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 handle_init_message(self, msg):
        """Creates the polydata for the deformable mesh specified in msg."""
        folder = om.getOrCreateContainer(self._folder_name)
        for poly_item in self._poly_item_list:
            om.removeFromObjectModel(poly_item)

        self._names = []
        self._vertex_counts = []
        self._poly_data_list = []
        self._poly_item_list = []
        for mesh in msg.meshes:
            self._names.append(mesh.name)
            # Initial vertex positions are garbage; meaningful values will be
            # set by the update message.
            points = vtk.vtkPoints()
            self._vertex_counts.append(mesh.num_vertices)
            for i in range(mesh.num_vertices):
                points.InsertNextPoint(0, 0, 0)
            triangles = vtk.vtkCellArray()
            for tri in mesh.tris:
                triangles.InsertNextCell(3)
                for i in tri.vertices:
                    triangles.InsertCellPoint(i)
            poly_data = vtk.vtkPolyData()
            poly_data.SetPoints(points)
            poly_data.SetPolys(triangles)
            poly_item = vis.showPolyData(poly_data, mesh.name, parent=folder)
            poly_item.setProperty("Surface Mode", "Surface with edges")
            self._poly_data_list.append(poly_data)
            self._poly_item_list.append(poly_item)
Exemplo n.º 3
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    def add_vtk_polygon(vertices):
        """
        Create a 3d polygon data with vtk.
        :type vertices: vertices data of polygon
        """

        # Setup four points
        points = vtk.vtkPoints()
        for point in vertices:
            points.InsertNextPoint(point[0], point[1], point[2])

        # Create the polygon
        polygon = vtk.vtkPolygon()
        polygon.GetPointIds().SetNumberOfIds(4)  # make a quad
        polygon.GetPointIds().SetId(0, 0)
        polygon.GetPointIds().SetId(1, 1)
        polygon.GetPointIds().SetId(2, 2)
        polygon.GetPointIds().SetId(3, 3)

        # Add the polygon to a list of polygons
        polygons = vtk.vtkCellArray()
        polygons.InsertNextCell(polygon)

        # Create a PolyData
        polygon_poly_data = vtk.vtkPolyData()
        polygon_poly_data.SetPoints(points)
        polygon_poly_data.SetPolys(polygons)
        return polygon_poly_data
 def handle_update_message(self, msg):
     """Updates vertex data for the deformable meshes specified in msg."""
     if not len(self._poly_data_list) == msg.num_meshes:
         print(
             "Received a deformable mesh update message with '{}' meshes; "
             "expected {} meshes.".format(msg.num_meshes,
                                          len(self._poly_data_list)))
         return
     for mesh_id in range(msg.num_meshes):
         mesh = msg.meshes[mesh_id]
         if mesh.name != self._names[mesh_id]:
             print("The deformable mesh update message contains data for "
                   "a mesh named '{}', expected name '{}'.".format(
                       mesh.name, self._names[mesh_id]))
             return
         if mesh.num_vertices != self._vertex_counts[mesh_id]:
             print(
                 "The deformable mesh update message contains data for {} "
                 "vertices; expected {}.".format(mesh.num_vertices,
                                                 self._vertex_count))
             return
         points = vtk.vtkPoints()
         for i in range(0, mesh.num_vertices):
             points.InsertNextPoint(mesh.vertices_W[i][0],
                                    mesh.vertices_W[i][1],
                                    mesh.vertices_W[i][2])
         # TODO(SeanCurtis-TRI): Instead of creating a new set of points and
         # stomping on the old; can I just update the values? That might
         # improve performance.
         self._poly_data_list[mesh_id].SetPoints(points)
         self._poly_item_list[mesh_id].setPolyData(
             self._poly_data_list[mesh_id])
         self._poly_item_list[mesh_id]._renderAllViews()
Exemplo n.º 5
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 def getTraceData(self):
     t = self.frame.findChild(self.traceName)
     if not t:
         pts = vtk.vtkPoints()
         pts.SetDataTypeToDouble()
         pts.InsertNextPoint(self.frame.transform.GetPosition())
         pd = vtk.vtkPolyData()
         pd.SetPoints(pts)
         pd.SetLines(vtk.vtkCellArray())
         t = showPolyData(pd, self.traceName, parent=self.frame)
     return t
Exemplo n.º 6
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 def getTraceData(self):
     t = self.frame.findChild(self.traceName)
     if not t:
         pts = vtk.vtkPoints()
         pts.SetDataTypeToDouble()
         pts.InsertNextPoint(self.frame.transform.GetPosition())
         pd = vtk.vtkPolyData()
         pd.SetPoints(pts)
         pd.SetLines(vtk.vtkCellArray())
         t = showPolyData(pd, self.traceName, parent=self.frame)
     return t
Exemplo n.º 7
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 def getTraceData(self):
     t = self.frame.findChild(self.traceName)
     if not t:
         pts = vtk.vtkPoints()
         pts.SetDataTypeToDouble()
         pts.InsertNextPoint(self.lastPosition)
         pd = vtk.vtkPolyData()
         pd.Allocate(1, 1)
         pd.SetPoints(pts)
         polyline = vtk.vtkPolyLine()
         pd.InsertNextCell(polyline.GetCellType(), polyline.GetPointIds())
         idArray = pd.GetLines().GetData()
         idArray.InsertNextValue(0)
         t = showPolyData(pd, self.traceName, parent=self.frame)
     return t
Exemplo n.º 8
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    def createPolyDataFromMeshArrays(pts, faces):
        pd = vtk.vtkPolyData()
        pd.SetPoints(vtk.vtkPoints())
        pd.GetPoints().SetData(vnp.getVtkFromNumpy(pts.copy()))

        cells = vtk.vtkCellArray()
        for face in faces:
            assert len(face) == 3, "Non-triangular faces are not supported."
            tri = vtk.vtkTriangle()
            tri.GetPointIds().SetId(0, face[0])
            tri.GetPointIds().SetId(1, face[1])
            tri.GetPointIds().SetId(2, face[2])
            cells.InsertNextCell(tri)

        pd.SetPolys(cells)
        return pd
Exemplo n.º 9
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    def createPolyDataFromMeshArrays(pts, faces):
        pd = vtk.vtkPolyData()
        pd.SetPoints(vtk.vtkPoints())
        pd.GetPoints().SetData(vnp.getVtkFromNumpy(pts.copy()))

        assert len(faces) % 3 == 0
        cells = vtk.vtkCellArray()
        for i in xrange(len(faces) / 3):
            tri = vtk.vtkTriangle()
            tri.GetPointIds().SetId(0, faces[i * 3 + 0])
            tri.GetPointIds().SetId(1, faces[i * 3 + 1])
            tri.GetPointIds().SetId(2, faces[i * 3 + 2])
            cells.InsertNextCell(tri)

        pd.SetPolys(cells)
        return pd
    def createPolyDataFromMeshArrays(pts, faces):
        pd = vtk.vtkPolyData()
        pd.SetPoints(vtk.vtkPoints())
        pd.GetPoints().SetData(vnp.getVtkFromNumpy(pts.copy()))

        assert len(faces) % 3 == 0
        cells = vtk.vtkCellArray()
        for i in xrange(len(faces) / 3):
            tri = vtk.vtkTriangle()
            tri.GetPointIds().SetId(0, faces[i * 3 + 0])
            tri.GetPointIds().SetId(1, faces[i * 3 + 1])
            tri.GetPointIds().SetId(2, faces[i * 3 + 2])
            cells.InsertNextCell(tri)

        pd.SetPolys(cells)
        return pd
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
Exemplo n.º 12
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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
Exemplo n.º 13
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    def onPlanarLidar(self, msg, channel):

        linkName = channel.replace('DRAKE_PLANAR_LIDAR_', '', 1)
        robotNum, linkName = linkName.split('_', 1)
        robotNum = int(robotNum)

        try:
            link = self.getLink(robotNum, linkName)
        except KeyError:
            if linkName not in self.linkWarnings:
                print 'Error locating link name:', linkName
                self.linkWarnings.add(linkName)
        else:
            if len(link.geometry):
                polyData = link.geometry[0].polyDataItem
            else:
                polyData = vtk.vtkPolyData()

                name = linkName + ' geometry data'
                visInfo = FieldContainer(color=[1.0, 0.0, 0.0],
                                         alpha=1.0,
                                         texture=None)
                g = Geometry(name, polyData, visInfo)
                link.geometry.append(g)

                linkFolder = self.getLinkFolder(robotNum, linkName)
                self.addLinkGeometry(g, linkName, linkFolder)
                g.polyDataItem.actor.SetUserTransform(link.transform)

            points = vtk.vtkPoints()
            verts = vtk.vtkCellArray()

            t = msg.rad0
            for r in msg.ranges:
                if r >= 0:
                    x = r * math.cos(t)
                    y = r * math.sin(t)

                    pointId = points.InsertNextPoint([x, y, 0])
                    verts.InsertNextCell(1)
                    verts.InsertCellPoint(pointId)

                t += msg.radstep

            polyData.SetPoints(points)
            polyData.SetVerts(verts)
Exemplo n.º 14
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    def onPlanarLidar(self, msg, channel):

        linkName = channel.replace("DRAKE_PLANAR_LIDAR_", "", 1)
        robotNum, linkName = linkName.split("_", 1)
        robotNum = int(robotNum)

        try:
            link = self.getLink(robotNum, linkName)
        except KeyError:
            if linkName not in self.linkWarnings:
                print "Error locating link name:", linkName
                self.linkWarnings.add(linkName)
        else:
            if len(link.geometry):
                polyData = link.geometry[0].polyDataItem
            else:
                polyData = vtk.vtkPolyData()

                name = linkName + " geometry data"
                geom = type("", (), {})
                geom.color = [1.0, 0.0, 0.0, 1.0]
                g = Geometry(name, geom, polyData, link.transform)
                link.geometry.append(g)

                linkFolder = self.getLinkFolder(robotNum, linkName)
                self.addLinkGeometry(g, linkName, linkFolder)
                g.polyDataItem.actor.SetUserTransform(link.transform)

            points = vtk.vtkPoints()
            verts = vtk.vtkCellArray()

            t = msg.rad0
            for r in msg.ranges:
                if r >= 0:
                    x = r * math.cos(t)
                    y = r * math.sin(t)

                    pointId = points.InsertNextPoint([x, y, 0])
                    verts.InsertNextCell(1)
                    verts.InsertCellPoint(pointId)

                t += msg.radstep

            polyData.SetPoints(points)
            polyData.SetVerts(verts)
Exemplo n.º 15
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    def onPlanarLidar(self, msg, channel):

        linkName = channel.replace('DRAKE_PLANAR_LIDAR_', '', 1)
        robotNum, linkName = linkName.split('_', 1)
        robotNum = int(robotNum)

        try:
            link = self.getLink(robotNum, linkName)
        except KeyError:
            if linkName not in self.linkWarnings:
                print 'Error locating link name:', linkName
                self.linkWarnings.add(linkName)
        else:
            if len(link.geometry):
                polyData = link.geometry[0].polyDataItem
            else:
                polyData = vtk.vtkPolyData()

                name = linkName + ' geometry data'
                visInfo = FieldContainer(color=[1.0,0.0,0.0], alpha=1.0, texture=None)
                g = Geometry(name, polyData, visInfo)
                link.geometry.append(g)

                linkFolder = self.getLinkFolder(robotNum, linkName)
                self.addLinkGeometry(g, linkName, linkFolder)
                g.polyDataItem.actor.SetUserTransform(link.transform)

            points = vtk.vtkPoints()
            verts = vtk.vtkCellArray()

            t = msg.rad0
            for r in msg.ranges:
                if r >= 0:
                    x = r * math.cos(t)
                    y = r * math.sin(t)

                    pointId = points.InsertNextPoint([x,y,0])
                    verts.InsertNextCell(1)
                    verts.InsertCellPoint(pointId)

                t += msg.radstep

            polyData.SetPoints(points)
            polyData.SetVerts(verts)
Exemplo n.º 16
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    def createPolyDataFromMeshArrays(pts, faces):
        pd = vtk.vtkPolyData()
        pd.SetPoints(vtk.vtkPoints())

        if pts.size > 0:
            pd.GetPoints().SetData(vnp.getVtkFromNumpy(pts.copy()))

            cells = vtk.vtkCellArray()
            tri = vtk.vtkTriangle()
            setId = tri.GetPointIds().SetId  # bind the method for convenience
            for face in faces:
                assert len(face) == 3, "Non-triangular faces are not supported."
                setId(0, face[0])
                setId(1, face[1])
                setId(2, face[2])
                cells.InsertNextCell(tri)

            pd.SetPolys(cells)
        return pd
Exemplo n.º 17
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        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)),
                         axis=0)
Exemplo n.º 18
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def getVtkPointsFromNumpy(numpyArray):

    points = vtk.vtkPoints()
    points.SetData(getVtkFromNumpy(numpyArray))
    return points
Exemplo n.º 19
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def getVtkPointsFromNumpy(numpyArray):

    points = vtk.vtkPoints()
    points.SetData(getVtkFromNumpy(numpyArray))
    return points
Exemplo n.º 20
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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()