[refactor] Simplify Planefit

Application/Ui/python/lidarview/planefit.py

@@ -4,119 +4,119 @@
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
-#     http://www.apache.org/licenses/LICENSE-2.0
+#   http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
 # distributed under the License is distributed on an "AS IS" BASIS,
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-from __future__ import print_function
-#import VelodynePlugin.VelodyneLidar as vpmod #do we need this ?
-import paraview.simple as smp
-from paraview import vtk
-
-# Clean last planefitting source and the spreadsheet view
-def cleanStats():
-    planeFitter1 = smp.FindSource('PlaneFitter1')
-    if planeFitter1 is not None:
-        smp.Delete(planeFitter1)
-        del planeFitter1
 
-    PVTrivialProducer1 = smp.FindSource('PVTrivialProducer1')
-    if PVTrivialProducer1 is not None:
-        smp.Delete(PVTrivialProducer1)
-        del PVTrivialProducer1
+# Imports
+import paraview.simple as smp
+from paraview import vtk, servermanager
+
+# Use Named filters
+planefitter_name = 'PlaneFitter'       # PlaneFitter Instance
+selection_copy_name = 'SelectedPointsCopy' # Trivial copy of the selected points
+
+# Clean planefitter's state
+def cleanState():
+  # Remove PlaneFitter
+  planefitter = smp.FindSource(planefitter_name)
+  if planefitter is not None:
+    smp.Delete(planefitter)
+    del planefitter
+
+  # Remove Selection copy TrivialProducer
+  trivialproducer = smp.FindSource(selection_copy_name)
+  if trivialproducer is not None:
+    smp.Delete(trivialproducer)
+    del trivialproducer
 
 # Find or create a 'SpreadSheet View' to display plane fitting statistics
-def showStats(actionSpreadsheet=None):
-    if actionSpreadsheet is None:
-        print("Unable to display stats : SpreadSheet action is not defined")
-        return
-    
-    planeFitter1 = smp.FindSource('PlaneFitter1')
-    if planeFitter1 is None:
-        print("Unable to create spreadsheet view : PlaneFitter1 source missing")
-        return
-
-    renderView1 = smp.FindView('RenderView1')
-    if renderView1 is None:
-        print("Unable to find main renderView")
-        return
-
-    # Check if main spreadsheet view exist or can be created
+def showStats(planefitter, actionSpreadsheet=None):
+
+  # Check for SpreadSheetReaction
+  if actionSpreadsheet is None:
+    print("Unable to display stats : SpreadSheet action is not defined")
+    return
+
+  # Check if main spreadsheet view exist or can be created
+  spreadSheetView1 = smp.FindView('main spreadsheet view')
+  if spreadSheetView1 is None:
+    # try to trigger actionSpreadsheet to display main spreadsheet view
+    actionSpreadsheet.trigger()
     spreadSheetView1 = smp.FindView('main spreadsheet view')
     if spreadSheetView1 is None:
-        # try to trigger actionSpreadsheet to display main spreadsheet view
-        actionSpreadsheet.trigger()
-        spreadSheetView1 = smp.FindView('main spreadsheet view')
-        if spreadSheetView1 is None:
-            print("Unable to get main spreadsheet view")
-            return
-
-    # display stats in main spreadsheet view
-    spreadSheetView1.ColumnToSort = ''
-    spreadSheetView1.BlockSize = 1024
-    spreadSheetView1.FieldAssociation = 'Row Data'
-    smp.Show(planeFitter1, spreadSheetView1)
+      print("Unable to get main spreadsheet view")
+      return
 
+  # Display stats in main spreadsheet view
+  spreadSheetView1.ColumnToSort = ''
+  spreadSheetView1.BlockSize = 1024
+  spreadSheetView1.FieldAssociation = 'Row Data'
+  smp.Show(planefitter, spreadSheetView1)
+
+# Main Method
 def fitPlane(actionSpreadsheet=None):
-    src = smp.GetActiveSource()
-    if src is None:
-        print("A source need to be selected before running plane fitting")
-        return
-
-    selection = src.GetSelectionInput(src.Port)
-
-    if selection is None:
-        print("A selection has to be defined to run plane fitting")
-        return
-
-    extracter = smp.ExtractSelection()
-    extracter.Selection = selection
-    extracter.Input = src
-    smp.Show(extracter)
-
-    # Clean last plane fitting stats before processing a new one
-    cleanStats()
-
-    try:
-        pd = extracter.GetClientSideObject().GetOutput()
-        if not pd.GetNumberOfPoints():
-            print("An empty selection is defined")
-            return
-
-        # Append data from each block
-        if pd.IsTypeOf("vtkMultiBlockDataSet"):
-            if not pd.GetNumberOfBlocks():
-                print("An empty selection is defined")
-                return
-
-            appendFilter = vtk.vtkAppendFilter()
-            for i in range(pd.GetNumberOfBlocks()):
-                appendFilter.AddInputData(pd.GetBlock(i))
-            appendFilter.Update()
-            pd = appendFilter.GetOutput()
-
-        # Create a data source from selected points
-        PVTrivialProducer1 = smp.PVTrivialProducer()
-        PVTrivialProducer1Client = PVTrivialProducer1.GetClientSideObject()
-        PVTrivialProducer1Client.SetOutput(pd)
-
-        # Create and apply plane fitter filter
-        planeFitter1 = smp.PlaneFitter(Input=PVTrivialProducer1)
-
-        # if laser_id is the name of the array in Legacy and Special Velarray mode
-        # LCN is the name of the array in APF mode
-        if pd.GetPointData().GetArray("laser_id") :
-            planeFitter1.laserIDArray = "laser_id"
-        elif pd.GetPointData().GetArray("LCN"):
-            planeFitter1.laserIDArray = "LCN"
-        planeFitter1.UpdatePipeline()
-
-        # Display results on the main spreadsheet view
-        showStats(actionSpreadsheet)
-
-    finally:
-        smp.Delete(extracter)
-        smp.SetActiveSource(src)
+  # Get Selected Source
+  src = smp.GetActiveSource()
+  if src is None:
+    print("A source need to be selected before running plane fitting")
+    return
+
+  # Clean plane fitting state before processing a new one
+  cleanState()
+
+  # Check Selection
+  selection = src.GetSelectionInput(src.Port)
+  if selection is None:
+    print("A selection has to be defined to run plane fitting")
+    return
+
+  # Extract Selection - vtkMultiBlockDataSet(vtkUnstructuredGrid)
+  extractor = smp.ExtractSelection()
+  extractor.Selection = selection
+  extractor.Input = src
+
+  # Extract first Block - vtkUnstructuredGrid
+  merger = smp.MergeBlocks(Input=extractor)
+
+  # Convert to polydata - vtkPolyData
+  extractsurf = smp.ExtractSurface(Input=merger)
+  extractsurf.UpdatePipeline()
+
+  # Create a Trivial Producer HardCopy of selected points
+  trivialproducer = smp.PVTrivialProducer()
+  smp.RenameSource(selection_copy_name, trivialproducer)
+  trivialproducer.GetClientSideObject().SetOutput(extractsurf.GetClientSideObject().GetOutput())
+  
+  # PlaneFitter - Using a fixed input
+  planefitter = smp.PlaneFitter(Input=trivialproducer)
+  smp.RenameSource(planefitter_name, planefitter)
+
+  # Determine Laser ID Array Name
+  try:
+    # if laser_id is the name of the array in Legacy and Special Velarray mode
+    # LCN is the name of the array in APF mode
+    for arr in extractor.PointData:
+      if   arr.Name == "laser_id":
+        planefitter.laserIDArray = "laser_id"
+      elif arr.Name == "LCN":
+        planefitter.laserIDArray = "LCN"
+    planefitter.UpdatePipeline()
+
+    # Display results on the main spreadsheet view
+    showStats(planefitter, actionSpreadsheet)
+
+    # Show Model
+    smp.Show(servermanager.OutputPort(planefitter, outputPort=1))
+  except :
+    print("PlaneFit error: Unable to select appropriate laserIDArray")
+  finally:
+    smp.Delete(extractsurf)
+    smp.Delete(merger)
+    smp.Delete(extractor)
+    smp.SetActiveSource(src) # Restore Active Source
+