def __init__(self, view):
self.view = view
self.depthImage = None
self.pointCloudObj = None
self.renderObserver = None
self.windowToDepthBuffer = vtk.vtkWindowToImageFilter()
self.windowToDepthBuffer.SetInput(self.view.renderWindow())
self.windowToDepthBuffer.SetInputBufferTypeToZBuffer()
self.windowToDepthBuffer.ShouldRerenderOff()
self.windowToColorBuffer = vtk.vtkWindowToImageFilter()
self.windowToColorBuffer.SetInput(self.view.renderWindow())
self.windowToColorBuffer.SetInputBufferTypeToRGB()
self.windowToColorBuffer.ShouldRerenderOff()
useBackBuffer = False
if useBackBuffer:
self.windowToDepthBuffer.ReadFrontBufferOff()
self.windowToColorBuffer.ReadFrontBufferOff()
self.initDepthImageView()
self.initPointCloudView()
self._block = False
self.singleShotTimer = TimerCallback()
self.singleShotTimer.callback = self.update
def __init__(self, view):
self.view = view
self.depthImage = None
self.pointCloudObj = None
self.renderObserver = None
self.windowToDepthBuffer = vtk.vtkWindowToImageFilter()
self.windowToDepthBuffer.SetInput(self.view.renderWindow())
self.windowToDepthBuffer.SetInputBufferTypeToZBuffer()
self.windowToDepthBuffer.ShouldRerenderOff()
self.windowToColorBuffer = vtk.vtkWindowToImageFilter()
self.windowToColorBuffer.SetInput(self.view.renderWindow())
self.windowToColorBuffer.SetInputBufferTypeToRGB()
self.windowToColorBuffer.ShouldRerenderOff()
useBackBuffer = False
if useBackBuffer:
self.windowToDepthBuffer.ReadFrontBufferOff()
self.windowToColorBuffer.ReadFrontBufferOff()
self.initDepthImageView()
self.initPointCloudView()
self._block = False
self.singleShotTimer = TimerCallback()
self.singleShotTimer.callback = self.update
def saveScreenshot(view, filename, shouldRender=True, shouldWrite=True):
if shouldRender:
view.forceRender()
grabber = vtk.vtkWindowToImageFilter()
grabber.SetInput(view.renderWindow())
grabber.SetInputBufferTypeToRGB()
grabber.ReadFrontBufferOff()
grabber.SetShouldRerender(False)
grabber.Update()
if shouldWrite:
io.writeImage(grabber.GetOutput(), filename)
return grabber.GetOutput()
def saveScreenshot(view, filename, shouldRender=True, shouldWrite=True):
if shouldRender:
view.forceRender()
grabber = vtk.vtkWindowToImageFilter()
grabber.SetInput(view.renderWindow())
grabber.SetInputBufferTypeToRGB()
grabber.ReadFrontBufferOff()
grabber.SetShouldRerender(False)
grabber.Update()
if shouldWrite:
io.writeImage(grabber.GetOutput(), filename)
return grabber.GetOutput()
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()
def render_normals(renWin,
renderer,
camera,
data_dir,
data_dir_name,
num_im,
out_dir,
use_mesh,
object_dir,
mesh='meshed_scene.ply',
keyword=None):
#setup rendering enviornment
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 = "original_log.lcmlog.ply" if glob.glob(
data_dir +
"/original_log.lcmlog.ply") else "trimmed_log.lcmlog.ply"
mesher = mesh_wrapper.Mesh(out_dir=data_dir)
status = mesher.mesh_cloud(out)
print status
#blocks until done
mapper = vtk.vtkPolyDataMapper()
#shading
#set_material_prop(actor)
set_shader_input(mapper)
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,
shader=set_shader_input)
#setup rendering enviornment
windowToColorBuffer = vtk.vtkWindowToImageFilter()
windowToColorBuffer.SetInput(renWin)
windowToColorBuffer.SetInputBufferTypeToRGB()
#setup camera calibration
common.set_up_camera_params(camera)
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()
windowToColorBuffer.Modified()
windowToColorBuffer.Update()
#write out depth image
imageWriter.SetFileName(out_dir + str(i).zfill(10) + "_" +
data_dir_name + "_normal_ground_truth.png")
imageWriter.SetInputConnection(windowToColorBuffer.GetOutputPort())
imageWriter.Write()
except (IOError):
break
renderer.RemoveAllViewProps()
renWin.Render()
if __name__ == '__main__':
#setup
view_height = 640
view_width = 480
data_dir = sys.argv[1]
num_im = int(sys.argv[2])
mesh = sys.argv[3]
mapper = vtk.vtkPolyDataMapper()
actor = vtk.vtkActor()
renderer = vtk.vtkRenderer()
renWin = vtk.vtkRenderWindow()
interactor = vtk.vtkRenderWindowInteractor()
fileReader = vtk.vtkPLYReader()
filter1 = vtk.vtkWindowToImageFilter()
imageWriter = vtk.vtkBMPWriter()
scale = vtk.vtkImageShiftScale()
fileReader.SetFileName(sys.argv[1] + "/" + sys.argv[3])
renWin.SetSize(view_height, view_width)
camera = vtk.vtkCamera()
renderer.SetActiveCamera(camera)
mapper.SetInputConnection(fileReader.GetOutputPort())
actor.SetMapper(mapper)
renderer.AddActor(actor)
renWin.AddRenderer(renderer)
interactor.SetRenderWindow(renWin)
setCameraInstrinsicsAsus(camera)
### setup rendering enviornment for point cloud
renderer1 = vtk.vtkRenderer()
renderer1.SetViewport(0.5, 0, 1, 1)
camera1 = vtk.vtkCamera()
renderer1.SetActiveCamera(camera1)
renWin.AddRenderer(renderer1)
common.set_up_camera_params(camera1)
renSource = vtk.vtkRendererSource()
renSource.SetInput(renderer)
renSource.WholeWindowOff()
renSource.DepthValuesOnlyOn()
renSource.Update()
####setup filters
filter1 = vtk.vtkWindowToImageFilter()
scale = vtk.vtkImageShiftScale()
filter1.SetInput(renWin)
filter1.SetMagnification(1)
filter1.SetInputBufferTypeToZBuffer()
windowToColorBuffer = vtk.vtkWindowToImageFilter()
windowToColorBuffer.SetInput(renWin)
windowToColorBuffer.SetInputBufferTypeToRGB()
scale.SetOutputScalarTypeToUnsignedShort()
scale.SetScale(1000)
out_dir = "/media/drc/DATA/chris_labelfusion/RGBDCNN/"
object_dir = "/media/drc/DATA/chris_labelfusion/object-meshes"
out_file = "/media/drc/DATA/chris_labelfusion/RGBDCNN/stats.yaml"
stats = {}
