def onMergeIntoPointCloud(): allPointClouds = om.findObjectByName("point clouds") if allPointClouds: allPointClouds = [ i.getProperty("Name") for i in allPointClouds.children() ] sel = QtGui.QInputDialog.getItem( None, "Point Cloud Merging", "Pick point cloud to merge into:", allPointClouds, current=0, editable=False, ) sel = om.findObjectByName(sel) # Make a copy of each in same frame polyDataInto = vtk.vtkPolyData() polyDataInto.ShallowCopy(sel.polyData) if sel.getChildFrame(): polyDataInto = segmentation.transformPolyData( polyDataInto, sel.getChildFrame().transform) polyDataFrom = vtk.vtkPolyData() polyDataFrom.DeepCopy(pointCloudObj.polyData) if pointCloudObj.getChildFrame(): polyDataFrom = segmentation.transformPolyData( polyDataFrom, pointCloudObj.getChildFrame().transform) # Actual merge append = filterUtils.appendPolyData([polyDataFrom, polyDataInto]) if sel.getChildFrame(): polyDataInto = segmentation.transformPolyData( polyDataInto, sel.getChildFrame().transform.GetInverse()) # resample append = segmentationroutines.applyVoxelGrid(append, 0.01) append = segmentation.addCoordArraysToPolyData(append) # Recenter the frame sel.setPolyData(append) t = vtk.vtkTransform() t.PostMultiply() t.Translate(filterUtils.computeCentroid(append)) segmentation.makeMovable(sel, t) # Hide the old one if pointCloudObj.getProperty("Name") in allPointClouds: pointCloudObj.setProperty("Visible", False)
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 run(self): polyData = self.getPointCloud() annotation = self.getAnnotationInput() annotationPoint = annotation.annotationPoints[0] planePoints, normal = segmentation.applyLocalPlaneFit(polyData, annotationPoint, searchRadius=0.1, searchRadiusEnd=0.2) viewDirection = segmentation.SegmentationContext.getGlobalInstance().getViewDirection() if np.dot(normal, viewDirection) < 0: normal = -normal xaxis = normal zaxis = [0, 0, 1] yaxis = np.cross(zaxis, xaxis) xaxis = np.cross(yaxis, zaxis) xaxis /= np.linalg.norm(xaxis) yaxis /= np.linalg.norm(yaxis) t = transformUtils.getTransformFromAxes(xaxis, yaxis, zaxis) t.PostMultiply() t.Translate(annotationPoint) polyData = annotation.polyData polyData = segmentation.transformPolyData(polyData, t.GetLinearInverse()) annotation.setProperty('Visible', False) om.removeFromObjectModel(om.findObjectByName('wall')) obj = vis.showPolyData(polyData, 'wall') obj.actor.SetUserTransform(t) vis.showFrame(t, 'wall frame', scale=0.2, parent=obj)
def onMergeIntoPointCloud(): allPointClouds = om.findObjectByName('point clouds') if allPointClouds: allPointClouds = [i.getProperty('Name') for i in allPointClouds.children()] sel = QtGui.QInputDialog.getItem(None, "Point Cloud Merging", "Pick point cloud to merge into:", allPointClouds, current=0, editable=False) sel = om.findObjectByName(sel) # Make a copy of each in same frame polyDataInto = vtk.vtkPolyData() polyDataInto.ShallowCopy(sel.polyData) if sel.getChildFrame(): polyDataInto = segmentation.transformPolyData(polyDataInto, sel.getChildFrame().transform) polyDataFrom = vtk.vtkPolyData() polyDataFrom.DeepCopy(pointCloudObj.polyData) if pointCloudObj.getChildFrame(): polyDataFrom = segmentation.transformPolyData(polyDataFrom, pointCloudObj.getChildFrame().transform) # Actual merge append = filterUtils.appendPolyData([polyDataFrom, polyDataInto]) if sel.getChildFrame(): polyDataInto = segmentation.transformPolyData(polyDataInto, sel.getChildFrame().transform.GetInverse()) # resample append = segmentationroutines.applyVoxelGrid(append, 0.01) append = segmentation.addCoordArraysToPolyData(append) # Recenter the frame sel.setPolyData(append) t = vtk.vtkTransform() t.PostMultiply() t.Translate(filterUtils.computeCentroid(append)) segmentation.makeMovable(sel, t) # Hide the old one if pointCloudObj.getProperty('Name') in allPointClouds: pointCloudObj.setProperty('Visible', False)
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)