def updateFit(self):
# get and display: .1sec
polyData = segmentation.getDisparityPointCloud()
if (polyData is None):
return
updatePolyData(polyData, 'pointcloud snapshot', colorByName='rgb_colors', visible=False)
t0 = time.time()
if (self.tableCentroid is None):
# initial fit .75 sec
print "Boot Strapping tracker"
self.tableCentroid = segmentation.findAndFitDrillBarrel(polyData)
else:
# refit .07 sec
#print "current centroid"
#print self.tableCentroid
viewFrame = segmentationroutines.SegmentationContext.getGlobalInstance().getViewFrame()
forwardDirection = np.array([1.0, 0.0, 0.0])
viewFrame.TransformVector(forwardDirection, forwardDirection)
robotOrigin = viewFrame.GetPosition()
robotForward =forwardDirection
fitResults = []
drillFrame = segmentation.segmentDrillBarrelFrame(self.tableCentroid, polyData, robotForward)
clusterObj = updatePolyData(polyData, 'surface cluster refit', color=[1,1,0], parent=segmentation.getDebugFolder(), visible=False)
fitResults.append((clusterObj, drillFrame))
segmentation.sortFittedDrills(fitResults, robotOrigin, robotForward)
def run(self):
polyData = self.getPointCloud()
segmentation.findAndFitDrillBarrel(polyData)
def run(self):
polyData = self.getPointCloud()
segmentation.findAndFitDrillBarrel(polyData)
def fitDrillMultisense():
pd = om.findObjectByName('Multisense').model.revPolyData
om.removeFromObjectModel(om.findObjectByName('debug'))
segmentation.findAndFitDrillBarrel(pd)
