def initView(self, view):
# Must call the createview function with the robot name so that the view can be associated, but cannot pass
# keyword arguments to python_qt functions so need to also pass the -1 to add the tab to the end of the list
# rather than insert it.
self.view = view or app.getViewManager().createView(
"Camera View", "VTK View", -1, self.robotName)
app.getRobotSelector().associateViewWithRobot(self.view,
self.robotName)
self.renderers = [self.view.renderer()]
renWin = self.view.renderWindow()
renWin.SetNumberOfLayers(3)
for i in [1, 2]:
ren = vtk.vtkRenderer()
ren.SetLayer(2)
ren.SetActiveCamera(self.view.camera())
renWin.AddRenderer(ren)
self.renderers.append(ren)
def applyCustomBounds():
self.view.addCustomBounds([-100, 100, -100, 100, -100, 100])
self.view.connect("computeBoundsRequest(ddQVTKWidgetView*)",
applyCustomBounds)
app.setCameraTerrainModeEnabled(self.view, True)
self.resetCamera()
def getOverlayRenderer(self, imageView):
if not hasattr(imageView, "overlayRenderer"):
renWin = imageView.view.renderWindow()
renWin.SetNumberOfLayers(2)
ren = vtk.vtkRenderer()
ren.SetLayer(1)
ren.SetActiveCamera(imageView.view.camera())
renWin.AddRenderer(ren)
imageView.overlayRenderer = ren
return imageView.overlayRenderer
def getOverlayRenderer(self, imageView):
if not hasattr(imageView, 'overlayRenderer'):
renWin = imageView.view.renderWindow()
renWin.SetNumberOfLayers(2)
ren = vtk.vtkRenderer()
ren.SetLayer(1)
ren.SetActiveCamera(imageView.view.camera())
renWin.AddRenderer(ren)
imageView.overlayRenderer = ren
return imageView.overlayRenderer
def initView(self, view):
self.view = view or app.getViewManager().createView('Camera View', 'VTK View')
self.renderers = [self.view.renderer()]
renWin = self.view.renderWindow()
renWin.SetNumberOfLayers(3)
for i in [1, 2]:
ren = vtk.vtkRenderer()
ren.SetLayer(2)
ren.SetActiveCamera(self.view.camera())
renWin.AddRenderer(ren)
self.renderers.append(ren)
def applyCustomBounds():
self.view.addCustomBounds([-100, 100, -100, 100, -100, 100])
self.view.connect('computeBoundsRequest(ddQVTKWidgetView*)', applyCustomBounds)
app.setCameraTerrainModeEnabled(self.view, True)
self.resetCamera()
def initView(self, view):
self.view = view or app.getViewManager().createView('Camera View', 'VTK View')
self.renderers = [self.view.renderer()]
renWin = self.view.renderWindow()
renWin.SetNumberOfLayers(3)
for i in [1, 2]:
ren = vtk.vtkRenderer()
ren.SetLayer(2)
ren.SetActiveCamera(self.view.camera())
renWin.AddRenderer(ren)
self.renderers.append(ren)
def applyCustomBounds():
self.view.addCustomBounds([-100, 100, -100, 100, -100, 100])
self.view.connect('computeBoundsRequest(ddQVTKWidgetView*)', applyCustomBounds)
app.setCameraTerrainModeEnabled(self.view, True)
self.resetCamera()
if __name__ == '__main__':
#setup
view_height = 640
view_width = 480
data_dir = sys.argv[1]
data_dir_name = os.path.basename(os.path.normpath(data_dir))
num_im = int(sys.argv[2])
mesh = sys.argv[3]
out_dir = sys.argv[1] + "/images/" if len(sys.argv) == 3 else sys.argv[4]
object_dir = "/home/drc/DATA/object-meshes"
print "rendering Label Fusion data", data_dir_name
use_mesh = False
#setup rendering enviornment
renderer = vtk.vtkRenderer()
renWin = vtk.vtkRenderWindow()
interactor = vtk.vtkRenderWindowInteractor()
renWin.SetSize(view_height, view_width)
camera = vtk.vtkCamera()
renderer.SetActiveCamera(camera)
renWin.AddRenderer(renderer)
interactor.SetRenderWindow(renWin)
common.set_up_camera_params(camera)
render_normals(renWin, renderer, camera, data_dir, data_dir_name, num_im,
mesh, out_dir + "normal/", use_mesh, object_dir)
render_depth(renWin, renderer, camera, data_dir, data_dir_name, num_im,
mesh, out_dir + "gtdepth/", use_mesh, object_dir)
renWin.Render()
for f in os.listdir(path):
if "2017" in f:
if "registration_result.yaml" in os.listdir(path + f):
with open(path + f + "/registration_result.yaml") as read:
transformYaml = yaml.load(read)
if len(transformYaml.keys()) >= objects_per_scene:
paths.append((f, transformYaml.keys()))
print "extracting from scenes..."
for i in paths:
print i[0]
## setup rendering enviornment for mesh
view_height = 480
view_width = 640
renderer = vtk.vtkRenderer()
renderer.SetViewport(0, 0, 0.5, 1)
renWin = vtk.vtkRenderWindow()
interactor = vtk.vtkRenderWindowInteractor()
renWin.SetSize(2 * view_width, view_height)
camera = vtk.vtkCamera()
renderer.SetActiveCamera(camera)
renWin.AddRenderer(renderer)
interactor.SetRenderWindow(renWin)
common.set_up_camera_params(camera)
### setup rendering enviornment for point cloud
renderer1 = vtk.vtkRenderer()
renderer1.SetViewport(0.5, 0, 1, 1)
camera1 = vtk.vtkCamera()
renderer1.SetActiveCamera(camera1)
