def onCopyPointCloud():
global lastRandomColor
polyData = vtk.vtkPolyData()
polyData.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyData = segmentation.transformPolyData(
polyData,
pointCloudObj.getChildFrame().transform)
polyData = segmentation.addCoordArraysToPolyData(polyData)
# generate random color, and average with a common color to make them generally similar
lastRandomColor = lastRandomColor + 0.1 + 0.1 * random.random()
rgb = colorsys.hls_to_rgb(lastRandomColor, 0.7, 1.0)
obj = vis.showPolyData(polyData,
pointCloudObj.getProperty('Name') + ' copy',
color=rgb,
parent='point clouds')
#t = vtk.vtkTransform()
#t.PostMultiply()
#t.Translate(filterUtils.computeCentroid(polyData))
#segmentation.makeMovable(obj, t)
om.setActiveObject(obj)
pickedObj.setProperty('Visible', False)
def cycleEndEffector(self):
if len(self.endEffectorFrames) is not 0:
self.clearKeyframePoses()
self.endEffectorFrames[self.endEffectorIndex].setProperty("Edit", False)
self.endEffectorIndex = (self.endEffectorIndex + 1) % len(self.endEffectorFrames)
self.endEffectorFrames[self.endEffectorIndex].setProperty("Edit", True)
om.setActiveObject(self.endEffectorFrames[self.endEffectorIndex])
self.baseFrame = self.endEffectorFrames[self.endEffectorIndex]
self.baseTransform = transformUtils.copyFrame(self.baseFrame.transform)
self.resetDeltas()
self.addKeyframePose()
def cycleEndEffector(self):
if len(self.endEffectorFrames) is not 0:
self.clearKeyframePoses()
self.endEffectorFrames[self.endEffectorIndex].setProperty(
'Edit', False)
self.endEffectorIndex = (self.endEffectorIndex + 1) % len(
self.endEffectorFrames)
self.endEffectorFrames[self.endEffectorIndex].setProperty(
'Edit', True)
om.setActiveObject(self.endEffectorFrames[self.endEffectorIndex])
self.baseFrame = self.endEffectorFrames[self.endEffectorIndex]
self.baseTransform = transformUtils.copyFrame(
self.baseFrame.transform)
self.resetDeltas()
self.addKeyframePose()
def onCopyPointCloud():
global lastRandomColor
polyData = vtk.vtkPolyData()
polyData.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyData = segmentation.transformPolyData(polyData, pointCloudObj.getChildFrame().transform)
polyData = segmentation.addCoordArraysToPolyData(polyData)
# generate random color, and average with a common color to make them generally similar
lastRandomColor = lastRandomColor + 0.1 + 0.1*random.random()
rgb = colorsys.hls_to_rgb(lastRandomColor, 0.7, 1.0)
obj = vis.showPolyData(polyData, pointCloudObj.getProperty('Name') + ' copy', color=rgb, parent='point clouds')
#t = vtk.vtkTransform()
#t.PostMultiply()
#t.Translate(filterUtils.computeCentroid(polyData))
#segmentation.makeMovable(obj, t)
om.setActiveObject(obj)
pickedObj.setProperty('Visible', False)
def onDiskGlyph():
result = segmentation.applyDiskGlyphs(pointCloudObj.polyData)
obj = vis.showPolyData(result, 'disks', color=[0.8,0.8,0.8])
om.setActiveObject(obj)
pickedObj.setProperty('Visible', False)
def onSelect():
om.setActiveObject(pickedObj)
def onDiskGlyph():
result = segmentation.applyDiskGlyphs(pointCloudObj.polyData)
obj = vis.showPolyData(result, 'disks', color=[0.8, 0.8, 0.8])
om.setActiveObject(obj)
pickedObj.setProperty('Visible', False)
def onSelect():
om.setActiveObject(pickedObj)
def onPick(objs):
om.setActiveObject(objs[0])
iiwaplanning.fitSelectedGeometryObject()
