def __init__(self, window_title='Depth Image', scale=1):
self.scale = scale
depthImageColorByRange = [0.0, 4.0]
lut = vtk.vtkLookupTable()
lut.SetNumberOfColors(256)
lut.SetHueRange(0, 0.667) # red to blue
lut.SetRange(depthImageColorByRange) # map red (near) to blue (far)
lut.SetRampToLinear()
lut.Build()
self.depthScaleFilter = vtk.vtkImageShiftScale()
self.depthScaleFilter.SetScale(scale)
self.depthScaleFilter.SetOutputScalarTypeToUnsignedShort()
self.depthImageLookupTable = lut
self.imageMapToColors = vtk.vtkImageMapToColors()
self.imageMapToColors.SetLookupTable(self.depthImageLookupTable)
self.imageMapToColors.SetInputConnection(
self.depthScaleFilter.GetOutputPort())
self.imageView = imageview.ImageView()
self.imageView.view.setWindowTitle(window_title)
self.imageView.setImage(self.imageMapToColors.GetOutput())
def drawNumpyImage(title, img):
"""
Draws a new image using ImageView
"""
imageView = imageview.ImageView()
imageView.view.setWindowTitle(title)
imageView.showNumpyImage(img)
imageView.show()
return imageView
def initDepthImageView(self):
self.depthImageColorByRange = [0.0, 4.0]
lut = vtk.vtkLookupTable()
lut.SetNumberOfColors(256)
lut.SetHueRange(0, 0.667) # red to blue
lut.SetRange(
self.depthImageColorByRange) # map red (near) to blue (far)
lut.SetRampToLinear()
lut.Build()
im = vtk.vtkImageMapToColors()
im.SetLookupTable(lut)
self.depthImageLookupTable = lut
self.imageMapToColors = im
self.imageView = imageview.ImageView()
self.imageView.view.setWindowTitle('Depth image')
self.imageView.setImage(self.imageMapToColors.GetOutput())
def __init__(self, app, view, cameraIntrinsics=None, debug=True,
data_directory=None):
"""
This shouldn't be called directly. Should only be called via the staticmethod from_data_folder
:param app:
:type app:
:param view:
:type view:
:param cameraIntrinsics:
:type cameraIntrinsics:
:param debug:
:type debug:
:param data_directory: The 'processed' subfolder of a top level log folder
:type data_directory:
"""
self.app = app
self.views = dict()
self.vis = True
self.debug = debug
self.views['foreground'] = view
self.views['background'] = self.createBackgroundView()
self.threshold = 10
if cameraIntrinsics is None:
self.cameraIntrinsics = makeDefaultCameraIntrinsics()
else:
self.cameraIntrinsics = cameraIntrinsics
# set the views to use the camera intrinsics
for _, view in self.views.iteritems():
director_utils.setCameraIntrinsics(view, self.cameraIntrinsics, lockViewSize=True)
self.depthScanners = dict()
self.depthScanners['foreground'] = initDepthScanner(self.app, self.views['foreground'],
widgetArea=QtCore.Qt.RightDockWidgetArea)
self.depthScanners['background'] = initDepthScanner(self.app, self.views['background'],
widgetArea=QtCore.Qt.LeftDockWidgetArea)
# used for point cloud view
self.changeDetectionPointCloudView = PythonQt.dd.ddQVTKWidgetView()
self.changeDetectionPointCloudView.setWindowTitle('Change Detection Pointcloud')
dock = self.app.app.addWidgetToDock(self.changeDetectionPointCloudView, QtCore.Qt.BottomDockWidgetArea)
dock.setMinimumWidth(300)
dock.setMinimumHeight(300)
# used for visualizing the depth image/mask coming from change detection
self.changeDetectionImageVisualizer = imageview.ImageView()
self.changeDetectionImageVisualizer.view.setWindowTitle('Depth Image Change')
dock = self.app.app.addWidgetToDock(self.changeDetectionImageVisualizer.view, QtCore.Qt.BottomDockWidgetArea)
dock.setMinimumWidth(300)
dock.setMinimumHeight(300)
from director import imageview from director import consoleapp import director.vtkAll as vtk import director.vtkNumpy as vnp # create a vtkImageData object s = vtk.vtkRTAnalyticSource() s.SetWholeExtent(-100, 100, -100, 100, 0, 0) s.Update() image = s.GetOutput() # get image data as a numpy array w, h, _ = image.GetDimensions() img = vnp.getNumpyFromVtk(image, 'RTData').reshape(h, w, -1) # show numpy image data view = imageview.ImageView() view.showNumpyImage(img) view.show() # convert back to vtkImageData and show view2 = imageview.ImageView() view2.setImage(vnp.numpyToImageData(img)) view2.show() consoleapp.ConsoleApp.start()
def showImage(image):
imageView = imageview.ImageView()
imageView.setImage(image)
imageView.view.show()
imageView.resetCamera()
imageViews.append(imageView)
