def show(animate=False, axis=np.array([0., 0., 1.]), clf=True, **kwargs):
"""Display the current figure and enable interaction.
Parameters
----------
animate : bool
Whether or not to animate the scene.
axis : (3,) float or None
If present, the animation will rotate about the given axis in world coordinates.
Otherwise, the animation will rotate in azimuth.
clf : bool
If true, the Visualizer is cleared after showing the figure.
kwargs : dict
Other keyword arguments for the SceneViewer instance.
"""
x = SceneViewer(Visualizer3D._scene,
size=Visualizer3D._init_size,
animate=animate,
animate_axis=axis,
save_directory=Visualizer3D._save_directory,
**kwargs)
if x.save_directory:
Visualizer3D._save_directory = x.save_directory
if clf:
Visualizer3D.clf()
def render(n_frames=1, axis=np.array([0., 0., 1.]), clf=True, **kwargs):
"""Render frames from the viewer.
Parameters
----------
n_frames : int
Number of frames to render. If more than one, the scene will animate.
axis : (3,) float or None
If present, the animation will rotate about the given axis in world coordinates.
Otherwise, the animation will rotate in azimuth.
clf : bool
If true, the Visualizer is cleared after rendering the figure.
kwargs : dict
Other keyword arguments for the SceneViewer instance.
Returns
-------
list of perception.ColorImage
A list of ColorImages rendered from the viewer.
"""
v = SceneViewer(Visualizer3D._scene,
size=Visualizer3D._init_size,
animate=(n_frames > 1),
animate_axis=axis,
max_frames=n_frames,
**kwargs)
if clf:
Visualizer3D.clf()
return v.saved_frames
def save(filename,
n_frames=1,
axis=np.array([0., 0., 1.]),
clf=True,
**kwargs):
"""Save frames from the viewer out to a file.
Parameters
----------
filename : str
The filename in which to save the output image. If more than one frame,
should have extension .gif.
n_frames : int
Number of frames to render. If more than one, the scene will animate.
axis : (3,) float or None
If present, the animation will rotate about the given axis in world coordinates.
Otherwise, the animation will rotate in azimuth.
clf : bool
If true, the Visualizer is cleared after rendering the figure.
kwargs : dict
Other keyword arguments for the SceneViewer instance.
"""
if n_frames > 1 and os.path.splitext(filename)[1] != '.gif':
raise ValueError('Expected .gif file for multiple-frame save.')
v = SceneViewer(Visualizer3D._scene,
size=Visualizer3D._init_size,
animate=(n_frames > 1),
animate_axis=axis,
max_frames=n_frames,
**kwargs)
data = [m.data for m in v.saved_frames]
if len(data) > 1:
imageio.mimwrite(filename,
data,
fps=v._animate_rate,
palettesize=128,
subrectangles=True)
else:
imageio.imwrite(filename, data[0])
if clf:
Visualizer3D.clf()
'elevation': {
'min': 0.10,
'max': 10.0,
},
'roll': {
'min': -0.2,
'max': 0.2,
},
'x': {
'min': -0.01,
'max': 0.01,
},
'y': {
'min': -0.01,
'max': 0.01,
},
'im_width': 600,
'im_height': 600
}
urv = UniformPlanarWorksurfaceImageRandomVariable('pawn', scene,
[RenderMode.COLOR], 'camera',
cfg)
renders = urv.sample(10, front_and_back=True)
for i, render in enumerate(renders):
color = render.renders[RenderMode.COLOR]
color.save('output/random_{}.jpg'.format(i))
v = SceneViewer(scene, raymond_lighting=True)