def getVtkPolyDataFromNumpyPoints(points):
'''
Given an Nx3 array of xyz points
Return a new vtkPolyData containing points and vertex cells.
If the input points is not float64 it will be converted first.
'''
if points.dtype != np.float64:
points = points.astype(np.float64)
polyData = vtk.vtkPolyData()
polyData.SetPoints(getVtkPointsFromNumpy(points))
vtk.vtkPCLConversions.AddVertexCells(polyData)
return polyData
def getVtkPolyDataFromNumpyPoints(points):
'''
Given an Nx3 array of xyz points
Return a new vtkPolyData containing points and vertex cells.
If the input points is not float64 it will be converted first.
'''
if points.dtype != np.float64:
points = points.astype(np.float64)
polyData = vtk.vtkPolyData()
polyData.SetPoints(getVtkPointsFromNumpy(points))
vtk.vtkPCLConversions.AddVertexCells(polyData)
return polyData
def getPlanPoseMeshes(self, messages, jointController, robotModel, numberOfSamples):
poseTimes, poses = self.getPlanPoses(messages)
f = self.getPoseInterpolator(poseTimes, poses)
sampleTimes = np.linspace(poseTimes[0], poseTimes[-1], numberOfSamples)
meshes = []
for sampleTime in sampleTimes:
pose = f(sampleTime)
jointController.setPose('plan_playback', pose)
polyData = vtk.vtkPolyData()
robotModel.model.getModelMesh(polyData)
meshes.append(polyData)
return meshes
def getPlanPoseMeshes(self, messages, jointController, robotModel, numberOfSamples):
poseTimes, poses = self.getPlanPoses(messages)
f = self.getPoseInterpolator(poseTimes, poses)
sampleTimes = np.linspace(poseTimes[0], poseTimes[-1], numberOfSamples)
meshes = []
for sampleTime in sampleTimes:
pose = f(sampleTime)
jointController.setPose('plan_playback', pose)
polyData = vtk.vtkPolyData()
robotModel.model.getModelMesh(polyData)
meshes.append(polyData)
return meshes
def numpyToPolyData(pts, pointData=None, createVertexCells=False):
pd = vtk.vtkPolyData()
pd.SetPoints(vtk.vtkPoints())
# Makes a deep copy
pd.GetPoints().SetData(getVtkFromNumpy(pts.copy()))
if pointData is not None:
for key, value in pointData.iteritems():
addNumpyToVtk(pd, value.copy(), key)
if createVertexCells:
cellIds = vtk.vtkIdList()
cellIds.SetNumberOfIds(pd.GetNumberOfPoints())
for i in range(pd.GetNumberOfPoints()):
cellIds.SetId(i, i)
cells = vtk.vtkCellArray()
cells.InsertNextCell(cellIds)
pd.SetVerts(cells)
return pd
def numpyToPolyData(pts, pointData=None, createVertexCells=False):
pd = vtk.vtkPolyData()
pd.SetPoints(vtk.vtkPoints())
# Makes a deep copy
pd.GetPoints().SetData(getVtkFromNumpy(pts.copy()))
if pointData is not None:
for key, value in pointData.iteritems():
addNumpyToVtk(pd, value.copy(), key)
if createVertexCells:
cellIds = vtk.vtkIdList()
cellIds.SetNumberOfIds(pd.GetNumberOfPoints())
for i in range(pd.GetNumberOfPoints()):
cellIds.SetId(i, i)
cells = vtk.vtkCellArray()
cells.InsertNextCell(cellIds)
pd.SetVerts(cells)
return pd