def startAnnotationPicker(self):
view = robotSystem.view
polyData = self.getPointCloud()
self.picker = pointpicker.PointPicker(view, numberOfPoints=self.properties.getProperty('Number of points'), drawLines=True, callback=self.onAnnotationComplete, abortCallback=self.onAnnotationAborted)
self.picker.annotationName = self.properties.getProperty('Annotation name')
self.picker.annotationFolder = 'annotations'
self.picker.pickType = 'points' if polyData.GetNumberOfCells() == polyData.GetNumberOfVerts() else 'render'
self.aborted = False
self.picker.start()
def __init__(self, robotSystem, cameraView):
self.meshPoints = None
self.imagePoints = None
self.cameraView = cameraView
self.robotMesh = vtk.vtkPolyData()
robotSystem.robotStateModel.model.getModelMesh(self.robotMesh)
self.robotBaseFrame = robotSystem.robotStateModel.getLinkFrame('base')
self.view = PythonQt.dd.ddQVTKWidgetView()
vis.showPolyData(self.robotMesh, 'robot mesh', view=self.view)
self.imageFitter = ImageFitter(self)
vis.showPolyData(self.imageFitter.getPointCloud(),
'pointcloud',
view=self.view,
colorByName='rgb_colors',
visible=False)
self.picker = pointpicker.PointPicker(self.view)
self.picker.pickType = 'cells'
self.picker.numberOfPoints = 3
self.picker.annotationName = 'mesh annotation'
self.picker.annotationFunc = self.onPickPoints
self.picker.start()
self.widget = QtGui.QWidget()
layout = QtGui.QHBoxLayout(self.widget)
layout.addWidget(self.cameraView.view)
layout.addWidget(self.view)
self.widget.resize(800, 400)
self.widget.setWindowTitle('Camera Alignment Tool')
self.widget.show()
self.viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
applogic.resetCamera(viewDirection=[0, 1, 0], view=self.view)
applogic.setCameraTerrainModeEnabled(self.view, True)
def __init__(self, cameraView, modelPolyData=None, pointCloud=None, resultsDict=None, visualize=True, callback=None):
self.modelPolyData = modelPolyData
self.pointCloud = pointCloud
self.resultsDict = resultsDict
self.visualize = visualize
self.callback = callback
self.parent = om.getOrCreateContainer('object alignment')
self.meshPoints = None
self.imagePoints = None
self.cameraView = cameraView
# viewer for the object
self.view = PythonQt.dd.ddQVTKWidgetView()
# add some special logic to show colors if they exist
colorByName = 'RGB255'
if not self.modelPolyData.GetPointData().GetArray(colorByName):
colorByName = None
vis.showPolyData(self.modelPolyData, 'object poly data', view=self.view,
parent=self.parent, colorByName=colorByName)
self.imageFitter = ImageFitter(self, pointCloud)
self.picker = pointpicker.PointPicker(self.view)
self.picker.pickType = 'cells' # might need to change this
self.picker.numberOfPoints = 3
self.picker.annotationName = 'mesh annotation'
self.picker.annotationFunc = self.onPickPoints
self.picker.start()
# viewer for the pointcloud
self.sceneView = PythonQt.dd.ddQVTKWidgetView()
vis.showPolyData(self.pointCloud, 'pointcloud', view=self.sceneView, colorByName='RGB', parent=self.parent)
self.scenePicker = pointpicker.PointPicker(self.sceneView)
self.scenePicker.pickType = 'points' # might need to change this
self.scenePicker.numberOfPoints = 3
self.scenePicker.annotationName = 'pointcloud annotation'
self.scenePicker.annotationFunc = self.onScenePickPoints
self.scenePicker.start()
# workaround bug in PointPicker implementation
for name in [self.picker.annotationName, self.scenePicker.annotationName]:
om.removeFromObjectModel(om.findObjectByName(name))
self.widget = QtGui.QWidget()
layout = QtGui.QHBoxLayout(self.widget)
# layout.addWidget(self.cameraView.view)
layout.addWidget(self.sceneView)
layout.addWidget(self.view)
# self.widget.resize(800, 400)
self.widget.showMaximized()
self.widget.setWindowTitle('Camera Alignment Tool')
self.widget.show()
self.viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
applogic.resetCamera(viewDirection=[0,1,0], view=self.view)
applogic.setCameraTerrainModeEnabled(self.view, True)
self.sceneViewBehaviors = viewbehaviors.ViewBehaviors(self.sceneView)
applogic.resetCamera(viewDirection=[0, 1, 0], view=self.sceneView)
applogic.setCameraTerrainModeEnabled(self.sceneView, True)