def create_survey_movie(mabdi_simulate, survey_mesh=False, nsteps=None, fps=2):
"""
Note: This method assumes the source is centered on the xz plane
:param mabdi_simulate: Instance of MabdiSimulate
:param survey_mesh: Show the global mesh or not.
:param nsteps: Number of steps for the movie
:param fps: Frames per second for the movie
"""
sourceAo = mabdi.VTKPolyDataActorObjects(mabdi_simulate.source)
sourceAo.actor.GetProperty().SetColor(slate_grey_light)
sourceAo.actor.GetProperty().SetSpecularColor(1, 1, 1)
sourceAo.actor.GetProperty().SetSpecular(0.3)
sourceAo.actor.GetProperty().SetSpecularPower(20)
sourceAo.actor.GetProperty().SetAmbient(0.2)
sourceAo.actor.GetProperty().SetDiffuse(0.8)
# sourceAo.actor.GetProperty().SetOpacity(0.2)
meshAo = mabdi.VTKPolyDataActorObjects(mabdi_simulate.mesh)
meshAo.actor.GetProperty().SetColor(salmon)
meshAo.actor.GetProperty().SetColor(slate_grey_light)
meshAo.actor.GetProperty().SetSpecularColor(1, 1, 1)
meshAo.actor.GetProperty().SetSpecular(0.3)
meshAo.actor.GetProperty().SetSpecularPower(20)
meshAo.actor.GetProperty().SetAmbient(0.2)
meshAo.actor.GetProperty().SetDiffuse(0.8)
# meshAo.actor.GetProperty().SetOpacity(0.5)
renWin = vtk.vtkRenderWindow()
renWin.SetSize(640, 480)
iren = vtk.vtkRenderWindowInteractor()
iren.SetRenderWindow(renWin)
ren = vtk.vtkRenderer()
ren.SetBackground(eggshell)
ren.AddActor(sourceAo.actor)
renWin.AddRenderer(ren)
iren.Initialize()
cam = ren.GetActiveCamera()
position, lookat = \
create_sensor_path(name=mabdi_simulate._output['path_flight'],
nsteps=nsteps)
if survey_mesh:
ren.AddActor(meshAo.actor)
sourceAo.actor.GetProperty().SetOpacity(0.2)
# sourceAo.actor.VisibilityOff()
# iren.Start()
movie = mabdi.RenderWindowToAvi(
renWin,
mabdi_simulate._file_prefix,
fps=fps,
savefig_at_frame=mabdi_simulate._output['movie_savefig_at_frame'])
for i, (pos, lka) in enumerate(zip(position, lookat)):
cam.SetPosition(pos)
cam.SetFocalPoint(lka)
iren.Render()
movie.save_movie()
iren.GetRenderWindow().Finalize()
iren.TerminateApp()
del iren, ren, renWin
return
def create_survey_movie(mabdi_simulate,
survey_mesh=False,
nsteps=None,
fps=2):
"""
Note: This method assumes the source is centered on the xz plane
:param mabdi_simulate: Instance of MabdiSimulate
:param survey_mesh: Show the global mesh or not.
:param nsteps: Number of steps for the movie
:param fps: Frames per second for the movie
"""
sourceAo = mabdi.VTKPolyDataActorObjects(mabdi_simulate.source)
sourceAo.actor.GetProperty().SetColor(slate_grey_light)
sourceAo.actor.GetProperty().SetSpecularColor(1, 1, 1)
sourceAo.actor.GetProperty().SetSpecular(0.3)
sourceAo.actor.GetProperty().SetSpecularPower(20)
sourceAo.actor.GetProperty().SetAmbient(0.2)
sourceAo.actor.GetProperty().SetDiffuse(0.8)
# sourceAo.actor.GetProperty().SetOpacity(0.2)
meshAo = mabdi.VTKPolyDataActorObjects(mabdi_simulate.mesh)
meshAo.actor.GetProperty().SetColor(salmon)
meshAo.actor.GetProperty().SetColor(slate_grey_light)
meshAo.actor.GetProperty().SetSpecularColor(1, 1, 1)
meshAo.actor.GetProperty().SetSpecular(0.3)
meshAo.actor.GetProperty().SetSpecularPower(20)
meshAo.actor.GetProperty().SetAmbient(0.2)
meshAo.actor.GetProperty().SetDiffuse(0.8)
# meshAo.actor.GetProperty().SetOpacity(0.5)
renWin = vtk.vtkRenderWindow()
renWin.SetSize(640, 480)
iren = vtk.vtkRenderWindowInteractor()
iren.SetRenderWindow(renWin)
ren = vtk.vtkRenderer()
ren.SetBackground(eggshell)
ren.AddActor(sourceAo.actor)
renWin.AddRenderer(ren)
iren.Initialize()
cam = ren.GetActiveCamera()
position, lookat = \
create_sensor_path(name=mabdi_simulate._output['path_flight'],
nsteps=nsteps)
if survey_mesh:
ren.AddActor(meshAo.actor)
sourceAo.actor.GetProperty().SetOpacity(0.2)
# sourceAo.actor.VisibilityOff()
# iren.Start()
movie = mabdi.RenderWindowToAvi(renWin,
mabdi_simulate._file_prefix,
fps=fps,
savefig_at_frame=mabdi_simulate._output['movie_savefig_at_frame'])
for i, (pos, lka) in enumerate(zip(position, lookat)):
cam.SetPosition(pos)
cam.SetFocalPoint(lka)
iren.Render()
movie.save_movie()
iren.GetRenderWindow().Finalize()
iren.TerminateApp()
del iren, ren, renWin
return
def __init__(self, mabdi_param=None, sim_param=None, output=None):
"""
Initialize all the vtkPythonAlgorithms that make up MABDI
:param sim_param:
* sim_param['shape'] - default='line' - 'line' 'circle'
* sim_param['length'] - default=20 - length of sim_param
:param output:
* output['movie'] - default=False - Create a movie with
the scenario view, and depth images after the simulation runs.
"""
""" Configuration parameters """
mabdi_param = {} if not mabdi_param else mabdi_param
mabdi_param.setdefault('depth_image_size', (640, 480))
mabdi_param.setdefault('farplane_threshold',
1.0) # see FilterDepthImageToSurface
mabdi_param.setdefault('convolution_threshold',
0.01) # see FilterDepthImageToSurface
mabdi_param.setdefault('classifier_threshold',
0.01) # see FilterClassifier
sim_param = {} if not sim_param else sim_param
sim_param.setdefault('environment_name', 'table')
sim_param.setdefault('stanford_bunny_nbunnies', 1)
sim_param.setdefault('dynamic_environment', [
(-1, -1)
]) # values that won't do anything, (frame_number, object_id)
sim_param.setdefault('dynamic_environment_init_state', None)
sim_param.setdefault('path_name', 'helix_table_ub')
sim_param.setdefault('path_nsteps', 20)
sim_param.setdefault(
'noise', False
) # you can also specify a number instead of a bool, default is 0.002
sim_param.setdefault('interactive', False)
self._sim_param = sim_param
output = {} if not output else output
output.setdefault('folder_name', None)
output.setdefault('movie', False)
output.setdefault('movie_fps', 3)
output.setdefault('movie_savefig_at_frame', ())
output.setdefault('source_obs_position', None)
output.setdefault('source_obs_lookat', None)
output.setdefault('movie_preflight', False)
output.setdefault('movie_postflight', False)
output.setdefault('preflight_nsteps', 30)
output.setdefault('postflight_nsteps', 30)
output.setdefault('preflight_fps', 3)
output.setdefault('postflight_fps', 3)
output.setdefault('path_flight', 'helix_survey_ub')
output.setdefault('save_global_mesh', False)
self._output = output
self._file_prefix = mabdi.get_file_prefix(output['folder_name'])
""" Filters and sources (this block is basically the core of MABDI) """
if sim_param['environment_name'] is 'table':
self.source = mabdi.SourceEnvironmentTable()
elif sim_param['environment_name'] is 'stanford_bunny':
self.source = mabdi.SourceStandfordBunny(
sim_param['stanford_bunny_nbunnies'])
self.di = mabdi.FilterDepthImage(
offscreen=True,
name='sensor',
noise=sim_param['noise'],
depth_image_size=mabdi_param['depth_image_size'])
self.sdi = mabdi.FilterDepthImage(
offscreen=True,
name='simulated sensor',
depth_image_size=mabdi_param['depth_image_size'])
self.classifier = mabdi.FilterClassifier()
self.surf = mabdi.FilterDepthImageToSurface(
param_farplane_threshold=mabdi_param['farplane_threshold'],
param_convolution_threshold=mabdi_param['convolution_threshold'])
self.mesh = mabdi.FilterWorldMesh(color=True)
self.di.set_polydata(self.source)
self.sdi.set_polydata_empty(
) # because the world mesh hasn't been initialized yet
self.classifier.AddInputConnection(0, self.di.GetOutputPort())
self.classifier.AddInputConnection(1, self.sdi.GetOutputPort())
self.surf.SetInputConnection(self.classifier.GetOutputPort())
self.mesh.SetInputConnection(self.surf.GetOutputPort())
self.sdi.set_polydata(self.mesh)
# get bounds of the source without the floor
self.source.bounds, self.source.position, self.source.lookat = \
find_bounds_and_observation_position_lookat(self.source)
if output['source_obs_position']:
self.source.position = output['source_obs_position']
if output['source_obs_lookat']:
self.source.lookat = output['source_obs_lookat']
""" Sensor path """
self.position, self.lookat = \
create_sensor_path(name=sim_param['path_name'],
nsteps=sim_param['path_nsteps'],
bounds=self.source.bounds)
""" Actor objects """
sourceAo = mabdi.VTKPolyDataActorObjects(self.source)
sourceAo.actor.GetProperty().SetColor(slate_grey_light)
sourceAo.actor.GetProperty().SetOpacity(0.2)
surfAo = mabdi.VTKPolyDataActorObjects(self.surf)
surfAo.actor.GetProperty().SetColor(red)
surfAo.actor.GetProperty().SetOpacity(1.0)
meshAo = mabdi.VTKPolyDataActorObjects(self.mesh)
meshAo.actor.GetProperty().SetColor(salmon)
meshAo.actor.GetProperty().SetOpacity(0.5)
""" Render objects """
self.renWin = vtk.vtkRenderWindow()
self.renWin.SetSize(640 * 2, 480 * 1)
self.iren = vtk.vtkRenderWindowInteractor()
self.iren.SetRenderWindow(self.renWin)
# scenario
renScenario = vtk.vtkRenderer()
renScenario.SetBackground(eggshell)
renScenario.SetViewport(0.0 / 2.0, 0.0, 1.0 / 2.0, 1.0)
add_sensor_visualization(self.di, self.position, renScenario)
renScenario.AddActor(sourceAo.actor)
renScenario.AddActor(surfAo.actor)
renScenario.AddActor(meshAo.actor)
renScenario.GetActiveCamera().SetPosition(self.source.position)
renScenario.GetActiveCamera().SetFocalPoint(self.source.lookat)
# surf
renSurf = vtk.vtkRenderer()
renSurf.SetBackground(eggshell)
renSurf.SetViewport(1.0 / 2.0, 0.0, 2.0 / 2.0, 1.0)
add_sensor_visualization(self.di, self.position, renSurf)
renSurf.AddActor(sourceAo.actor)
renSurf.AddActor(surfAo.actor)
renSurf.GetActiveCamera().SetPosition(self.source.position)
renSurf.GetActiveCamera().SetFocalPoint(self.source.lookat)
self.renWin.AddRenderer(renScenario)
self.renWin.AddRenderer(renSurf)
self.iren.Initialize()
return
def __init__(self,
mabdi_param=None,
sim_param=None,
output=None):
"""
Initialize all the vtkPythonAlgorithms that make up MABDI
:param sim_param:
* sim_param['shape'] - default='line' - 'line' 'circle'
* sim_param['length'] - default=20 - length of sim_param
:param output:
* output['movie'] - default=False - Create a movie with
the scenario view, and depth images after the simulation runs.
"""
""" Configuration parameters """
mabdi_param = {} if not mabdi_param else mabdi_param
mabdi_param.setdefault('depth_image_size', (640, 480))
mabdi_param.setdefault('farplane_threshold', 1.0) # see FilterDepthImageToSurface
mabdi_param.setdefault('convolution_threshold', 0.01) # see FilterDepthImageToSurface
mabdi_param.setdefault('classifier_threshold', 0.01) # see FilterClassifier
sim_param = {} if not sim_param else sim_param
sim_param.setdefault('environment_name', 'table')
sim_param.setdefault('stanford_bunny_nbunnies', 1)
sim_param.setdefault('dynamic_environment', [(-1, -1)]) # values that won't do anything, (frame_number, object_id)
sim_param.setdefault('dynamic_environment_init_state', None)
sim_param.setdefault('path_name', 'helix_table_ub')
sim_param.setdefault('path_nsteps', 20)
sim_param.setdefault('noise', False) # you can also specify a number instead of a bool, default is 0.002
sim_param.setdefault('interactive', False)
self._sim_param = sim_param
output = {} if not output else output
output.setdefault('folder_name', None)
output.setdefault('movie', False)
output.setdefault('movie_fps', 3)
output.setdefault('movie_savefig_at_frame', ())
output.setdefault('source_obs_position', None)
output.setdefault('source_obs_lookat', None)
output.setdefault('movie_preflight', False)
output.setdefault('movie_postflight', False)
output.setdefault('preflight_nsteps', 30)
output.setdefault('postflight_nsteps', 30)
output.setdefault('preflight_fps', 3)
output.setdefault('postflight_fps', 3)
output.setdefault('path_flight', 'helix_survey_ub')
output.setdefault('save_global_mesh', False)
self._output = output
self._file_prefix = mabdi.get_file_prefix(output['folder_name'])
""" Filters and sources (this block is basically the core of MABDI) """
if sim_param['environment_name'] is 'table':
self.source = mabdi.SourceEnvironmentTable()
elif sim_param['environment_name'] is 'stanford_bunny':
self.source = mabdi.SourceStandfordBunny(sim_param['stanford_bunny_nbunnies'])
self.di = mabdi.FilterDepthImage(offscreen=True,
name='sensor',
noise=sim_param['noise'],
depth_image_size=mabdi_param['depth_image_size'])
self.sdi = mabdi.FilterDepthImage(offscreen=True,
name='simulated sensor',
depth_image_size=mabdi_param['depth_image_size'])
self.classifier = mabdi.FilterClassifier()
self.surf = mabdi.FilterDepthImageToSurface(
param_farplane_threshold=mabdi_param['farplane_threshold'],
param_convolution_threshold=mabdi_param['convolution_threshold'])
self.mesh = mabdi.FilterWorldMesh(color=True)
self.di.set_polydata(self.source)
self.sdi.set_polydata_empty() # because the world mesh hasn't been initialized yet
self.classifier.AddInputConnection(0, self.di.GetOutputPort())
self.classifier.AddInputConnection(1, self.sdi.GetOutputPort())
self.surf.SetInputConnection(self.classifier.GetOutputPort())
self.mesh.SetInputConnection(self.surf.GetOutputPort())
self.sdi.set_polydata(self.mesh)
# get bounds of the source without the floor
self.source.bounds, self.source.position, self.source.lookat = \
find_bounds_and_observation_position_lookat(self.source)
if output['source_obs_position']:
self.source.position = output['source_obs_position']
if output['source_obs_lookat']:
self.source.lookat = output['source_obs_lookat']
""" Sensor path """
self.position, self.lookat = \
create_sensor_path(name=sim_param['path_name'],
nsteps=sim_param['path_nsteps'],
bounds=self.source.bounds)
""" Actor objects """
sourceAo = mabdi.VTKPolyDataActorObjects(self.source)
sourceAo.actor.GetProperty().SetColor(slate_grey_light)
sourceAo.actor.GetProperty().SetOpacity(0.2)
surfAo = mabdi.VTKPolyDataActorObjects(self.surf)
surfAo.actor.GetProperty().SetColor(red)
surfAo.actor.GetProperty().SetOpacity(1.0)
meshAo = mabdi.VTKPolyDataActorObjects(self.mesh)
meshAo.actor.GetProperty().SetColor(salmon)
meshAo.actor.GetProperty().SetOpacity(0.5)
""" Render objects """
self.renWin = vtk.vtkRenderWindow()
self.renWin.SetSize(640 * 2, 480 * 1)
self.iren = vtk.vtkRenderWindowInteractor()
self.iren.SetRenderWindow(self.renWin)
# scenario
renScenario = vtk.vtkRenderer()
renScenario.SetBackground(eggshell)
renScenario.SetViewport(0.0 / 2.0, 0.0, 1.0 / 2.0, 1.0)
add_sensor_visualization(self.di, self.position, renScenario)
renScenario.AddActor(sourceAo.actor)
renScenario.AddActor(surfAo.actor)
renScenario.AddActor(meshAo.actor)
renScenario.GetActiveCamera().SetPosition(self.source.position)
renScenario.GetActiveCamera().SetFocalPoint(self.source.lookat)
# surf
renSurf = vtk.vtkRenderer()
renSurf.SetBackground(eggshell)
renSurf.SetViewport(1.0 / 2.0, 0.0, 2.0 / 2.0, 1.0)
add_sensor_visualization(self.di, self.position, renSurf)
renSurf.AddActor(sourceAo.actor)
renSurf.AddActor(surfAo.actor)
renSurf.GetActiveCamera().SetPosition(self.source.position)
renSurf.GetActiveCamera().SetFocalPoint(self.source.lookat)
self.renWin.AddRenderer(renScenario)
self.renWin.AddRenderer(renSurf)
self.iren.Initialize()
return