def __init__(self, name, polyData, view):
om.ObjectModelItem.__init__(self, name, om.Icons.Robot)
self.views = []
self.polyData = polyData
self.mapper = vtk.vtkPolyDataMapper()
self.mapper.SetInput(self.polyData)
self.actor = vtk.vtkActor()
self.actor.SetMapper(self.mapper)
self.shadowActor = None
self.scalarBarWidget = None
self.extraViewRenderers = {}
self.rangeMap = dict(PolyDataItem.defaultScalarRangeMap)
self.addProperty('Color By', 0, attributes=om.PropertyAttributes(enumNames=['Solid Color']))
self.addProperty('Visible', True)
self.addProperty('Alpha', 1.0,
attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=1.0, singleStep=0.1, hidden=False))
self.addProperty('Point Size', self.actor.GetProperty().GetPointSize(),
attributes=om.PropertyAttributes(decimals=0, minimum=1, maximum=20, singleStep=1, hidden=False))
self.addProperty('Surface Mode', 0,
attributes=om.PropertyAttributes(enumNames=['Surface', 'Wireframe', 'Surface with edges', 'Points'], hidden=True))
self.addProperty('Color', [1.0, 1.0, 1.0])
self.addProperty('Show Scalar Bar', False)
self._updateSurfaceProperty()
self._updateColorByProperty()
if view is not None:
self.addToView(view)
def shadowOn(self):
if self.shadowActor:
return
mat = [[1, 0, -1, 0],
[0, 1, -1, 0],
[0, 0, 0, 0],
[0, 0, 0, 1]]
shadowT = transformUtils.getTransformFromNumpy(mat)
baseTransform = self.actor.GetUserTransform()
if baseTransform:
shadowT.PreMultiply()
shadowT.Concatenate(baseTransform)
self.shadowActor = vtk.vtkActor()
self.shadowActor.SetMapper(self.mapper)
self.shadowActor.SetUserTransform(shadowT)
self.shadowActor.GetProperty().LightingOff()
self.shadowActor.GetProperty().SetColor(0, 0, 0)
for view in self.views:
view.renderer().AddActor(self.shadowActor)
def __init__(self, name, polyData, view):
om.ObjectModelItem.__init__(self, name, om.Icons.Robot)
self.views = []
self.polyData = polyData
self.mapper = vtk.vtkPolyDataMapper()
self.mapper.SetInputData(self.polyData)
self.actor = vtk.vtkActor()
self.actor.SetMapper(self.mapper)
self.shadowActor = None
self.scalarBarWidget = None
self.extraViewRenderers = {}
self.rangeMap = dict(PolyDataItem.defaultScalarRangeMap)
self.addProperty(
'Color By',
0,
attributes=om.PropertyAttributes(enumNames=['Solid Color']))
self.addProperty('Visible', True)
self.addProperty('Alpha',
1.0,
attributes=om.PropertyAttributes(decimals=2,
minimum=0,
maximum=1.0,
singleStep=0.1,
hidden=False))
self.addProperty('Point Size',
self.actor.GetProperty().GetPointSize(),
attributes=om.PropertyAttributes(decimals=0,
minimum=1,
maximum=20,
singleStep=1,
hidden=False))
self.addProperty('Line Width',
self.actor.GetProperty().GetLineWidth(),
attributes=om.PropertyAttributes(decimals=0,
minimum=1,
maximum=20,
singleStep=1,
hidden=False))
self.addProperty('Surface Mode',
0,
attributes=om.PropertyAttributes(enumNames=[
'Surface', 'Wireframe', 'Surface with edges',
'Points'
],
hidden=True))
self.addProperty('Color', [1.0, 1.0, 1.0])
self.addProperty('Show Scalar Bar', False)
self._updateSurfaceProperty()
self._updateColorByProperty()
if view is not None:
self.addToView(view)
def shadowOn(self):
if self.shadowActor:
return
mat = [[1, 0, -1, 0],
[0, 1, -1, 0],
[0, 0, 0, 0],
[0, 0, 0, 1]]
shadowT = transformUtils.getTransformFromNumpy(mat)
baseTransform = self.actor.GetUserTransform()
if baseTransform:
shadowT.PreMultiply()
shadowT.Concatenate(baseTransform)
self.shadowActor = vtk.vtkActor()
self.shadowActor.SetMapper(self.mapper)
self.shadowActor.SetUserTransform(shadowT)
self.shadowActor.GetProperty().LightingOff()
self.shadowActor.GetProperty().SetColor(0, 0, 0)
for view in self.views:
view.renderer().AddActor(self.shadowActor)
def __init__(self, name, polyData, view):
om.ObjectModelItem.__init__(self, name, om.Icons.Robot)
self.views = []
self.polyData = polyData
self.mapper = vtk.vtkPolyDataMapper()
self.mapper.SetInput(self.polyData)
self.actor = vtk.vtkActor()
self.actor.SetMapper(self.mapper)
self.shadowActor = None
self.scalarBarWidget = None
self.extraViewRenderers = {}
self.rangeMap = {
'intensity': (400, 4000),
#'z' : (0.0, 2.0),
#'distance' : (0.5, 4.0),
'spindle_angle': (0, 360),
'azimuth': (-2.5, 2.5),
'scan_delta': (0.0, 0.3)
}
self.addProperty(
'Color By',
0,
attributes=om.PropertyAttributes(enumNames=['Solid Color']))
self.addProperty('Visible', True)
self.addProperty('Alpha',
1.0,
attributes=om.PropertyAttributes(decimals=2,
minimum=0,
maximum=1.0,
singleStep=0.1,
hidden=False))
self.addProperty('Point Size',
self.actor.GetProperty().GetPointSize(),
attributes=om.PropertyAttributes(decimals=0,
minimum=1,
maximum=20,
singleStep=1,
hidden=False))
self.addProperty('Surface Mode',
0,
attributes=om.PropertyAttributes(enumNames=[
'Surface', 'Wireframe', 'Surface with edges',
'Points'
],
hidden=True))
self.addProperty('Color', [1.0, 1.0, 1.0])
self.addProperty('Show Scalar Bar', False)
self._updateSurfaceProperty()
self._updateColorByProperty()
if view is not None:
self.addToView(view)
def render_depth(renWin,
renderer,
camera,
data_dir,
data_dir_name,
num_im,
out_dir,
use_mesh,
object_dir,
mesh='meshed_scene.ply',
keyword=None):
actor = vtk.vtkActor()
filter1 = vtk.vtkWindowToImageFilter()
imageWriter = vtk.vtkPNGWriter()
scale = vtk.vtkImageShiftScale()
if use_mesh: #use meshed version of scene
if not glob.glob(data_dir + "/" + mesh):
out = None
if glob.glob(data_dir + "/original_log.lcmlog.ply"):
out = "original_log.lcmlog.ply"
elif glob.glob(data_dir + "/trimmed_log.lcmlog.ply"):
out = "trimmed_log.lcmlog.ply"
elif glob.glob('*.ply'):
out = glob.glob('*.ply')[0]
else:
return
mesher = mesh_wrapper.Mesh(out_dir=data_dir)
status = mesher.mesh_cloud(out)
print status
#blocks until done
mapper = vtk.vtkPolyDataMapper()
fileReader = vtk.vtkPLYReader()
fileReader.SetFileName(data_dir + "/" + mesh)
mapper.SetInputConnection(fileReader.GetOutputPort())
actor.SetMapper(mapper)
renderer.AddActor(actor)
else: #import just the objects
objects = common.Objects(data_dir, object_dir)
objects.loadObjectMeshes("/registration_result.yaml",
renderer,
keyword=keyword)
#setup filters
filter1.SetInput(renWin)
filter1.SetMagnification(1)
filter1.SetInputBufferTypeToZBuffer()
windowToColorBuffer = vtk.vtkWindowToImageFilter()
windowToColorBuffer.SetInput(renWin)
windowToColorBuffer.SetInputBufferTypeToRGB()
scale.SetOutputScalarTypeToUnsignedShort()
scale.SetScale(1000)
poses = common.CameraPoses(data_dir + "/posegraph.posegraph")
for i in range(1, num_im + 1):
try:
utimeFile = open(
data_dir + "/images/" + str(i).zfill(10) + "_utime.txt", 'r')
utime = int(utimeFile.read())
#update camera transform
cameraToCameraStart = poses.getCameraPoseAtUTime(utime)
t = cameraToCameraStart
common.setCameraTransform(camera, t)
renWin.Render()
#update filters
filter1.Modified()
filter1.Update()
windowToColorBuffer.Modified()
windowToColorBuffer.Update()
#extract depth image
depthImage = vtk.vtkImageData()
pts = vtk.vtkPoints()
ptColors = vtk.vtkUnsignedCharArray()
vtk.vtkDepthImageUtils.DepthBufferToDepthImage(
filter1.GetOutput(), windowToColorBuffer.GetOutput(), camera,
depthImage, pts, ptColors)
scale.SetInputData(depthImage)
scale.Update()
#write out depth image
imageWriter.SetFileName(out_dir + str(i).zfill(10) + "_" +
data_dir_name + "_depth_ground_truth.png")
imageWriter.SetInputConnection(scale.GetOutputPort())
imageWriter.Write()
except (IOError):
break
renderer.RemoveAllViewProps()
renWin.Render()
def render_normals(renWin,
renderer,
camera,
data_dir,
data_dir_name,
num_im,
out_dir,
use_mesh,
object_dir,
mesh='meshed_scene.ply',
keyword=None):
#setup rendering enviornment
actor = vtk.vtkActor()
filter1 = vtk.vtkWindowToImageFilter()
imageWriter = vtk.vtkPNGWriter()
scale = vtk.vtkImageShiftScale()
if use_mesh: #use meshed version of scene
if not glob.glob(data_dir + "/" + mesh):
out = "original_log.lcmlog.ply" if glob.glob(
data_dir +
"/original_log.lcmlog.ply") else "trimmed_log.lcmlog.ply"
mesher = mesh_wrapper.Mesh(out_dir=data_dir)
status = mesher.mesh_cloud(out)
print status
#blocks until done
mapper = vtk.vtkPolyDataMapper()
#shading
#set_material_prop(actor)
set_shader_input(mapper)
fileReader = vtk.vtkPLYReader()
fileReader.SetFileName(data_dir + "/" + mesh)
mapper.SetInputConnection(fileReader.GetOutputPort())
actor.SetMapper(mapper)
renderer.AddActor(actor)
else: #import just the objects
objects = common.Objects(data_dir, object_dir)
objects.loadObjectMeshes("/registration_result.yaml",
renderer,
keyword=keyword,
shader=set_shader_input)
#setup rendering enviornment
windowToColorBuffer = vtk.vtkWindowToImageFilter()
windowToColorBuffer.SetInput(renWin)
windowToColorBuffer.SetInputBufferTypeToRGB()
#setup camera calibration
common.set_up_camera_params(camera)
poses = common.CameraPoses(data_dir + "/posegraph.posegraph")
for i in range(1, num_im + 1):
try:
utimeFile = open(
data_dir + "/images/" + str(i).zfill(10) + "_utime.txt", 'r')
utime = int(utimeFile.read())
#update camera transform
cameraToCameraStart = poses.getCameraPoseAtUTime(utime)
t = cameraToCameraStart
common.setCameraTransform(camera, t)
renWin.Render()
windowToColorBuffer.Modified()
windowToColorBuffer.Update()
#write out depth image
imageWriter.SetFileName(out_dir + str(i).zfill(10) + "_" +
data_dir_name + "_normal_ground_truth.png")
imageWriter.SetInputConnection(windowToColorBuffer.GetOutputPort())
imageWriter.Write()
except (IOError):
break
renderer.RemoveAllViewProps()
renWin.Render()
normal = np.array(pickPointFields.pickedNormal)
image[i, j, :] = normal
# add some rgb conversion step, maybe png writer does that???
return image
if __name__ == '__main__':
#setup
view_height = 640
view_width = 480
data_dir = sys.argv[1]
num_im = int(sys.argv[2])
mesh = sys.argv[3]
mapper = vtk.vtkPolyDataMapper()
actor = vtk.vtkActor()
renderer = vtk.vtkRenderer()
renWin = vtk.vtkRenderWindow()
interactor = vtk.vtkRenderWindowInteractor()
fileReader = vtk.vtkPLYReader()
filter1 = vtk.vtkWindowToImageFilter()
imageWriter = vtk.vtkBMPWriter()
scale = vtk.vtkImageShiftScale()
fileReader.SetFileName(sys.argv[1] + "/" + sys.argv[3])
renWin.SetSize(view_height, view_width)
camera = vtk.vtkCamera()
renderer.SetActiveCamera(camera)
mapper.SetInputConnection(fileReader.GetOutputPort())
actor.SetMapper(mapper)
out_file = "/media/drc/DATA/chris_labelfusion/RGBDCNN/stats.yaml"
stats = {}
samples_per_run = 1
###run through scenes
for i, j in paths[1:50]:
#set file names
data_dir = path + i
print data_dir
data_dir_name = os.path.basename(os.path.normpath(data_dir))
object_dir = "/media/drc/DATA/chris_labelfusion/object-meshes"
mesh = 'meshed_scene.ply'
#####set up mesh
actor = vtk.vtkActor()
mapper = vtk.vtkPolyDataMapper()
#set_shader(mapper)
fileReader = vtk.vtkPLYReader()
fileReader.SetFileName(data_dir + "/" + mesh)
mapper.SetInputConnection(fileReader.GetOutputPort())
actor.SetMapper(mapper)
renderer.AddActor(actor)
#add objects
objects = common.Objects(data_dir, object_dir)
poses = common.CameraPoses(data_dir + "/posegraph.posegraph")
for l in np.random.choice(range(1, 500), samples_per_run):
new_data_dir = '/media/drc/DATA/chris_labelfusion/RGBDCNN/'
utimeFile = open(
