def addImage(self, name, robotName):
if robotName in self.images and name in self.images[robotName]:
return
image = vtk.vtkImageData()
tex = vtk.vtkTexture()
tex.SetInputData(image)
tex.EdgeClampOn()
tex.RepeatOff()
if robotName not in self.images:
self.imageUtimes[robotName] = {}
self.images[robotName] = {}
self.textures[robotName] = {}
self.imageRotations180[robotName] = {}
self.queue[robotName] = {}
self.providerClasses[robotName] = None
self.imageUtimes[robotName][name] = 0
self.images[robotName][name] = image
self.textures[robotName][name] = tex
self.imageRotations180[robotName][name] = False
if self.providerClasses[robotName]:
self.queue[robotName][name] = self.providerClasses[
robotName].initialise_from_name(name, robotName)
else:
print(
"Could not initialise camera {} as the provider class is not initialised."
.format(name))
self.queue[robotName][name] = None
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 __init__(self):
self.view = PythonQt.dd.ddQVTKWidgetView()
self.view.setWindowTitle('Image View')
self.imageActor = vtk.vtkImageActor()
self.setImage(vtk.vtkImageData())
self.view.renderer().AddActor(self.imageActor)
self.view.orientationMarkerWidget().Off()
self.view.renderer().SetBackground([0,0,0])
self.view.renderer().SetBackground2([0,0,0])
self.view.installImageInteractor()
def __init__(self):
self.view = PythonQt.dd.ddQVTKWidgetView()
self.view.setWindowTitle('Image View')
self.imageActor = vtk.vtkImageActor()
self.setImage(vtk.vtkImageData())
self.view.renderer().AddActor(self.imageActor)
self.view.orientationMarkerWidget().Off()
self.view.renderer().SetBackground([0, 0, 0])
self.view.renderer().SetBackground2([0, 0, 0])
self.view.installImageInteractor()
def __init__(self):
self.autoResetCamera = False
self.view = PythonQt.dd.ddQVTKWidgetView()
self.view.setWindowTitle('Image View')
self.imageActor = vtk.vtkImageActor()
self.setImage(vtk.vtkImageData())
self.view.renderer().AddActor(self.imageActor)
self.view.orientationMarkerWidget().Off()
self.setBackgroundColor([0,0,0])
self.initInteractor()
self.installEventFilter()
self.resetCamera()
def __init__(self):
self.autoResetCamera = False
self.view = PythonQt.dd.ddQVTKWidgetView()
self.view.setWindowTitle("Image View")
self.imageActor = vtk.vtkImageActor()
self.setImage(vtk.vtkImageData())
self.view.renderer().AddActor(self.imageActor)
self.view.orientationMarkerWidget().Off()
self.setBackgroundColor([0, 0, 0])
self.initInteractor()
self.installEventFilter()
self.resetCamera()
def numpyToImageData(img, flip=True, vtktype=vtk.VTK_UNSIGNED_CHAR):
if flip:
img = np.flipud(img)
height, width, numChannels = img.shape
image = vtk.vtkImageData()
image.SetDimensions(width, height, 1)
image.AllocateScalars(vtktype, numChannels)
scalars = getNumpyFromVtk(image, 'ImageScalars')
if numChannels > 1:
scalars[:] = img.reshape(width*height, numChannels)[:]
else:
scalars[:] = img.reshape(width*height)[:]
return image
def numpyToImageData(img, flip=True, vtktype=vtk.VTK_UNSIGNED_CHAR):
if flip:
img = np.flipud(img)
height, width, numChannels = img.shape
image = vtk.vtkImageData()
image.SetDimensions(width, height, 1)
image.AllocateScalars(vtktype, numChannels)
scalars = getNumpyFromVtk(image, 'ImageScalars')
if numChannels > 1:
scalars[:] = img.reshape(width * height, numChannels)[:]
else:
scalars[:] = img.reshape(width * height)[:]
return image
def addImage(self, name):
if name in self.images:
return
image = vtk.vtkImageData()
tex = vtk.vtkTexture()
tex.SetInput(image)
tex.EdgeClampOn()
tex.RepeatOff()
self.imageUtimes[name] = 0
self.images[name] = image
self.textures[name] = tex
def addImage(self, name):
if name in self.images:
return
image = vtk.vtkImageData()
tex = vtk.vtkTexture()
tex.SetInput(image)
tex.EdgeClampOn()
tex.RepeatOff()
self.imageUtimes[name] = 0
self.images[name] = image
self.textures[name] = tex
self.imageRotations180[name] = False
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 getDepthMapData(self, viewId):
mapId = self.source.GetCurrentMapId(viewId)
if mapId < 0:
return None, None
depthImage = vtk.vtkImageData()
transform = vtk.vtkTransform()
# print "getting depth image for viewId {:d} mapId {:d}".format(viewId, mapId)
self.source.GetDataForMapId(viewId, mapId, depthImage, transform)
dims = depthImage.GetDimensions()
d = vnp.getNumpyFromVtk(depthImage, 'ImageScalars')
d = d.reshape(dims[1], dims[0])
t = np.array([[transform.GetMatrix().GetElement(r, c) for c in xrange(4)] for r in xrange(4)])
return d, t
def numpyToImageData(img, flip=True, vtktype=None):
if flip:
img = np.flipud(img)
assert len(img.shape) in (2, 3)
height, width = img.shape[:2]
numChannels = 1 if len(img.shape) == 2 else img.shape[2]
image = vtk.vtkImageData()
image.SetDimensions(width, height, 1)
if vtktype is None:
vtktype = numpy_support.get_vtk_array_type(img.dtype)
image.AllocateScalars(vtktype, numChannels)
scalars = getNumpyFromVtk(image, 'ImageScalars')
if numChannels > 1:
scalars[:] = img.reshape(width*height, numChannels)[:]
else:
scalars[:] = img.reshape(width*height)[:]
return image
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 getDepthMapData(self, viewId):
mapId = self.source.GetCurrentMapId(viewId)
if mapId < 0:
return None, None
depthImage = vtk.vtkImageData()
transform = vtk.vtkTransform()
# print "getting depth image for viewId {:d} mapId {:d}".format(viewId, mapId)
self.source.GetDataForMapId(viewId, mapId, depthImage, transform)
dims = depthImage.GetDimensions()
d = vnp.getNumpyFromVtk(depthImage, 'ImageScalars')
d = d.reshape(dims[1], dims[0])
t = np.array(
[[transform.GetMatrix().GetElement(r, c) for c in xrange(4)]
for r in xrange(4)])
return d, t
def showNumpyImage(self, img, flip=True):
image = self.getImage()
if not image:
image = vtk.vtkImageData()
self.setImage(image)
if flip:
img = np.flipud(img)
height, width, numChannels = img.shape
dims = image.GetDimensions()
if dims[0] != width or dims[1] != height or image.GetNumberOfScalarComponents() != numChannels:
image.SetDimensions(width, height, 1)
image.AllocateScalars(vtk.VTK_UNSIGNED_CHAR, numChannels)
scalars = vnp.getNumpyFromVtk(image, 'ImageScalars')
if numChannels > 1:
scalars[:] = img.reshape(width*height, numChannels)[:]
else:
scalars[:] = img.reshape(width*height)[:]
image.Modified()
self.view.render()
#update camera transform
cameraToCameraStart = poses.getCameraPoseAtUTime(utime)
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)),
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()
