#NEWLINE# def showFusedMaps( self ) : #NEWLINE# #INDENT# om . removeFromObjectModel ( om . findObjectByName ( 'stereo' ) ) #NEWLINE# om . getOrCreateContainer ( 'stereo' ) #NEWLINE# q = imageManager . queue #NEWLINE# cameraToLocalNow = vtk . vtkTransform ( ) #NEWLINE# utime = q . getCurrentImageTime ( 'CAMERA_TSDF' ) #NEWLINE# q . getTransform ( 'CAMERA_LEFT' , 'local' , utime , cameraToLocalNow ) #NEWLINE# cameraToLocalFusedNow = vtk . vtkTransform ( ) #NEWLINE# q . getTransform ( 'CAMERA_LEFT_ALT' , 'local' , utime , cameraToLocalFusedNow ) #NEWLINE# for i in range ( len ( self . pointClouds ) ) : #NEWLINE# #INDENT# fusedNowToLocalNow = vtk . vtkTransform ( ) #NEWLINE# fusedNowToLocalNow . PreMultiply ( ) #NEWLINE# fusedNowToLocalNow . Concatenate ( cameraToLocalNow ) #NEWLINE# fusedNowToLocalNow . Concatenate ( cameraToLocalFusedNow . GetLinearInverse ( ) ) #NEWLINE# fusedTransform = vtk . vtkTransform ( ) #NEWLINE# fusedTransform . PreMultiply ( ) #NEWLINE# fusedTransform . Concatenate ( fusedNowToLocalNow ) #NEWLINE# fusedTransform . Concatenate ( self . cameraToLocalFusedTransforms [ i ] ) #NEWLINE# pd = filterUtils . transformPolyData ( self . pointClouds [ i ] , cameraToLocalNow ) #NEWLINE# vis . showFrame ( fusedTransform , ( 'cloud frame ' + str ( i ) ) , visible = True , scale = 0.2 , parent = 'stereo' ) #NEWLINE# vis . showPolyData ( pd , ( 'stereo ' + str ( i ) ) , parent = 'stereo' , colorByName = 'rgb_colors' )