def saveAboveTablePolyData(self):
aboveTablePolyDataRaw = filterUtils.transformPolyData(
self.aboveTablePolyData,
self.firstFrameToWorldTransform.GetLinearInverse())
ioUtils.writePolyData(aboveTablePolyDataRaw,
self.pathDict['aboveTablePointcloud'])
def getFilesystemFilename(self, meshId):
if meshId in self.meshes:
filename = os.path.join(self.cacheDirectory, '%s.%s' % (meshId, self.cacheDataType))
if not os.path.isfile(filename):
ioUtils.writePolyData(self.get(meshId), filename)
return filename
return None
def saveConvexHulls(chulls, outputDir):
if os.path.isdir(outputDir):
print 'removing directory:', outputDir
shutil.rmtree(outputDir)
print 'making directory:', outputDir
os.makedirs(outputDir)
for i, chull in enumerate(chulls):
chull, plane = chull.convexHull, chull.plane
origin = plane.GetOrigin()
normal = plane.GetNormal()
chullPoints = vnp.getNumpyFromVtk(chull, 'Points')
assert np.allclose(np.linalg.norm(normal), 1.0)
output = np.vstack([normal, chullPoints])
outputFilename = os.path.join(outputDir, 'plane_%04d.txt' % i)
np.savetxt(outputFilename, output)
ioUtils.writePolyData(getMergedConvexHullsMesh(chulls),
os.path.join(outputDir, 'merged_planes.ply'))
def saveObjectPolyData(objectName):
visObj = om.findObjectByName(objectName)
filename = os.path.join(getLabelFusionDataDir(), 'object-meshes',
objectName + '_aligned.vtp')
polyData = filterUtils.transformPolyData(visObj.polyData,
visObj.actor.GetUserTransform())
ioUtils.writePolyData(polyData, filename)
def getFilesystemFilename(self, meshId):
if meshId in self.meshes:
filename = os.path.join(self.cacheDirectory,
'%s.%s' % (meshId, self.cacheDataType))
if not os.path.isfile(filename):
ioUtils.writePolyData(self.get(meshId), filename)
return filename
return None
def save_poly_data(self, filename):
"""
Save the poly data to a file
:param filename:
:type filename:
:return:
:rtype:
"""
ioUtils.writePolyData(self.poly_data, filename)
def save_snapshot(self):
save_dir = os.path.join(spartan_utils.get_sandbox_dir(), "pointclouds")
if not os.path.exists(save_dir):
os.makedirs(save_dir)
for topic, data in self._subscribers.iteritems():
filename = os.path.join(save_dir, "%s.ply" % (data['name']))
filename.replace(" ", "_")
ioUtils.writePolyData(data['pointcloud'], filename)
def saveCurrentScene(self):
location = str(self.ui.saveLocation.text)
with open(location + ".json", 'w') as outfile:
json.dump(self.objects, outfile, cls=MyEncoder)
obj = om.findObjectByName("data files").children()[0]
pd = obj.polyData
ioUtils.writePolyData(pd, location + ".vtk")
print 'saved:', location + ".vtk"
def run(scenePointCloud,
modelPointCloud,
overlap=0.9,
distance=0.02,
timeout=1000,
numSamples=200):
"""
:param scenePointCloud:
:param modelPointCloud:
:return: transform from scenePointCloud --> modelPointCloud. It is a vtkTransform
"""
baseName = GlobalRegistrationUtils.getSandboxDir()
modelFile = os.path.join(baseName, 'model_data_for_pcs4.ply')
sceneFile = os.path.join(baseName, 'scene_data_for_pcs4.ply')
ioUtils.writePolyData(modelPointCloud, modelFile)
ioUtils.writePolyData(scenePointCloud, sceneFile)
super4PCSBaseDir = utils.getSuper4PCSBaseDir()
registrationBin = os.path.join(super4PCSBaseDir, 'build/Super4PCS')
outputFile = os.path.join(utils.getLabelFusionBaseDir(),
'sandbox/pcs4_mat_output.txt')
print "number of scene points = ", scenePointCloud.GetNumberOfPoints()
print "number of model points = ", modelPointCloud.GetNumberOfPoints()
registrationArgs = [
registrationBin, '-i', modelFile, sceneFile,
'-o %f' % overlap,
'-d %f' % distance,
'-t %d' % timeout,
'-n %d' % numSamples, '-r pcs4_transformed_output.ply',
'-m %s' % outputFile
]
registrationArgs = ' '.join(registrationArgs).split()
if os.path.isfile(outputFile):
print 'removing', outputFile
os.remove(outputFile)
print 'calling super pcs4...'
print
print ' '.join(registrationArgs)
startTime = time.time()
subprocess.check_call(registrationArgs)
elapsedTime = time.time() - startTime
print "SuperPCS4 took " + str(elapsedTime) + " seconds"
print 'done.'
transform = Super4PCS.getTransformFromFile(outputFile)
return transform
def onFileSaveData():
obj = om.getActiveObject()
if not obj:
app.showErrorMessage('Please select an object', title='No object selected')
return
if isinstance(obj, otdfmodel.OtdfModelItem):
mainWindow = app.getMainWindow()
filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), 'OTDF (*.otdf)', 'OTDF (*.otdf)')
if not os.path.splitext(filename)[1]:
filename += '.otdf'
storeDefaultDirectory(filename)
otdfString = obj.parser.getUpdatedOtdf()
otdfFile = open(filename, 'w')
otdfFile.write(otdfString)
otdfFile.close()
elif hasattr(obj, 'polyData'):
mainWindow = app.getMainWindow()
fileFilters = "PLY (*.ply);;STL (*.stl);;VTP (*.vtp)";
filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), fileFilters, 'VTP (*.vtp)')
if not filename:
return
if not os.path.splitext(filename)[1]:
filename += '.vtp'
polyData = io.writePolyData(obj.polyData, filename)
else:
app.showErrorMessage('Please select an object that contains geometry data or an OTDF object', title='Invalid object selected')
return
storeDefaultDirectory(filename)
def run(scenePointCloud, modelPointCloud):
"""
:param scenePointCloud:
:param modelPointCloud:
:return: transform from scenePointCloud --> modelPointCloud. It is a vtkTransform
"""
baseName = os.path.join(CorlUtils.getCorlBaseDir(), 'sandbox')
modelFile = os.path.join(baseName, 'model_data_for_pcs4.ply')
sceneFile = os.path.join(baseName, 'scene_data_for_pcs4.ply')
ioUtils.writePolyData(modelPointCloud, modelFile)
ioUtils.writePolyData(scenePointCloud, sceneFile)
super4PCSBaseDir = CorlUtils.getSuper4PCSBaseDir()
registrationBin = os.path.join(super4PCSBaseDir, 'build/Super4PCS')
outputFile = os.path.join(CorlUtils.getCorlBaseDir(),
'sandbox/pcs4_mat_output.txt')
overlap = 0.9
distance = 0.02
timeout = 1000
numSamples = 200
registrationArgs = [
registrationBin, '-i', modelFile, sceneFile,
'-o %f' % overlap,
'-d %f' % distance,
'-t %d' % timeout,
'-n %d' % numSamples, '-r pcs4_transformed_output.ply',
'-m %s' % outputFile
]
registrationArgs = ' '.join(registrationArgs).split()
if os.path.isfile(outputFile):
print 'removing', outputFile
os.remove(outputFile)
print 'calling super pcs4...'
print
print ' '.join(registrationArgs)
subprocess.check_call(registrationArgs)
print 'done.'
transform = SuperPCS4.getTransformFromFile(outputFile)
return transform
def saveObject(visObj, filename=None, overwrite=False, pathToDir='handheld-scanner'):
if filename is None:
filename = visObj.getProperty('Name') + '.vtp'
filename = os.path.join(getLabelFusionDataDir(),'object-meshes', pathToDir, filename)
polyData = visObj.polyData
if not overwrite:
if os.path.exists(filename):
raise ValueError('file already exists, not overwriting')
return
userTransform = visObj.actor.GetUserTransform()
if userTransform is not None:
polyData = filterUtils.transformPolyData(polyData, visObj.actor.GetUserTransform())
ioUtils.writePolyData(polyData, filename)
def saveConvexHulls(chulls, outputDir):
if os.path.isdir(outputDir):
print 'removing directory:', outputDir
shutil.rmtree(outputDir)
print 'making directory:', outputDir
os.makedirs(outputDir)
for i, chull in enumerate(chulls):
chull, plane = chull.convexHull, chull.plane
origin = plane.GetOrigin()
normal = plane.GetNormal()
chullPoints = vnp.getNumpyFromVtk(chull, 'Points')
assert np.allclose(np.linalg.norm(normal), 1.0)
output = np.vstack([normal, chullPoints])
outputFilename = os.path.join(outputDir, 'plane_%04d.txt' % i)
np.savetxt(outputFilename, output)
ioUtils.writePolyData(getMergedConvexHullsMesh(chulls), os.path.join(outputDir, 'merged_planes.ply'))
def onFileSaveData():
obj = om.getActiveObject()
if not obj:
app.showErrorMessage('Please select an object',
title='No object selected')
return
if isinstance(obj, otdfmodel.OtdfModelItem):
mainWindow = app.getMainWindow()
filename = QtGui.QFileDialog.getSaveFileName(mainWindow,
"Save Data...",
getDefaultDirectory(),
'OTDF (*.otdf)',
'OTDF (*.otdf)')
if not os.path.splitext(filename)[1]:
filename += '.otdf'
storeDefaultDirectory(filename)
otdfString = obj.parser.getUpdatedOtdf()
otdfFile = open(filename, 'w')
otdfFile.write(otdfString)
otdfFile.close()
elif hasattr(obj, 'polyData'):
mainWindow = app.getMainWindow()
fileFilters = "PLY (*.ply);;STL (*.stl);;VTP (*.vtp);;VTK (*.vtk)"
defaultFilter = 'VTP (*.vtp)'
filename = QtGui.QFileDialog.getSaveFileName(mainWindow,
"Save Data...",
getDefaultDirectory(),
fileFilters,
defaultFilter)
if not filename:
return
if not os.path.splitext(filename)[1]:
filename += '.vtp'
polyData = io.writePolyData(obj.polyData, filename)
else:
app.showErrorMessage(
'Please select an object that contains geometry data or an OTDF object',
title='Invalid object selected')
return
storeDefaultDirectory(filename)
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
app = mainwindowapp.construct(globals())
outDir = args.output_dir
if not os.path.isdir(outDir):
os.makedirs(outDir)
for filename in args.filename:
print 'reading:', filename
polyData = loadObjFile(filename)
outFile = os.path.splitext(os.path.basename(filename))[0] + '.vtp'
outFile = os.path.join(outDir, outFile)
print 'writing:', outFile
ioUtils.writePolyData(polyData, outFile)
if not args.no_window:
app.app.start()
def savePointCloud(self):
objectPointCloud = om.findObjectByName('cropped pointcloud').polyData
ioUtils.writePolyData(objectPointCloud,
self.pathDict['objectPointcloud'])
file and re-save it as an ascii ply file.
'''
import os
from director import ioUtils
from director import vtkNumpy as vnp
if __name__ == '__main__':
filename = sys.argv[1]
outputFilename = os.path.splitext(filename)[0] + '.vtp'
print "reading poly data"
polyData = ioUtils.readPolyData(filename)
print "finished reading poly data"
# TODO:
# This should just be fixed in ioUtils.readPolyData, but for now
# there is a workaround for an issue with the ply reader.
# The output of the ply reader has points but not vertex cells,
# so create a new polydata with vertex cells and copy the cells over.
points = vnp.getNumpyFromVtk(polyData, 'Points')
newPolyData = vnp.numpyToPolyData(points, createVertexCells=True)
polyData.SetVerts(newPolyData.GetVerts())
print 'writing:', outputFilename
ioUtils.writePolyData(polyData, outputFilename)
Note, the ply file needs to be in ascii format and not
binary. The vtk ply reader seems to crash on binary
ply files. You can use meshlab to open a binary ply
file and re-save it as an ascii ply file.
'''
import os
from director import ioUtils
from director import vtkNumpy as vnp
if __name__ == '__main__':
filename = sys.argv[1]
outputFilename = os.path.splitext(filename)[0] + '.vtp'
print("reading poly data")
polyData = ioUtils.readPolyData(filename)
print("finished reading poly data")
# TODO:
# This should just be fixed in ioUtils.readPolyData, but for now
# there is a workaround for an issue with the ply reader.
# The output of the ply reader has points but not vertex cells,
# so create a new polydata with vertex cells and copy the cells over.
points = vnp.getNumpyFromVtk(polyData, 'Points')
newPolyData = vnp.numpyToPolyData(points, createVertexCells=True)
polyData.SetVerts(newPolyData.GetVerts())
print('writing:', outputFilename)
ioUtils.writePolyData(polyData, outputFilename)
