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 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 onMergeIntoPointCloud():
allPointClouds = om.findObjectByName("point clouds")
if allPointClouds:
allPointClouds = [
i.getProperty("Name") for i in allPointClouds.children()
]
sel = QtGui.QInputDialog.getItem(
None,
"Point Cloud Merging",
"Pick point cloud to merge into:",
allPointClouds,
current=0,
editable=False,
)
sel = om.findObjectByName(sel)
# Make a copy of each in same frame
polyDataInto = vtk.vtkPolyData()
polyDataInto.ShallowCopy(sel.polyData)
if sel.getChildFrame():
polyDataInto = segmentation.transformPolyData(
polyDataInto,
sel.getChildFrame().transform)
polyDataFrom = vtk.vtkPolyData()
polyDataFrom.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyDataFrom = segmentation.transformPolyData(
polyDataFrom,
pointCloudObj.getChildFrame().transform)
# Actual merge
append = filterUtils.appendPolyData([polyDataFrom, polyDataInto])
if sel.getChildFrame():
polyDataInto = segmentation.transformPolyData(
polyDataInto,
sel.getChildFrame().transform.GetInverse())
# resample
append = segmentationroutines.applyVoxelGrid(append, 0.01)
append = segmentation.addCoordArraysToPolyData(append)
# Recenter the frame
sel.setPolyData(append)
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(append))
segmentation.makeMovable(sel, t)
# Hide the old one
if pointCloudObj.getProperty("Name") in allPointClouds:
pointCloudObj.setProperty("Visible", False)
def onMergeIntoPointCloud():
allPointClouds = om.findObjectByName('point clouds')
if allPointClouds:
allPointClouds = [i.getProperty('Name') for i in allPointClouds.children()]
sel = QtGui.QInputDialog.getItem(None, "Point Cloud Merging", "Pick point cloud to merge into:", allPointClouds, current=0, editable=False)
sel = om.findObjectByName(sel)
# Make a copy of each in same frame
polyDataInto = vtk.vtkPolyData()
polyDataInto.ShallowCopy(sel.polyData)
if sel.getChildFrame():
polyDataInto = segmentation.transformPolyData(polyDataInto, sel.getChildFrame().transform)
polyDataFrom = vtk.vtkPolyData()
polyDataFrom.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyDataFrom = segmentation.transformPolyData(polyDataFrom, pointCloudObj.getChildFrame().transform)
# Actual merge
append = filterUtils.appendPolyData([polyDataFrom, polyDataInto])
if sel.getChildFrame():
polyDataInto = segmentation.transformPolyData(polyDataInto, sel.getChildFrame().transform.GetInverse())
# resample
append = segmentationroutines.applyVoxelGrid(append, 0.01)
append = segmentation.addCoordArraysToPolyData(append)
# Recenter the frame
sel.setPolyData(append)
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(append))
segmentation.makeMovable(sel, t)
# Hide the old one
if pointCloudObj.getProperty('Name') in allPointClouds:
pointCloudObj.setProperty('Visible', False)
def loadObjFile(filename, scaleFactor=0.001):
baseName = os.path.basename(filename)
folder = om.getOrCreateContainer(baseName)
meshes, actors = ioUtils.readObjMtl(filename)
print 'loaded %d meshes from file: %s' % (len(meshes), filename)
for i, mesh, actor in zip(xrange(len(meshes)), meshes, actors):
mesh = filterUtils.cleanPolyData(mesh)
mesh = filterUtils.computeNormals(mesh)
obj = vis.showPolyData(mesh, baseName + ' piece %d'%i, parent=folder)
obj.setProperty('Color', actor.GetProperty().GetColor())
obj.actor.SetTexture(actor.GetTexture())
pts = vnp.getNumpyFromVtk(obj.polyData, 'Points')
pts *= scaleFactor
print ' mesh %d, num points %d' % (i, obj.polyData.GetNumberOfPoints())
#if actor.GetTexture():
# showImage(actor.GetTexture().GetInput())
polyData = filterUtils.appendPolyData([obj.polyData for obj in folder.children()])
vis.showPolyData(polyData, baseName + ' merged', parent=folder, visible=False)
print ' total points:', polyData.GetNumberOfPoints()
# compute centroid and subtract from points to move the mesh to the origin
origin = np.array(filterUtils.computeCentroid(polyData))
t = transformUtils.frameFromPositionAndRPY(-origin, [0.0, 0.0, 0.0])
for obj in folder.children():
obj.setPolyData(filterUtils.transformPolyData(obj.polyData, t))
return folder.children()[-1].polyData
