def __init__(self):
super(OcclusionLineModDB, self).__init__()
from lib.utils.render_utils import OpenGLRenderer
self.class_type = None
self.xyz_pattern = os.path.join(cfg.OCCLUSION_LINEMOD,'models/{}/{}.xyz')
self.rgb_pattern = os.path.join(cfg.OCCLUSION_LINEMOD,'RGB-D/rgb_noseg/color_{:05}.png')
self.pose_pattern = os.path.join(cfg.OCCLUSION_LINEMOD,'poses/{}/info_{:05}.txt')
self.rgb_dir_path = os.path.join(cfg.OCCLUSION_LINEMOD,'RGB-D/rgb_noseg')
self.mask_dir_pattern = os.path.join(cfg.OCCLUSION_LINEMOD,'masks/{}')
self.mask_pattern = os.path.join(self.mask_dir_pattern, '{}.png')
self.opengl_renderer = OpenGLRenderer()
from lib.utils.render_utils import OpenGLRenderer r = OpenGLRenderer() r.render(intrinsic_matrix=r.intrinsic_matrix['linemod'], render_type='rgb')