center = segmentation.computeCentroid(chull.polyData) chullPoints = vnp.getNumpyFromVtk(chull.polyData, 'Points') d.addLine(plane.GetOrigin(), np.array(plane.GetOrigin()) + 0.005 * np.array(plane.GetNormal()), radius=0.0001, color=[0, 0, 0]) #d.addArrow(plane.GetOrigin(), np.array(plane.GetOrigin()) + 0.01 * np.array(plane.GetNormal()), headRadius=0.001, tubeRadius=0.0002) #d.addSphere(chullPoints[0], radius=0.001, color=[1,0,0]) #d.addSphere(chullPoints[1], radius=0.001, color=[0,1,0]) vis.showPolyData(d.getPolyData(), 'plane normals', colorByName='RGB255') #saveConvexHulls(chulls, name) #vis.showPolyData(ioUtils.readPolyData(os.path.join(name, 'merged_planes.ply')), 'merged_planes') applogic.resetCamera([1, 1, 0]) applogic.setBackgroundColor([1, 1, 1]) view.orientationMarkerWidget().Off() app.gridObj.setProperty('Color', [0, 0, 0]) app.gridObj.setProperty('Surface Mode', 'Surface with edges') orbit = cameracontrol.OrbitController(view) screenGrabberPanel = screengrabberpanel.ScreenGrabberPanel(view) if app.getTestingInteractiveEnabled(): view.show() view.resize(1280, 1024) app.start()
return trackers.PointerTracker(robotStateModel, disparityPointCloud) if useOpenniDepthImage: openniDepthPointCloud = segmentation.DisparityPointCloudItem( 'openni point cloud', 'OPENNI_FRAME', 'OPENNI_FRAME_LEFT', cameraview.imageManager) openniDepthPointCloud.addToView(view) om.addToObjectModel(openniDepthPointCloud, parentObj=om.findObjectByName('sensors')) if useGrid: grid = vis.showGrid(view, color=[0, 0, 0], alpha=0.1) grid.setProperty('Surface Mode', 'Surface with edges') app.setBackgroundColor([0.3, 0.3, 0.35], [0.95, 0.95, 1]) viewOptions = vis.ViewOptionsItem(view) om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors')) viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler( viewOptions, grid, app.getToolsMenuActions()['ActionToggleBackgroundLight']) if not useLightColorScheme: viewBackgroundLightHandler.action.trigger() if useHands: handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel, robotStateJointController, view) else: app.removeToolbarMacro('ActionHandControlPanel')
def createPointerTracker(): return trackers.PointerTracker(robotStateModel, disparityPointCloud) if useOpenniDepthImage: openniDepthPointCloud = segmentation.DisparityPointCloudItem('openni point cloud', 'OPENNI_FRAME', 'OPENNI_FRAME_LEFT', cameraview.imageManager) openniDepthPointCloud.addToView(view) om.addToObjectModel(openniDepthPointCloud, parentObj=om.findObjectByName('sensors')) if useGrid: grid = vis.showGrid(view, color=[0,0,0], alpha=0.1) grid.setProperty('Surface Mode', 'Surface with edges') app.setBackgroundColor([0.3, 0.3, 0.35], [0.95,0.95,1]) viewOptions = vis.ViewOptionsItem(view) om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors')) viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(viewOptions, grid, app.getToolsMenuActions()['ActionToggleBackgroundLight']) if not useLightColorScheme: viewBackgroundLightHandler.action.trigger() if useHands: handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel, robotStateJointController, view) else: app.removeToolbarMacro('ActionHandControlPanel')
chull.setProperty('Surface Mode', 'Surface with edges') chull.actor.GetProperty().SetLineWidth(3) center = segmentation.computeCentroid(chull.polyData) chullPoints = vnp.getNumpyFromVtk(chull.polyData, 'Points') d.addLine(plane.GetOrigin(), np.array(plane.GetOrigin()) + 0.005 * np.array(plane.GetNormal()), radius=0.0001, color=[0,0,0]) #d.addArrow(plane.GetOrigin(), np.array(plane.GetOrigin()) + 0.01 * np.array(plane.GetNormal()), headRadius=0.001, tubeRadius=0.0002) #d.addSphere(chullPoints[0], radius=0.001, color=[1,0,0]) #d.addSphere(chullPoints[1], radius=0.001, color=[0,1,0]) vis.showPolyData(d.getPolyData(), 'plane normals', colorByName='RGB255') #saveConvexHulls(chulls, name) #vis.showPolyData(ioUtils.readPolyData(os.path.join(name, 'merged_planes.ply')), 'merged_planes') applogic.resetCamera([1,1,0]) applogic.setBackgroundColor([1,1,1]) view.orientationMarkerWidget().Off() app.gridObj.setProperty('Color', [0,0,0]) app.gridObj.setProperty('Surface Mode', 'Surface with edges') orbit = cameracontrol.OrbitController(view) screenGrabberPanel = screengrabberpanel.ScreenGrabberPanel(view) if app.getTestingInteractiveEnabled(): view.show() view.resize(1280, 1024) app.start()