minor fixes

Author: manuelli

modules/dense_correspondence_manipulation/change_detection/change_detection.py

@@ -351,6 +351,8 @@ def run(self, output_dir=None, rendered_images_dir=None):
         if rendered_images_dir is None:
             rendered_images_dir = os.path.join(self.foreground_reconstruction.data_dir, 'rendered_images')
 
+        fusion_mesh_foreground_file = os.path.join(os.path.join(self.foreground_reconstruction.data_dir, 'fusion_mesh_foreground.ply'))
+
         if not os.path.isdir(output_dir):
             os.makedirs(output_dir)
 
@@ -359,6 +361,9 @@ def run(self, output_dir=None, rendered_images_dir=None):
 
         start_time = time.time()
 
+        print "saving cropped mesh"
+        self.foreground_reconstruction.save_poly_data(fusion_mesh_foreground_file)
+
         # read in each image in the log
         camera_pose_data = self.foreground_reconstruction.kinematics_pose_data
         img_file_extension = 'png'

modules/dense_correspondence_manipulation/fusion/fusion_reconstruction.py

@@ -118,6 +118,16 @@ def setup(self):
         self.load_poly_data()
         self.image_dir = os.path.join(self.data_dir, 'images')
 
+    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)
+
     @property
     def poly_data_type(self):
         return self._poly_data_type
@@ -283,19 +293,6 @@ def load_poly_data(self):
         self.poly_data = self.poly_data_raw
         self.crop_poly_data()
 
-    # def crop_poly_data(self):
-    #     dim_x = self.config['crop_box']['dimensions']['x']
-    #     dim_y = self.config['crop_box']['dimensions']['y']
-    #     dim_z = self.config['crop_box']['dimensions']['z']
-    #     dimensions = [dim_x, dim_y, dim_z]
-    #
-    #     transform = director_utils.transformFromPose(self.config['crop_box']['transform'])
-    #
-    #     # store the old poly data
-    #     self.poly_data_uncropped = self.poly_data
-    #
-    #     self.poly_data = segmentation.cropToBox(self.poly_data, transform, dimensions)
-
     @property
     def fusion_pose_data(self):
         raise ValueError("TSDFReconstruction doesn't have fusion_pose_data")