def computeDepthImageAndPointCloud(depthBuffer, colorBuffer, camera):
"""
Returns depth image and pointcloud as vtkImageData and vtkPolyData
:param depthBuffer: OpenGL depth buffer
:type depthBuffer:
:param colorBuffer: OpenGL color buffer
:type colorBuffer:
:param camera: vtkCamera instance that was used to render the scene
:type camera: vtkCamera instance
:return:
:rtype: vtkImageData, vtkPolyData, numpy array
"""
depthImage = vtk.vtkImageData()
pts = vtk.vtkPoints()
ptColors = vtk.vtkUnsignedCharArray()
vtk.vtkDepthImageUtils.DepthBufferToDepthImage(depthBuffer, colorBuffer,
camera, depthImage, pts,
ptColors)
pts = vnp.numpy_support.vtk_to_numpy(pts.GetData())
polyData = vnp.numpyToPolyData(pts, createVertexCells=True)
ptColors.SetName('rgb')
polyData.GetPointData().AddArray(ptColors)
return depthImage, polyData, pts
def computeDepthImageAndPointCloud(depthBuffer, colorBuffer, camera):
'''
Input args are an OpenGL depth buffer and color buffer as vtkImageData objects,
and the vtkCamera instance that was used to render the scene. The function returns
returns a depth image and a point cloud as vtkImageData and vtkPolyData.
'''
depthImage = vtk.vtkImageData()
pts = vtk.vtkPoints()
ptColors = vtk.vtkUnsignedCharArray()
vtk.vtkDepthImageUtils.DepthBufferToDepthImage(depthBuffer, colorBuffer, camera, depthImage, pts, ptColors)
pts = vnp.numpy_support.vtk_to_numpy(pts.GetData())
polyData = vnp.numpyToPolyData(pts, createVertexCells=True)
ptColors.SetName('rgb')
polyData.GetPointData().AddArray(ptColors)
return depthImage, polyData
def computeDepthImageAndPointCloud(depthBuffer, colorBuffer, camera):
'''
Input args are an OpenGL depth buffer and color buffer as vtkImageData objects,
and the vtkCamera instance that was used to render the scene. The function returns
returns a depth image and a point cloud as vtkImageData and vtkPolyData.
'''
depthImage = vtk.vtkImageData()
pts = vtk.vtkPoints()
ptColors = vtk.vtkUnsignedCharArray()
vtk.vtkDepthImageUtils.DepthBufferToDepthImage(depthBuffer, colorBuffer, camera, depthImage, pts, ptColors)
pts = vnp.numpy_support.vtk_to_numpy(pts.GetData())
polyData = vnp.numpyToPolyData(pts, createVertexCells=True)
ptColors.SetName('rgb')
polyData.GetPointData().AddArray(ptColors)
return depthImage, polyData, pts
def render_depth(renWin,
renderer,
camera,
data_dir,
data_dir_name,
num_im,
out_dir,
use_mesh,
object_dir,
mesh='meshed_scene.ply',
keyword=None):
actor = vtk.vtkActor()
filter1 = vtk.vtkWindowToImageFilter()
imageWriter = vtk.vtkPNGWriter()
scale = vtk.vtkImageShiftScale()
if use_mesh: #use meshed version of scene
if not glob.glob(data_dir + "/" + mesh):
out = None
if glob.glob(data_dir + "/original_log.lcmlog.ply"):
out = "original_log.lcmlog.ply"
elif glob.glob(data_dir + "/trimmed_log.lcmlog.ply"):
out = "trimmed_log.lcmlog.ply"
elif glob.glob('*.ply'):
out = glob.glob('*.ply')[0]
else:
return
mesher = mesh_wrapper.Mesh(out_dir=data_dir)
status = mesher.mesh_cloud(out)
print status
#blocks until done
mapper = vtk.vtkPolyDataMapper()
fileReader = vtk.vtkPLYReader()
fileReader.SetFileName(data_dir + "/" + mesh)
mapper.SetInputConnection(fileReader.GetOutputPort())
actor.SetMapper(mapper)
renderer.AddActor(actor)
else: #import just the objects
objects = common.Objects(data_dir, object_dir)
objects.loadObjectMeshes("/registration_result.yaml",
renderer,
keyword=keyword)
#setup filters
filter1.SetInput(renWin)
filter1.SetMagnification(1)
filter1.SetInputBufferTypeToZBuffer()
windowToColorBuffer = vtk.vtkWindowToImageFilter()
windowToColorBuffer.SetInput(renWin)
windowToColorBuffer.SetInputBufferTypeToRGB()
scale.SetOutputScalarTypeToUnsignedShort()
scale.SetScale(1000)
poses = common.CameraPoses(data_dir + "/posegraph.posegraph")
for i in range(1, num_im + 1):
try:
utimeFile = open(
data_dir + "/images/" + str(i).zfill(10) + "_utime.txt", 'r')
utime = int(utimeFile.read())
#update camera transform
cameraToCameraStart = poses.getCameraPoseAtUTime(utime)
t = cameraToCameraStart
common.setCameraTransform(camera, t)
renWin.Render()
#update filters
filter1.Modified()
filter1.Update()
windowToColorBuffer.Modified()
windowToColorBuffer.Update()
#extract depth image
depthImage = vtk.vtkImageData()
pts = vtk.vtkPoints()
ptColors = vtk.vtkUnsignedCharArray()
vtk.vtkDepthImageUtils.DepthBufferToDepthImage(
filter1.GetOutput(), windowToColorBuffer.GetOutput(), camera,
depthImage, pts, ptColors)
scale.SetInputData(depthImage)
scale.Update()
#write out depth image
imageWriter.SetFileName(out_dir + str(i).zfill(10) + "_" +
data_dir_name + "_depth_ground_truth.png")
imageWriter.SetInputConnection(scale.GetOutputPort())
imageWriter.Write()
except (IOError):
break
renderer.RemoveAllViewProps()
renWin.Render()
t = cameraToCameraStart
common.setCameraTransform(camera, t)
common.setCameraTransform(camera1, t)
renWin.Render()
renSource.Update()
#update filters
filter1.Modified()
filter1.Update()
windowToColorBuffer.Modified()
windowToColorBuffer.Update()
#extract depth image
depthImage = vtk.vtkImageData()
pts = vtk.vtkPoints()
ptColors = vtk.vtkUnsignedCharArray()
vtk.vtkDepthImageUtils.DepthBufferToDepthImage(
filter1.GetOutput(), windowToColorBuffer.GetOutput(), camera,
depthImage, pts, ptColors)
scale.SetInputData(depthImage)
scale.Update()
#source = np.flip(np.reshape(numpy_support.vtk_to_numpy(renSource.GetOutput().GetPointData().GetScalars()),(480,640)),axis=0)
#modify this for simulated depth
source = np.flip(np.reshape(
numpy_support.vtk_to_numpy(
renSource.GetOutput().GetPointData().GetScalars()),
(480, 640)),
axis=0)