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()
