def get_shaped_depth_pass(images: Images, index: int) -> np.array:
"""
The `_depth` and `_depth_simple` passes are a 1D array of RGB values, as oppposed to a png or jpg like every other pass.
This function reshapes the array into a 2D array of RGB values.
:param images: The `Images` output data.
:param index: The index in `Images` of the depth pass. See: `Images.get_pass_mask()`.
:return: A reshaped depth pass. Shape is: `(height, width, 3)`.
"""
return np.flip(
np.reshape(images.get_image(index),
(images.get_height(), images.get_width(), 3)), 0)
def run(self):
self.start()
depth_pass = "******"
# Create an empty room.
# Set the screen size.
commands = [TDWUtils.create_empty_room(12, 12),
{"$type": "set_screen_size",
"width": 512,
"height": 512}]
# Add the avatar.
commands.extend(TDWUtils.create_avatar(position={"x": 1.57, "y": 3, "z": 3.56}, look_at=TDWUtils.VECTOR3_ZERO))
# Add an object.
# Request images and camera matrices.
commands.extend([self.get_add_object("trunck", object_id=0),
{"$type": "set_pass_masks",
"pass_masks": [depth_pass]},
{"$type": "send_images"},
{"$type": "send_camera_matrices"}])
resp = self.communicate(commands)
depth_image = None
camera_matrix = None
images = None
for i in range(len(resp) - 1):
r_id = OutputData.get_data_type_id(resp[i])
# Get the image.
if r_id == "imag":
images = Images(resp[i])
for j in range(images.get_num_passes()):
if images.get_pass_mask(j) == depth_pass:
depth_image = images.get_image(j)
# Get the camera matrix.
elif r_id == "cama":
camera_matrix = CameraMatrices(resp[i]).get_camera_matrix()
# Save the image.
TDWUtils.save_images(images=images, output_directory="D:/depth_shader", filename="0", append_pass=True)
# Get the depth values of each pixel.
depth = TDWUtils.get_depth_values(image=depth_image, width=images.get_width(), height=images.get_height())
print(np.min(depth), np.max(depth))
print(depth)
np.save("depth", depth)
np.save("camera_matrix", camera_matrix)
# Get a point cloud and write it to disk.
point_cloud_filename = "point_cloud.txt"
print(f"Point cloud saved to: {Path(point_cloud_filename)}")
TDWUtils.get_point_cloud(depth=depth, filename=point_cloud_filename, camera_matrix=camera_matrix)
# Show the depth values.
plt.imshow(depth)
plt.show()
self.communicate({"$type": "terminate"})
