def updatePlanFrames(self): if self.getViewMode() != 'frames': return numberOfSamples = self.getNumberOfSamples() meshes = self.planPlayback.getPlanPoseMeshes( self.plan, self.playbackJointController, self.playbackRobotModel, numberOfSamples) d = DebugData() startColor = [0.8, 0.8, 0.8] endColor = [85 / 255.0, 255 / 255.0, 255 / 255.0] colorFunc = scipy.interpolate.interp1d([0, numberOfSamples - 1], [startColor, endColor], axis=0, kind='slinear') for i, mesh in reversed(list(enumerate(meshes))): d.addPolyData(mesh, color=colorFunc(i)) pd = d.getPolyData() clean = vtk.vtkCleanPolyData() clean.SetInput(pd) clean.Update() pd = clean.GetOutput() self.planFramesObj = vis.updatePolyData(d.getPolyData(), 'robot plan', alpha=1.0, visible=False, colorByName='RGB255', parent='planning') self.showPlanFrames()
def updatePlanFrames(self): if self.getViewMode() != 'frames': return numberOfSamples = self.getNumberOfSamples() meshes = self.planPlayback.getPlanPoseMeshes(self.plan, self.playbackJointController, self.playbackRobotModel, numberOfSamples) d = DebugData() startColor = [0.8, 0.8, 0.8] endColor = [85/255.0, 255/255.0, 255/255.0] colorFunc = scipy.interpolate.interp1d([0, numberOfSamples-1], [startColor, endColor], axis=0, kind='slinear') for i, mesh in reversed(list(enumerate(meshes))): d.addPolyData(mesh, color=colorFunc(i)) pd = d.getPolyData() clean = vtk.vtkCleanPolyData() clean.SetInput(pd) clean.Update() pd = clean.GetOutput() self.planFramesObj = vis.updatePolyData(d.getPolyData(), 'robot plan', alpha=1.0, visible=False, colorByName='RGB255', parent='planning') self.showPlanFrames()
def computeDelaunay3D(polyData): f = vtk.vtkDelaunay3D() f.SetInput(polyData) f.SetOffset(100.0) f.Update() surface = vtk.vtkGeometryFilter() surface.SetInput(f.GetOutput()) surface.Update() clean = vtk.vtkCleanPolyData() clean.SetInput(surface.GetOutput()) clean.Update() return shallowCopy(clean.GetOutput())
def computeDelaunay3D(polyData): f = vtk.vtkDelaunay3D() f.SetInputData(polyData) f.SetOffset(100.0) f.Update() surface = vtk.vtkGeometryFilter() surface.SetInputData(f.GetOutput()) surface.Update() clean = vtk.vtkCleanPolyData() clean.SetInputData(surface.GetOutput()) clean.Update() return shallowCopy(clean.GetOutput())
def cleanPolyData(polyData): clean = vtk.vtkCleanPolyData() clean.SetInput(polyData) clean.Update() return shallowCopy(clean.GetOutput())
def cleanPolyData(polyData): clean = vtk.vtkCleanPolyData() clean.SetInputData(polyData) clean.Update() return shallowCopy(clean.GetOutput())