def _render(self,
default_prefix: str,
default_key: str,
output_key_parameter_name: str = "output_key",
output_file_prefix_parameter_name: str = "output_file_prefix",
enable_transparency: bool = False,
file_format: str = "PNG"):
""" Renders each registered keypoint.
:param default_prefix: The default prefix of the output files.
"""
if self.config.get_bool("render_distance", False):
RendererUtility.enable_distance_output(
self._determine_output_dir(),
self.config.get_string("distance_output_file_prefix",
"distance_"),
self.config.get_string("distance_output_key", "distance"),
self.config.get_float("distance_start", 0.1),
self.config.get_float("distance_range", 25.0),
self.config.get_string("distance_falloff", "LINEAR"))
if self.config.get_bool("render_depth", False):
RendererUtility.enable_depth_output(
self._determine_output_dir(),
self.config.get_string("depth_output_file_prefix", "depth_"),
self.config.get_string("depth_output_key", "depth"))
if self.config.get_bool("render_normals", False):
RendererUtility.enable_normals_output(
self._determine_output_dir(),
self.config.get_string("normals_output_file_prefix",
"normals_"),
self.config.get_string("normals_output_key", "normals"))
if self.config.get_bool("render_diffuse_color", False):
RendererUtility.enable_diffuse_color_output(
self._determine_output_dir(),
self.config.get_string("diffuse_color_output_file_prefix",
"diffuse_"),
self.config.get_string("diffuse_color_output_key", "diffuse"))
RendererUtility.set_output_format(
file_format, enable_transparency=enable_transparency)
if not self._avoid_output:
RendererUtility.render(
self._determine_output_dir(),
self.config.get_string(output_file_prefix_parameter_name,
default_prefix),
self.config.get_string(output_key_parameter_name, default_key),
return_data=False)
def _render(self,
default_prefix,
default_key,
output_key_parameter_name="output_key",
output_file_prefix_parameter_name="output_file_prefix",
enable_transparency=False,
file_format="PNG"):
""" Renders each registered keypoint.
:param default_prefix: The default prefix of the output files.
"""
if self.config.get_bool("render_distance", False):
RendererUtility.enable_distance_output(
self._determine_output_dir(),
self.config.get_string("distance_output_file_prefix",
"distance_"),
self.config.get_string("distance_output_key", "distance"),
self.config.get_bool("use_mist_distance", True),
self.config.get_float("distance_start", 0.1),
self.config.get_float("distance_range", 25.0),
self.config.get_string("distance_falloff", "LINEAR"))
if self.config.get_bool("render_normals", False):
RendererUtility.enable_normals_output(
self._determine_output_dir(),
self.config.get_string("normals_output_file_prefix",
"normals_"),
self.config.get_string("normals_output_key", "normals"))
RendererUtility.set_output_format(
file_format, enable_transparency=enable_transparency)
if not self._avoid_rendering:
RendererUtility.render(
self._determine_output_dir(),
self.config.get_string(output_file_prefix_parameter_name,
default_prefix),
self.config.get_string(output_key_parameter_name, default_key))
height = np.random.uniform(0.5, 2)
location, _ = point_sampler.sample(height)
# Sample rotation (fix around X and Y axis)
euler_rotation = np.random.uniform([1.2217, 0, 0],
[1.2217, 0, 6.283185307])
cam2world_matrix = MathUtility.build_transformation_mat(
location, euler_rotation)
# Check that obstacles are at least 1 meter away from the camera and make sure the view interesting enough
if CameraValidation.perform_obstacle_in_view_check(
cam2world_matrix, {"min": 1.0}, bvh_tree
) and CameraValidation.scene_coverage_score(cam2world_matrix) > 0.4:
CameraUtility.add_camera_pose(cam2world_matrix)
poses += 1
tries += 1
# activate normal and distance rendering
RendererUtility.enable_normals_output()
RendererUtility.enable_distance_output()
MaterialLoaderUtility.add_alpha_channel_to_textures(blurry_edges=True)
# render the whole pipeline
data = RendererUtility.render()
data.update(
SegMapRendererUtility.render(Utility.get_temporary_directory(),
Utility.get_temporary_directory(), "class"))
# write the data to a .hdf5 container
WriterUtility.save_to_hdf5(args.output_dir, data)
