            tube = vtk.vtkTubeFilter()
            tube.SetInput(axes.GetOutput())
            tube.SetRadius(0.002)
            tube.SetNumberOfSides(12)
            tube.Update()
            axes = tube

        return shallowCopy(axes.GetOutput())
Exemple #12
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def createAxesPolyData(scale, useTube, tubeWidth=0.002):
    axes = vtk.vtkAxes()
    axes.SetComputeNormals(0)
    axes.SetScaleFactor(scale)
    axes.Update()

    if useTube:
        tube = vtk.vtkTubeFilter()
        tube.SetInputConnection(axes.GetOutputPort())
        tube.SetRadius(tubeWidth)
        tube.SetNumberOfSides(12)
        tube.Update()
        axes = tube

    return shallowCopy(axes.GetOutput())
Exemple #13
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def readMultiBlock(filename):
    '''Reads a .vtm file and returns a list of vtkPolyData objects'''

    reader = vtk.vtkXMLMultiBlockDataReader()
    reader.SetFileName(filename)
    reader.Update()

    polyDataList = []
    mb = reader.GetOutput()
    for i in xrange(mb.GetNumberOfBlocks()):
        polyData = vtk.vtkPolyData.SafeDownCast(mb.GetBlock(i))
        if polyData and polyData.GetNumberOfPoints():
            polyDataList.append(shallowCopy(polyData))

    return polyDataList
Exemple #14
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def readMultiBlock(filename):
    '''Reads a .vtm file and returns a list of vtkPolyData objects'''

    reader = vtk.vtkXMLMultiBlockDataReader()
    reader.SetFileName(filename)
    reader.Update()

    polyDataList = []
    mb = reader.GetOutput()
    for i in xrange(mb.GetNumberOfBlocks()):
        polyData = vtk.vtkPolyData.SafeDownCast(mb.GetBlock(i))
        if polyData and polyData.GetNumberOfPoints():
            polyDataList.append(shallowCopy(polyData))

    return polyDataList
Exemple #15
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def readImage(filename):

    ext = os.path.splitext(filename)[1].lower()

    readers = {
            '.png' : vtk.vtkPNGReader,
            '.jpg' : vtk.vtkJPEGReader,
              }

    if ext not in readers:
        raise Exception('Unknown file extension in readImage: %s' % filename)

    reader = readers[ext]()
    reader.SetFileName(filename)
    reader.Update()
    image = shallowCopy(reader.GetOutput())
    return image
Exemple #16
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def readImage(filename):

    ext = os.path.splitext(filename)[1].lower()

    readers = {
        '.png': vtk.vtkPNGReader,
        '.jpg': vtk.vtkJPEGReader,
    }

    if ext not in readers:
        raise Exception('Unknown file extension in readImage: %s' % filename)

    reader = readers[ext]()
    reader.SetFileName(filename)
    reader.Update()
    image = shallowCopy(reader.GetOutput())
    return image
Exemple #17
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    def addPolyData(self, polyData, color=[1,1,1], extraLabels=None):
        '''
        Add a vtkPolyData to the debug data.  A color can be provided.
        If the extraLabels argument is used, it should be a list of tuples,
        each tuple is (labelName, labelValue) where labelName is a string and
        labelValue is an int or float.  An array with labelName will be filled
        with labelValue and added to the poly data.
        '''
        polyData = shallowCopy(polyData)

        if color is not None:
            colorArray = np.empty((polyData.GetNumberOfPoints(), 3), dtype=np.uint8)
            colorArray[:,:] = np.array(color)*255
            addNumpyToVtk(polyData, colorArray, 'RGB255')

        if extraLabels is not None:
            for labelName, labelValue in extraLabels:
                extraArray = np.empty((polyData.GetNumberOfPoints(), 1), dtype=type(labelValue))
                extraArray[:] = labelValue
                addNumpyToVtk(polyData, extraArray, labelName)

        self.append.AddInput(polyData)
Exemple #18
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def _triangulate(polyData):
    normals = vtk.vtkTriangleFilter()
    normals.SetInput(polyData)
    normals.Update()
    return shallowCopy(normals.GetOutput())
Exemple #19
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    def getPolyData(self):

        if self.append.GetNumberOfInputConnections(0):
            self.append.Update()
        return shallowCopy(self.append.GetOutput())
Exemple #20
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def _computeNormals(polyData):
    normals = vtk.vtkPolyDataNormals()
    normals.SetFeatureAngle(45)
    normals.SetInput(polyData)
    normals.Update()
    return shallowCopy(normals.GetOutput())
Exemple #21
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def _computeNormals(polyData):
    normals = vtk.vtkPolyDataNormals()
    normals.SetFeatureAngle(45)
    normals.SetInput(polyData)
    normals.Update()
    return shallowCopy(normals.GetOutput())
Exemple #22
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def _triangulate(polyData):
    normals = vtk.vtkTriangleFilter()
    normals.SetInput(polyData)
    normals.Update()
    return shallowCopy(normals.GetOutput())