def render(self,
r,
t,
light_position,
light_intensity,
class_name,
brightness_k=0,
r_type='quat'):
'''
:param r:
:param t:
:param light_position:
:param light_intensity:
:param brightness_k: choose which brightness in __init__
:param r_type:
:return:
'''
if r_type == 'quat':
R = RT_transform.quat2mat(r)
elif r_type == 'mat':
R = r
self.class_name = class_name
self.brightness_k = brightness_k
self.render_kernels[
self.class_name][brightness_k]['u_view'] = self._get_view_mtx(
R, t)
self.render_kernels[
self.class_name][brightness_k]['u_light_position'] = light_position
self.render_kernels[self.class_name][brightness_k]['u_normal'] = \
np.array(np.matrix(np.dot(
self.render_kernels[self.class_name][brightness_k]['u_view'].reshape(4,4),
self.render_kernels[self.class_name][brightness_k]['u_model'].reshape(4,4))).I.T)
self.render_kernels[self.class_name][brightness_k][
'u_light_intensity'] = light_intensity
app.run(framecount=0, framerate=0)
rgb_buffer = np.zeros((self.height, self.width, 4), dtype=np.float32)
gl.glReadPixels(0, 0, self.width, self.height, gl.GL_RGBA, gl.GL_FLOAT,
rgb_buffer)
rgb_gl = np.copy(rgb_buffer)
rgb_gl.shape = 480, 640, 4
rgb_gl = rgb_gl[::-1, :]
rgb_gl = np.round(rgb_gl[:, :, :3] * 255).astype(
np.uint8) # Convert to [0, 255]
rgb_gl = rgb_gl[:, :, [2, 1, 0]]
depth_buffer = np.zeros((self.height, self.width), dtype=np.float32)
gl.glReadPixels(0, 0, self.width, self.height, gl.GL_DEPTH_COMPONENT,
gl.GL_FLOAT, depth_buffer)
depth_gl = np.copy(depth_buffer)
depth_gl.shape = 480, 640
depth_gl = depth_gl[::-1, :]
depth_bg = depth_gl == 1
depth_gl = 2 * self.zFar * self.zNear / (self.zFar + self.zNear -
(self.zFar - self.zNear) *
(2 * depth_gl - 1))
depth_gl[depth_bg] = 0
return rgb_gl, depth_gl
def gen_render_real():
for cls_idx, cls_name in idx2class.items():
print(cls_idx, cls_name)
if cls_name == 'driller':
continue
with open(
os.path.join(real_set_dir,
'occLM_val_real_{}.txt'.format(cls_name)),
'r') as f:
all_indices = [line.strip('\r\n') for line in f.readlines()]
# render machine
model_dir = os.path.join(LM6d_root, 'models', cls_name)
render_machine = Render_Py(model_dir, K, width, height, ZNEAR, ZFAR)
for real_idx in tqdm(all_indices):
video_name, prefix = real_idx.split('/') # video name is "test"
# read pose -------------------------------------
real_meta_path = os.path.join(real_data_root,
"02/{}-meta.mat".format(prefix))
meta_data = sio.loadmat(real_meta_path)
inner_id = np.where(
np.squeeze(meta_data['cls_indexes']) == cls_idx)
if len(meta_data['poses'].shape) == 2:
pose = meta_data['poses']
else:
pose = np.squeeze(meta_data['poses'][:, :, inner_id])
new_pose_path = os.path.join(render_real_root, cls_name,
"{}-pose.txt".format(prefix))
mkdir_if_missing(os.path.join(render_real_root, cls_name))
# write pose
write_pose_file(new_pose_path, cls_idx, pose)
# ----------------------render color, depth ------------
rgb_gl, depth_gl = render_machine.render(
RT_transform.mat2quat(pose[:3, :3]), pose[:, -1])
rgb_gl = rgb_gl.astype('uint8')
render_color_path = os.path.join(render_real_root, cls_name,
"{}-color.png".format(prefix))
cv2.imwrite(render_color_path, rgb_gl)
# depth
depth_save = depth_gl * DEPTH_FACTOR
depth_save = depth_save.astype('uint16')
render_depth_path = os.path.join(render_real_root, cls_name,
"{}-depth.png".format(prefix))
cv2.imwrite(render_depth_path, depth_save)
#--------------------- render label ----------------------------------
render_label = depth_gl != 0
render_label = render_label.astype('uint8')
# write label
label_path = os.path.join(render_real_root, cls_name,
"{}-label.png".format(prefix))
cv2.imwrite(label_path, render_label)