def testDepthImageToPointcloud(self):
ds = self.depthScanners['foreground']
camera = ds.view.camera()
depth_img = ds.getDepthImage()
depth_img_raw, _, _ = ds.getDepthImageAndPointCloud()
depth_img_numpy = ds.getDepthImageAsNumpyArray()
print "depth min %.3f, depth max = %.3f" %(np.min(depth_img_numpy), np.max(depth_img_numpy))
# self.changeDetectionImageVisualizer.setImage(depth_img)
f = vtk.vtkDepthImageToPointCloud()
f.SetCamera(camera)
f.SetInputData(depth_img)
f.Update()
polyData = f.GetOutput()
print "polyData.GetNumberOfPoints() = ", polyData.GetNumberOfPoints()
view = self.changeDetectionPointCloudView
vis.updatePolyData(polyData, 'depth_im_to_pointcloud')
def testDepthImageToPointcloud(self):
ds = self.depthScanners['foreground']
camera = ds.view.camera()
depth_img = ds.getDepthImage()
depth_img_raw, _, _ = ds.getDepthImageAndPointCloud()
depth_img_numpy = ds.getDepthImageAsNumpyArray()
print "depth min %.3f, depth max = %.3f" % (np.min(depth_img_numpy),
np.max(depth_img_numpy))
# self.changeDetectionImageVisualizer.setImage(depth_img)
f = vtk.vtkDepthImageToPointCloud()
f.SetCamera(camera)
f.SetInputData(depth_img)
f.Update()
polyData = f.GetOutput()
print "polyData.GetNumberOfPoints() = ", polyData.GetNumberOfPoints()
view = self.changeDetectionPointCloudView
vis.updatePolyData(polyData, 'depth_im_to_pointcloud')
kuni_depth_vtk = vnp.numpyToImageData(np.reshape(
source_kuni, (480, 640, 1)),
vtktype=vtk.VTK_FLOAT)
#real simulation
source_sim = vnp.numpyToImageData(np.reshape(source, (480, 640, 1)),
vtktype=vtk.VTK_FLOAT)
iterate = zip(
[im_depth_sim_vtk, real_depth_vtk, kuni_depth_vtk, source_sim],
["depthsim", "realdepth", "kunidepth", "sim"])
for img, simtype in iterate:
objects.loadObjectMeshes("/registration_result.yaml",
renderer1,
keyword=None)
pc = vtk.vtkDepthImageToPointCloud()
pc.SetInputData(img)
pc.SetCamera(renderer.GetActiveCamera())
pc.ProduceColorScalarsOn()
pc.ProduceVertexCellArrayOn()
pc.CullFarPointsOn()
pc.CullNearPointsOff()
pc.Update()
pcMapper = vtk.vtkPolyDataMapper()
pcMapper.SetInputData(pc.GetOutput())
pcMapper.Update()
pcActor = vtk.vtkActor()
pcActor.SetMapper(pcMapper)
renderer1.AddActor(pcActor)
renWin.Render()