def applyCameraTexture(obj, imageManager, imageName='CAMERA_LEFT'):
imageUtime = imageManager.getUtime(imageName)
if not imageUtime:
return
cameraToLocal = vtk.vtkTransform()
imageManager.queue.getTransform(imageName, 'local', imageUtime,
cameraToLocal)
pd = filterUtils.transformPolyData(obj.polyData,
obj.actor.GetUserTransform())
pd = filterUtils.transformPolyData(pd, cameraToLocal.GetLinearInverse())
imageManager.queue.computeTextureCoords(imageName, pd)
tcoordsArrayName = 'tcoords_%s' % imageName
tcoords = pd.GetPointData().GetArray(tcoordsArrayName)
assert tcoords
obj.polyData.GetPointData().SetTCoords(None)
obj.polyData.GetPointData().SetTCoords(tcoords)
obj._updateColorByProperty()
obj.actor.SetTexture(imageManager.getTexture(imageName))
obj.actor.GetProperty().LightingOff()
obj.actor.GetProperty().SetColor([1, 1, 1])
def applyCameraTexture(obj, imageManager, imageName='CAMERA_LEFT'):
imageUtime = imageManager.getUtime(imageName)
if not imageUtime:
return
cameraToLocal = vtk.vtkTransform()
imageManager.queue.getTransform(imageName, 'local', imageUtime, cameraToLocal)
pd = filterUtils.transformPolyData(obj.polyData, obj.actor.GetUserTransform())
pd = filterUtils.transformPolyData(pd, cameraToLocal.GetLinearInverse())
imageManager.queue.computeTextureCoords(imageName, pd)
tcoordsArrayName = 'tcoords_%s' % imageName
tcoords = pd.GetPointData().GetArray(tcoordsArrayName)
assert tcoords
obj.polyData.GetPointData().SetTCoords(None)
obj.polyData.GetPointData().SetTCoords(tcoords)
obj._updateColorByProperty()
obj.actor.SetTexture(imageManager.getTexture(imageName))
obj.actor.GetProperty().LightingOff()
obj.actor.GetProperty().SetColor([1,1,1])
def drawFrameInCamera(t, frameName='new frame',visible=True):
v = imageView.view
q = cameraview.imageManager.queue
localToCameraT = vtk.vtkTransform()
q.getTransform('local', 'CAMERA_LEFT', localToCameraT)
res = vis.showFrame( vtk.vtkTransform() , 'temp',view=v, visible=True, scale = 0.2)
om.removeFromObjectModel(res)
pd = res.polyData
pd = filterUtils.transformPolyData(pd, t)
pd = filterUtils.transformPolyData(pd, localToCameraT)
q.projectPoints('CAMERA_LEFT', pd )
vis.showPolyData(pd, ('overlay ' + frameName), view=v, colorByName='Axes',parent='camera overlay',visible=visible)
def updateObjectInCamera(self, obj, cameraObj):
imageView = self.imageView
objToLocalT = transformUtils.copyFrame(obj.actor.GetUserTransform()
or vtk.vtkTransform())
localToCameraT = vtk.vtkTransform()
self.imageQueue.getTransform('local', imageView.imageName,
localToCameraT)
t = vtk.vtkTransform()
t.PostMultiply()
t.Concatenate(objToLocalT)
t.Concatenate(localToCameraT)
pd = filterUtils.transformPolyData(obj.polyData, t)
'''
normals = pd.GetPointData().GetNormals()
cameraToImageT = vtk.vtkTransform()
imageQueue.getCameraProjectionTransform(imageView.imageName, cameraToImageT)
pd = filterUtils.transformPolyData(pd, cameraToImageT)
pts = vnp.getNumpyFromVtk(pd, 'Points')
pts[:,0] /= pts[:,2]
pts[:,1] /= pts[:,2]
pd.GetPointData().SetNormals(normals)
'''
self.imageQueue.projectPoints(imageView.imageName, pd)
cameraObj.setPolyData(pd)
self.addActorToImageOverlay(cameraObj, imageView)
def promotePolyDataItem(cls, obj):
parent = obj.parent()
view = obj.views[0]
name = obj.getProperty('Name')
polyData = obj.polyData
props = obj.properties._properties
childFrame = obj.getChildFrame()
if childFrame:
t = transformUtils.copyFrame(childFrame.transform)
else:
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
polyData = filterUtils.transformPolyData(polyData, t.GetLinearInverse())
children = [c for c in obj.children() if c is not childFrame]
meshId = cls.getMeshManager().add(polyData)
om.removeFromObjectModel(obj)
obj = MeshAffordanceItem(name, view)
obj.setProperty('Filename', meshId)
om.addToObjectModel(obj, parentObj=parent)
frame = vis.addChildFrame(obj)
frame.copyFrame(t)
for child in children:
om.addToObjectModel(child, parentObj=obj)
obj.syncProperties(props)
return obj
def transformGeometry(polyDataList, geom):
t = transformUtils.transformFromPose(geom.position, geom.quaternion)
polyDataList = [
filterUtils.transformPolyData(polyData, t)
for polyData in polyDataList
]
return polyDataList
def buildRobot(x=0, y=0):
#print "building robot"
polyData = ioUtils.readPolyData('celica.obj')
scale = 0.04
t = vtk.vtkTransform()
t.RotateZ(90)
t.Scale(scale, scale, scale)
polyData = filterUtils.transformPolyData(polyData, t)
#d = DebugData()
#d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1)
#polyData = d.getPolyData()
obj = vis.showPolyData(polyData, 'robot')
robotFrame = vis.addChildFrame(obj)
# this makes sure we can only rotate it in two dimensions
robotFrame.setProperty('Scale', 3)
robotFrame.setProperty('Edit', True)
robotFrame.widget.HandleRotationEnabledOff()
rep = robotFrame.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
return obj, robotFrame
def newPolyData(self, name, view, parent=None):
self.handModel.model.setJointPositions(
np.zeros(self.handModel.model.numberOfJoints()))
polyData = vtk.vtkPolyData()
self.handModel.model.getModelMesh(polyData)
polyData = filterUtils.transformPolyData(polyData, self.modelToPalm)
if isinstance(parent, str):
parent = om.getOrCreateContainer(parent)
color = [1.0, 1.0, 0.0]
if self.side == 'right':
color = [0.33, 1.0, 0.0]
obj = vis.showPolyData(polyData,
name,
view=view,
color=color,
visible=False,
parent=parent)
obj.side = self.side
frame = vtk.vtkTransform()
frame.PostMultiply()
obj.actor.SetUserTransform(frame)
frameObj = vis.showFrame(frame,
'%s frame' % name,
view=view,
scale=0.2,
visible=False,
parent=obj)
return obj
def drawObjectInCamera(objectName,visible=True):
v = imageView.view
q = cameraview.imageManager.queue
localToCameraT = vtk.vtkTransform()
q.getTransform('local', 'CAMERA_LEFT', localToCameraT)
obj = om.findObjectByName(objectName)
if obj is None:
return
objToLocalT = transformUtils.copyFrame(obj.actor.GetUserTransform() or vtk.vtkTransform())
objPolyDataOriginal = obj.polyData
pd = objPolyDataOriginal
pd = filterUtils.transformPolyData(pd, objToLocalT)
pd = filterUtils.transformPolyData(pd, localToCameraT)
q.projectPoints('CAMERA_LEFT', pd)
vis.showPolyData(pd, ('overlay ' + objectName), view=v, color=[0,1,0],parent='camera overlay',visible=visible)
def showFusedMaps(self):
om.removeFromObjectModel(om.findObjectByName('stereo'))
om.getOrCreateContainer('stereo')
q = imageManager.queue
cameraToLocalNow = vtk.vtkTransform()
utime = q.getCurrentImageTime('CAMERA_TSDF')
q.getTransform('CAMERA_LEFT', 'local', utime, cameraToLocalNow)
cameraToLocalFusedNow = vtk.vtkTransform()
q.getTransform('CAMERA_LEFT_ALT', 'local', utime,
cameraToLocalFusedNow)
for i in range(len(self.pointClouds)):
fusedNowToLocalNow = vtk.vtkTransform()
fusedNowToLocalNow.PreMultiply()
fusedNowToLocalNow.Concatenate(cameraToLocalNow)
fusedNowToLocalNow.Concatenate(
cameraToLocalFusedNow.GetLinearInverse())
fusedTransform = vtk.vtkTransform()
fusedTransform.PreMultiply()
fusedTransform.Concatenate(fusedNowToLocalNow)
fusedTransform.Concatenate(self.cameraToLocalFusedTransforms[i])
pd = filterUtils.transformPolyData(self.pointClouds[i],
fusedTransform)
vis.showFrame(fusedTransform, ('cloud frame ' + str(i)),
visible=True,
scale=0.2,
parent='stereo')
vis.showPolyData(pd, ('stereo ' + str(i)),
parent='stereo',
colorByName='rgb_colors')
def showFusedMaps(self):
om.removeFromObjectModel(om.findObjectByName('stereo'))
om.getOrCreateContainer('stereo')
q = imageManager.queue
cameraToLocalNow = vtk.vtkTransform()
utime = q.getCurrentImageTime('CAMERA_TSDF')
q.getTransform('CAMERA_LEFT','local', utime,cameraToLocalNow)
cameraToLocalFusedNow = vtk.vtkTransform()
q.getTransform('CAMERA_LEFT_ALT','local', utime,cameraToLocalFusedNow)
for i in range(len(self.pointClouds)):
fusedNowToLocalNow = vtk.vtkTransform()
fusedNowToLocalNow.PreMultiply()
fusedNowToLocalNow.Concatenate( cameraToLocalNow)
fusedNowToLocalNow.Concatenate( cameraToLocalFusedNow.GetLinearInverse() )
fusedTransform = vtk.vtkTransform()
fusedTransform.PreMultiply()
fusedTransform.Concatenate( fusedNowToLocalNow)
fusedTransform.Concatenate( self.cameraToLocalFusedTransforms[i] )
pd = filterUtils.transformPolyData(self.pointClouds[i], fusedTransform)
vis.showFrame(fusedTransform, ('cloud frame ' + str(i)), visible=True, scale=0.2, parent='stereo')
vis.showPolyData(pd, ('stereo ' + str(i)), parent='stereo', colorByName='rgb_colors')
def updateObjectInCamera(self, obj, cameraObj):
imageView = self.imageView
objToLocalT = transformUtils.copyFrame(obj.actor.GetUserTransform() or vtk.vtkTransform())
localToCameraT = vtk.vtkTransform()
self.imageQueue.getTransform('local', imageView.imageName, localToCameraT)
t = vtk.vtkTransform()
t.PostMultiply()
t.Concatenate(objToLocalT)
t.Concatenate(localToCameraT)
pd = filterUtils.transformPolyData(obj.polyData, t)
'''
normals = pd.GetPointData().GetNormals()
cameraToImageT = vtk.vtkTransform()
imageQueue.getCameraProjectionTransform(imageView.imageName, cameraToImageT)
pd = filterUtils.transformPolyData(pd, cameraToImageT)
pts = vnp.getNumpyFromVtk(pd, 'Points')
pts[:,0] /= pts[:,2]
pts[:,1] /= pts[:,2]
pd.GetPointData().SetNormals(normals)
'''
self.imageQueue.projectPoints(imageView.imageName, pd)
cameraObj.setPolyData(pd)
self.addActorToImageOverlay(cameraObj, imageView)
def promotePolyDataItem(cls, obj):
parent = obj.parent()
view = obj.views[0]
name = obj.getProperty('Name')
polyData = obj.polyData
props = obj.properties._properties
childFrame = obj.getChildFrame()
if childFrame:
t = transformUtils.copyFrame(childFrame.transform)
else:
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
polyData = filterUtils.transformPolyData(polyData,
t.GetLinearInverse())
children = [c for c in obj.children() if c is not childFrame]
meshId = cls.getMeshManager().add(polyData)
om.removeFromObjectModel(obj)
obj = MeshAffordanceItem(name, view)
obj.setProperty('Filename', meshId)
om.addToObjectModel(obj, parentObj=parent)
frame = vis.addChildFrame(obj)
frame.copyFrame(t)
for child in children:
om.addToObjectModel(child, parentObj=obj)
obj.syncProperties(props)
return obj
def setPolyData(self, polyData):
if polyData.GetNumberOfPoints():
originPose = self.getProperty('Origin')
pos, quat = originPose[:3], originPose[3:]
t = transformUtils.transformFromPose(pos, quat)
polyData = filterUtils.transformPolyData(polyData, t.GetLinearInverse())
PolyDataItem.setPolyData(self, polyData)
def scaleGeometry(polyDataList, geom):
scale = geom.float_data[0]
if scale != 1.0:
t = vtk.vtkTransform()
t.Scale(scale, scale, scale)
polyDataList = [filterUtils.transformPolyData(polyData, t) for polyData in polyDataList]
return polyDataList
def setPolyData(self, polyData):
if polyData.GetNumberOfPoints():
originPose = self.getProperty('Origin')
pos, quat = originPose[:3], originPose[3:]
t = transformUtils.transformFromPose(pos, quat)
polyData = filterUtils.transformPolyData(polyData,
t.GetLinearInverse())
PolyDataItem.setPolyData(self, polyData)
def loadMap(self, filename, transform=None):
print filename
pd = io.readPolyData(filename)
if transform is not None:
pd = filterUtils.transformPolyData(pd, self.cameraToLocalInit)
pdi = vis.updatePolyData(pd, 'map')
try:
pdi.setProperty('Color By', 'rgb_colors')
except Exception, e:
print "Could not set color to RGB - not an element" #raise e
def onShowMapButton(self):
vis.updateFrame(self.cameraToLocalInit, 'initial cam' )
filename = os.path.expanduser('~/Kinect_Logs/Kintinuous.pcd')
print filename
pd = io.readPolyData(filename)
pd = filterUtils.transformPolyData(pd, self.cameraToLocalInit )
#t = transformUtils.frameFromPositionAndRPY([0,0,0],[-90,0,-90])
#pd = filterUtils.transformPolyData(pd , t)
pdi = vis.updatePolyData(pd,'map')
pdi.setProperty('Color By', 'rgb_colors')
def loadFootMeshes():
meshes = []
for i in range(0,2):
d = DebugData()
for footMeshFile in _footMeshFiles[i]:
d.addPolyData(ioUtils.readPolyData( footMeshFile , computeNormals=True))
t = vtk.vtkTransform()
t.Scale(0.98, 0.98, 0.98)
pd = filterUtils.transformPolyData(d.getPolyData(), t)
meshes.append(pd)
return meshes
def loadFootMeshes():
meshes = []
for i in range(0,2):
d = DebugData()
for footMeshFile in _footMeshFiles[i]:
d.addPolyData(ioUtils.readPolyData( footMeshFile , computeNormals=True))
t = vtk.vtkTransform()
t.Scale(0.98, 0.98, 0.98)
pd = filterUtils.transformPolyData(d.getPolyData(), t)
meshes.append(pd)
return meshes
def _updateSource(self):
p = vtk.vtkPolyData()
utime = self.PointCloudQueue.getPointCloudFromPointCloud(p)
if not p.GetNumberOfPoints():
return
sensorToLocalFused = vtk.vtkTransform()
self.queue.getTransform('VELODYNE', 'local', utime, sensorToLocalFused)
p = filterUtils.transformPolyData(p,sensorToLocalFused)
self.polyDataObj.setPolyData(p)
if not self.polyDataObj.initialized:
self.polyDataObj.initialized = True
def _updateSource(self):
p = vtk.vtkPolyData()
utime = self.PointCloudQueue.getPointCloudFromPointCloud(p)
if not p.GetNumberOfPoints():
return
sensorToLocalFused = vtk.vtkTransform()
self.queue.getTransform('VELODYNE', 'local', utime, sensorToLocalFused)
p = filterUtils.transformPolyData(p, sensorToLocalFused)
self.polyDataObj.setPolyData(p)
if not self.polyDataObj.initialized:
self.polyDataObj.initialized = True
def _updateSource(self):
p = vtk.vtkPolyData()
utime = self.KinectQueue.getPointCloudFromKinect(p)
if not p.GetNumberOfPoints():
return
cameraToLocalFused = vtk.vtkTransform()
self.queue.getTransform('KINECT_RGB', 'local', utime, cameraToLocalFused)
p = filterUtils.transformPolyData(p,cameraToLocalFused)
self.polyDataObj.setPolyData(p)
if not self.polyDataObj.initialized:
self.polyDataObj.setProperty('Color By', 'rgb_colors')
self.polyDataObj.initialized = True
def getStereoPointCloud(decimation=4, imagesChannel='CAMERA', cameraName='CAMERA_LEFT', removeSize=0):
q = imageManager.queue
utime = q.getCurrentImageTime(cameraName)
if utime == 0:
return None
p = vtk.vtkPolyData()
cameraToLocal = vtk.vtkTransform()
q.getPointCloudFromImages(imagesChannel, p, decimation, removeSize)
q.getTransform('CAMERA_LEFT', 'local', utime, cameraToLocal)
p = filterUtils.transformPolyData(p, cameraToLocal)
return p
def scaleGeometry(polyDataList, geom):
if len(geom.float_data) == 1:
scale_x = scale_y = scale_z = geom.float_data[0]
elif len(geom.float_data) == 3:
scale_x = geom.float_data[0]
scale_y = geom.float_data[1]
scale_z = geom.float_data[2]
else:
scale_x = scale_y = scale_z = 1.0
if scale_x != 1.0 or scale_y != 1.0 or scale_z != 1.0:
t = vtk.vtkTransform()
t.Scale(scale_x, scale_y, scale_z)
polyDataList = [filterUtils.transformPolyData(polyData, t) for polyData in polyDataList]
return polyDataList
def scaleGeometry(polyDataList, geom):
if len(geom.float_data) == 1:
scale_x = scale_y = scale_z = geom.float_data[0]
elif len(geom.float_data) == 3:
scale_x = geom.float_data[0]
scale_y = geom.float_data[1]
scale_z = geom.float_data[2]
else:
scale_x = scale_y = scale_z = 1.0
if scale_x != 1.0 or scale_y != 1.0 or scale_z != 1.0:
t = vtk.vtkTransform()
t.Scale(scale_x, scale_y, scale_z)
polyDataList = [filterUtils.transformPolyData(polyData, t) for polyData in polyDataList]
return polyDataList
def _updateSource(self):
p = vtk.vtkPolyData()
utime = self.KinectQueue.getPointCloudFromKinect(p)
if not p.GetNumberOfPoints():
return
cameraToLocalFused = vtk.vtkTransform()
self.queue.getTransform('KINECT_RGB', 'local', utime,
cameraToLocalFused)
p = filterUtils.transformPolyData(p, cameraToLocalFused)
self.polyDataObj.setPolyData(p)
if not self.polyDataObj.initialized:
self.polyDataObj.setProperty('Color By', 'rgb_colors')
self.polyDataObj.initialized = True
def buildRobot(x=0,y=0):
#print "building robot"
polyData = ioUtils.readPolyData('celica.obj')
scale = 0.04
t = vtk.vtkTransform()
t.RotateZ(90)
t.Scale(scale, scale, scale)
polyData = filterUtils.transformPolyData(polyData, t)
#d = DebugData()
#d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1)
#polyData = d.getPolyData()
obj = vis.showPolyData(polyData, 'robot')
robotFrame = vis.addChildFrame(obj)
return obj, robotFrame
def buildRobot(x=0, y=0):
#print "building robot"
polyData = ioUtils.readPolyData('crazyflie.obj')
scale = 0.01
t = vtk.vtkTransform()
t.RotateX(90)
t.Scale(scale, scale, scale)
polyData = filterUtils.transformPolyData(polyData, t)
#d = DebugData()
#d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1)
#polyData = d.getPolyData()
obj = vis.showPolyData(polyData, 'robot')
robotFrame = vis.addChildFrame(obj)
return obj, robotFrame
def createSkyboxPlane(side):
pd = createTexturedPlane()
t = vtk.vtkTransform()
t.PostMultiply()
if side == 'top':
t.Translate(0, 0, 0.5)
t.RotateZ(180)
elif side == 'bottom':
t.RotateX(180)
t.RotateY(180)
t.RotateZ(-270)
t.Translate(0, 0, -0.5)
elif side == 'front':
t.RotateY(90)
t.RotateX(90)
t.RotateZ(180)
t.Translate(0.5, 0.0, 0.0)
elif side == 'back':
t.RotateY(90)
t.RotateX(90)
t.RotateZ(0)
t.Translate(-0.5, 0.0, 0.0)
elif side == 'left':
t.RotateY(90)
t.RotateX(90)
t.RotateZ(-90)
t.Translate(0.0, 0.5, 0.0)
elif side == 'right':
t.RotateY(90)
t.RotateX(90)
t.RotateZ(90)
t.Translate(0.0, -0.5, 0.0)
pd = filterUtils.transformPolyData(pd, t)
return pd
def getStereoPointCloud(decimation=4,
imagesChannel='CAMERA',
cameraName='CAMERA_LEFT',
removeSize=0):
q = imageManager.queue
utime = q.getCurrentImageTime(cameraName)
if utime == 0:
return None
p = vtk.vtkPolyData()
cameraToLocal = vtk.vtkTransform()
q.getPointCloudFromImages(imagesChannel, p, decimation, removeSize)
q.getTransform('CAMERA_LEFT', 'local', utime, cameraToLocal)
p = filterUtils.transformPolyData(p, cameraToLocal)
return p
def createTextureGround(imageFilename, view):
pd = createTexturedPlane()
texture = createTexture(imageFilename)
texture.RepeatOn()
tcoords = vnp.getNumpyFromVtk(pd, 'Texture Coordinates')
tcoords *= 60
t = vtk.vtkTransform()
t.PostMultiply()
t.Scale(200,200,200)
t.Translate(0,0,-0.005)
pd = filterUtils.transformPolyData(pd, t)
obj = vis.showPolyData(pd, 'ground', view=view, alpha=1.0, parent='skybox')
obj.actor.SetTexture(texture)
obj.actor.GetProperty().LightingOff()
def createSkyboxPlane(side):
pd = createTexturedPlane()
t = vtk.vtkTransform()
t.PostMultiply()
if side == 'top':
t.Translate(0,0,0.5)
t.RotateZ(180)
elif side == 'bottom':
t.RotateX(180)
t.RotateY(180)
t.RotateZ(-270)
t.Translate(0,0,-0.5)
elif side == 'front':
t.RotateY(90)
t.RotateX(90)
t.RotateZ(180)
t.Translate(0.5,0.0,0.0)
elif side == 'back':
t.RotateY(90)
t.RotateX(90)
t.RotateZ(0)
t.Translate(-0.5,0.0,0.0)
elif side == 'left':
t.RotateY(90)
t.RotateX(90)
t.RotateZ(-90)
t.Translate(0.0,0.5,0.0)
elif side == 'right':
t.RotateY(90)
t.RotateX(90)
t.RotateZ(90)
t.Translate(0.0,-0.5,0.0)
pd = filterUtils.transformPolyData(pd, t)
return pd
def newPolyData(self, name, view, parent=None):
self.handModel.model.setJointPositions(np.zeros(self.handModel.model.numberOfJoints()))
polyData = vtk.vtkPolyData()
self.handModel.model.getModelMesh(polyData)
polyData = filterUtils.transformPolyData(polyData, self.modelToPalm)
if isinstance(parent, str):
parent = om.getOrCreateContainer(parent)
color = [1.0, 1.0, 0.0]
if self.side == 'right':
color = [0.33, 1.0, 0.0]
obj = vis.showPolyData(polyData, name, view=view, color=color, visible=False, parent=parent)
obj.side = self.side
frame = vtk.vtkTransform()
frame.PostMultiply()
obj.actor.SetUserTransform(frame)
frameObj = vis.showFrame(frame, '%s frame' % name, view=view, scale=0.2, visible=False, parent=obj)
return obj
def createTextureGround(imageFilename, view):
pd = createTexturedPlane()
texture = createTexture(imageFilename)
texture.RepeatOn()
tcoords = vnp.getNumpyFromVtk(pd, 'Texture Coordinates')
tcoords *= 60
t = vtk.vtkTransform()
t.PostMultiply()
t.Scale(200, 200, 200)
t.Translate(0, 0, -0.005)
pd = filterUtils.transformPolyData(pd, t)
obj = vis.showPolyData(pd, 'ground', view=view, alpha=1.0, parent='skybox')
obj.actor.SetTexture(texture)
obj.actor.GetProperty().LightingOff()
def getNewHandPolyData(self):
self.handModel.model.setJointPositions(np.zeros(self.handModel.model.numberOfJoints()))
polyData = vtk.vtkPolyData()
self.handModel.model.getModelMesh(polyData)
return filterUtils.transformPolyData(polyData, self.modelToPalm)
def transformGeometry(polyDataList, geom):
t = transformUtils.transformFromPose(geom.position, geom.quaternion)
polyDataList = [filterUtils.transformPolyData(polyData, t) for polyData in polyDataList]
return polyDataList
def getNewHandPolyData(self):
self.handModel.model.setJointPositions(
np.zeros(self.handModel.model.numberOfJoints()))
polyData = vtk.vtkPolyData()
self.handModel.model.getModelMesh(polyData)
return filterUtils.transformPolyData(polyData, self.modelToPalm)