def applyVoxelGrid(polyData, leafSize=0.01):
v = vtk.vtkPCLVoxelGrid()
v.SetLeafSize(leafSize, leafSize, leafSize)
v.SetInputData(polyData) # regression: vtk6->5. was SetInput
v.Update()
return shallowCopy(v.GetOutput())
def readPolyData(filename, computeNormals=False):
ext = os.path.splitext(filename)[1].lower()
readers = {
'.vtp' : vtk.vtkXMLPolyDataReader,
'.vtk' : vtk.vtkPolyDataReader,
'.ply' : vtk.vtkPLYReader,
'.obj' : vtk.vtkOBJReader,
'.stl' : vtk.vtkSTLReader,
}
try:
readers['.pcd'] = vtk.vtkPCDReader
except AttributeError:
pass
if ext not in readers:
raise Exception('Unknown file extension in readPolyData: %s' % filename)
reader = readers[ext]()
reader.SetFileName(filename)
reader.Update()
polyData = shallowCopy(reader.GetOutput())
if computeNormals:
return _computeNormals(polyData)
else:
return polyData
def readPolyData(filename, computeNormals=False):
ext = os.path.splitext(filename)[1].lower()
readers = {
'.vtp': vtk.vtkXMLPolyDataReader,
'.vtk': vtk.vtkPolyDataReader,
'.ply': vtk.vtkPLYReader,
'.obj': vtk.vtkOBJReader,
'.stl': vtk.vtkSTLReader,
}
try:
readers['.pcd'] = vtk.vtkPCDReader
except AttributeError:
pass
if ext not in readers:
raise Exception('Unknown file extension in readPolyData: %s' %
filename)
reader = readers[ext]()
reader.SetFileName(filename)
reader.Update()
polyData = shallowCopy(reader.GetOutput())
if computeNormals:
return _computeNormals(polyData)
else:
return polyData
def applyVoxelGrid(polyData, leafSize=0.01):
v = vtk.vtkPCLVoxelGrid()
v.SetLeafSize(leafSize, leafSize, leafSize)
v.SetInput(polyData)
v.Update()
return shallowCopy(v.GetOutput())
def readPolyData(filename, computeNormals=False):
ext = os.path.splitext(filename)[1].lower()
readers = {
".vtp": vtk.vtkXMLPolyDataReader,
".vtk": vtk.vtkPolyDataReader,
".ply": vtk.vtkPLYReader,
".obj": vtk.vtkOBJReader,
".stl": vtk.vtkSTLReader,
}
try:
readers[".pcd"] = vtk.vtkPCDReader
except AttributeError:
pass
if ext not in readers:
raise Exception("Unknown file extension in readPolyData: %s" %
filename)
reader = readers[ext]()
reader.SetFileName(filename)
reader.Update()
polyData = shallowCopy(reader.GetOutput())
if ext == ".ply":
vtk.vtkPCLConversions.AddVertexCells(polyData)
if computeNormals:
return _computeNormals(polyData)
else:
return polyData
def labelOutliers(dataObj, searchRadius=0.03, neighborsInSearchRadius=10):
f = vtk.vtkPCLRadiusOutlierRemoval()
f.SetInput(dataObj)
f.SetSearchRadius(searchRadius)
f.SetNeighborsInSearchRadius(int(neighborsInSearchRadius))
f.Update()
return shallowCopy(f.GetOutput())
def applyEuclideanClustering(dataObj, clusterTolerance=0.05, minClusterSize=100, maxClusterSize=1e6):
f = vtk.vtkPCLEuclideanClusterExtraction()
f.SetInput(dataObj)
f.SetClusterTolerance(clusterTolerance)
f.SetMinClusterSize(int(minClusterSize))
f.SetMaxClusterSize(int(maxClusterSize))
f.Update()
return shallowCopy(f.GetOutput())
def applyLineFit(dataObj, distanceThreshold=0.02):
f = vtk.vtkPCLSACSegmentationLine()
f.SetInput(dataObj)
f.SetDistanceThreshold(distanceThreshold)
f.Update()
origin = np.array(f.GetLineOrigin())
direction = np.array(f.GetLineDirection())
return origin, direction, shallowCopy(f.GetOutput())
def labelPointDistanceAlongAxis(polyData, axis, origin=None, resultArrayName='distance_along_axis'):
points = vtkNumpy.getNumpyFromVtk(polyData, 'Points')
if origin is not None:
points = points - origin
distanceValues = np.dot(points, axis)
if origin is None:
distanceValues -= np.nanmin(distanceValues)
newData = shallowCopy(polyData)
vtkNumpy.addNumpyToVtk(newData, distanceValues, resultArrayName)
return newData
def createAxesPolyData(scale, useTube, tubeWidth=0.002):
axes = vtk.vtkAxes()
axes.SetComputeNormals(0)
axes.SetScaleFactor(scale)
axes.Update()
if useTube:
tube = vtk.vtkTubeFilter()
tube.SetInputConnection(axes.GetOutputPort())
tube.SetRadius(tubeWidth)
tube.SetNumberOfSides(12)
tube.Update()
axes = tube
return shallowCopy(axes.GetOutput())
def _createAxes(self, scale, useTube):
axes = vtk.vtkAxes()
axes.SetComputeNormals(0)
axes.SetScaleFactor(scale)
axes.Update()
if useTube:
tube = vtk.vtkTubeFilter()
tube.SetInput(axes.GetOutput())
tube.SetRadius(0.002)
tube.SetNumberOfSides(12)
tube.Update()
axes = tube
return shallowCopy(axes.GetOutput())
def createAxesPolyData(scale, useTube, tubeWidth=0.002):
axes = vtk.vtkAxes()
axes.SetComputeNormals(0)
axes.SetScaleFactor(scale)
axes.Update()
if useTube:
tube = vtk.vtkTubeFilter()
tube.SetInputConnection(axes.GetOutputPort())
tube.SetRadius(tubeWidth)
tube.SetNumberOfSides(12)
tube.Update()
axes = tube
return shallowCopy(axes.GetOutput())
def readMultiBlock(filename):
'''Reads a .vtm file and returns a list of vtkPolyData objects'''
reader = vtk.vtkXMLMultiBlockDataReader()
reader.SetFileName(filename)
reader.Update()
polyDataList = []
mb = reader.GetOutput()
for i in xrange(mb.GetNumberOfBlocks()):
polyData = vtk.vtkPolyData.SafeDownCast(mb.GetBlock(i))
if polyData and polyData.GetNumberOfPoints():
polyDataList.append(shallowCopy(polyData))
return polyDataList
def readMultiBlock(filename):
'''Reads a .vtm file and returns a list of vtkPolyData objects'''
reader = vtk.vtkXMLMultiBlockDataReader()
reader.SetFileName(filename)
reader.Update()
polyDataList = []
mb = reader.GetOutput()
for i in xrange(mb.GetNumberOfBlocks()):
polyData = vtk.vtkPolyData.SafeDownCast(mb.GetBlock(i))
if polyData and polyData.GetNumberOfPoints():
polyDataList.append(shallowCopy(polyData))
return polyDataList
def readImage(filename):
ext = os.path.splitext(filename)[1].lower()
readers = {
'.png' : vtk.vtkPNGReader,
'.jpg' : vtk.vtkJPEGReader,
}
if ext not in readers:
raise Exception('Unknown file extension in readImage: %s' % filename)
reader = readers[ext]()
reader.SetFileName(filename)
reader.Update()
image = shallowCopy(reader.GetOutput())
return image
def readImage(filename):
ext = os.path.splitext(filename)[1].lower()
readers = {
'.png': vtk.vtkPNGReader,
'.jpg': vtk.vtkJPEGReader,
}
if ext not in readers:
raise Exception('Unknown file extension in readImage: %s' % filename)
reader = readers[ext]()
reader.SetFileName(filename)
reader.Update()
image = shallowCopy(reader.GetOutput())
return image
def addPolyData(self, polyData, color=[1,1,1], extraLabels=None):
'''
Add a vtkPolyData to the debug data. A color can be provided.
If the extraLabels argument is used, it should be a list of tuples,
each tuple is (labelName, labelValue) where labelName is a string and
labelValue is an int or float. An array with labelName will be filled
with labelValue and added to the poly data.
'''
polyData = shallowCopy(polyData)
if color is not None:
colorArray = np.empty((polyData.GetNumberOfPoints(), 3), dtype=np.uint8)
colorArray[:,:] = np.array(color)*255
addNumpyToVtk(polyData, colorArray, 'RGB255')
if extraLabels is not None:
for labelName, labelValue in extraLabels:
extraArray = np.empty((polyData.GetNumberOfPoints(), 1), dtype=type(labelValue))
extraArray[:] = labelValue
addNumpyToVtk(polyData, extraArray, labelName)
self.append.AddInput(polyData)
def _triangulate(polyData):
normals = vtk.vtkTriangleFilter()
normals.SetInput(polyData)
normals.Update()
return shallowCopy(normals.GetOutput())
def getPolyData(self):
if self.append.GetNumberOfInputConnections(0):
self.append.Update()
return shallowCopy(self.append.GetOutput())
def _computeNormals(polyData):
normals = vtk.vtkPolyDataNormals()
normals.SetFeatureAngle(45)
normals.SetInput(polyData)
normals.Update()
return shallowCopy(normals.GetOutput())
def _computeNormals(polyData):
normals = vtk.vtkPolyDataNormals()
normals.SetFeatureAngle(45)
normals.SetInput(polyData)
normals.Update()
return shallowCopy(normals.GetOutput())
def _triangulate(polyData):
normals = vtk.vtkTriangleFilter()
normals.SetInput(polyData)
normals.Update()
return shallowCopy(normals.GetOutput())