"""
Visual tests of modelrenderer
"""
from deeptracking.data.modelrenderer import ModelRenderer, InitOpenGL
from deeptracking.utils.uniform_sphere_sampler import UniformSphereSampler
from deeptracking.utils.camera import Camera
import cv2
import numpy as np
if __name__ == '__main__':
camera = Camera.load_from_json("../data/camera.json")
window = InitOpenGL(camera.width, camera.height)
renderers = []
sampler = UniformSphereSampler(0.5, 0.7)
dict = {}
id = 0
renderer = ModelRenderer("../data/test.ply", "../../data/shaders", camera, window)
renderer.load_ambiant_occlusion_map("../data/test_ao.ply")
for sample in sampler:
rgb, depth = renderer.render(sample.transpose())
cv2.imshow("rgb", rgb[:, :, ::-1])
cv2.imshow("depth", (depth / np.max(depth) * 255).astype(np.uint8))
cv2.waitKey()
SPHERE_MAX_RADIUS = float(data["sphere_max_radius"])
IMAGE_SIZE = (int(data["image_size"]), int(data["image_size"]))
PRELOAD = data["preload"] == "True"
SATURATION_THRESHOLD = int(data["saturation_threshold"])
if not os.path.exists(OUTPUT_PATH):
os.mkdir(OUTPUT_PATH)
real_dataset = Dataset(REAL_PATH)
real_dataset.load()
camera = Camera.load_from_json(real_dataset.path)
real_dataset.camera = camera
output_dataset = Dataset(OUTPUT_PATH, frame_class=data["save_type"])
output_dataset.camera = camera
window_size = (real_dataset.camera.width, real_dataset.camera.height)
window = InitOpenGL(*window_size)
model = MODELS[0]
vpRender = ModelRenderer(model["model_path"], SHADER_PATH,
real_dataset.camera, window, window_size)
vpRender.load_ambiant_occlusion_map(model["ambiant_occlusion_model"])
OBJECT_WIDTH = int(model["object_width"])
metadata = {}
metadata["translation_range"] = str(TRANSLATION_RANGE)
metadata["rotation_range"] = str(ROTATION_RANGE)
metadata["image_size"] = str(IMAGE_SIZE[0])
metadata["save_type"] = data["save_type"]
metadata["object_width"] = {}
for model in MODELS:
metadata["object_width"][model["name"]] = str(model["object_width"])
def setup_renderer(self, model_3d_path, model_3d_ao_path, shader_path):
window = InitOpenGL(*self.image_size)
self.renderer = ModelRenderer(model_3d_path, shader_path, self.camera,
window, self.image_size)
if model_3d_ao_path is not None:
self.renderer.load_ambiant_occlusion_map(model_3d_ao_path)
def setup_renderer(self, model_3d_path, model_3d_ao_path, shader_path):
window = InitOpenGL(self.camera.width, self.camera.height)
self.renderer = ModelRenderer(model_3d_path, shader_path, self.camera, window)
self.renderer.load_ambiant_occlusion_map(model_3d_ao_path)
SPHERE_MIN_RADIUS = float(data["sphere_min_radius"])
SPHERE_MAX_RADIUS = float(data["sphere_max_radius"])
IMAGE_SIZE = (int(data["image_size"]), int(data["image_size"]))
PRELOAD = data["preload"] == "True"
SATURATION_THRESHOLD = int(data["saturation_threshold"])
if not os.path.exists(OUTPUT_PATH):
os.mkdir(OUTPUT_PATH)
real_dataset = Dataset(REAL_PATH)
real_dataset.load()
camera = Camera.load_from_json(real_dataset.path)
real_dataset.camera = camera
output_dataset = Dataset(OUTPUT_PATH, frame_class=data["save_type"])
output_dataset.camera = camera
window = InitOpenGL(real_dataset.camera.width, real_dataset.camera.height)
model = MODELS[0]
vpRender = ModelRenderer(model["model_path"], SHADER_PATH, real_dataset.camera, window)
vpRender.load_ambiant_occlusion_map(model["ambiant_occlusion_model"])
OBJECT_WIDTH = int(model["object_width"])
metadata = {}
metadata["translation_range"] = str(TRANSLATION_RANGE)
metadata["rotation_range"] = str(ROTATION_RANGE)
metadata["image_size"] = str(IMAGE_SIZE[0])
metadata["save_type"] = data["save_type"]
metadata["object_width"] = {}
for model in MODELS:
metadata["object_width"][model["name"]] = str(model["object_width"])
metadata["min_radius"] = str(SPHERE_MIN_RADIUS)