# Author: Tomas Hodan ([email protected]) # Center for Machine Perception, Czech Technical University in Prague # Example of sampling views from a view sphere. import os import sys sys.path.append(os.path.abspath('..')) from pysixd import view_sampler, misc min_n_views = 642 radius = 1 hemisphere = False out_views_vis_path = '../output/view_sphere.ply' misc.ensure_dir(os.path.dirname(out_views_vis_path)) # Sample views views, views_level = view_sampler.sample_views(min_n_views, radius, hemisphere) print('Sampled views: ' + str(len(views))) view_sampler.save_vis(out_views_vis_path, views)
# Load model texture
if par['model_texture_mpath']:
model_texture_path = par['model_texture_mpath'].format(obj_id)
model_texture = inout.load_im(model_texture_path)
else:
model_texture = None
obj_info = {}
obj_gt = {}
im_id = 0
for radius in radii:
# Sample views
views, views_level = view_sampler.sample_views(min_n_views, radius,
azimuth_range, elev_range)
print('Sampled views: ' + str(len(views)))
view_sampler.save_vis(out_views_vis_mpath.format(str(radius)),
views, views_level)
# Render the object model from all the views
for view_id, view in enumerate(views):
if view_id % 10 == 0:
print('obj,radius,view: ' + str(obj_id) +
',' + str(radius) + ',' + str(view_id))
# Render depth image
depth = renderer.render(model, par['cam']['im_size'], par['cam']['K'],
view['R'], view['t'],
clip_near, clip_far, mode='depth')
# Convert depth so it is in the same units as the real test images
depth /= par['cam']['depth_scale']
# Load model texture
if par['model_texture_mpath']:
model_texture_path = par['model_texture_mpath'].format(obj_id)
model_texture = inout.load_im(model_texture_path)
else:
model_texture = None
obj_info = {}
obj_gt = {}
im_id = 0
for radius in radii:
# Sample views
views, views_level = view_sampler.sample_views(min_n_views, radius,
azimuth_range, elev_range)
print('Sampled views: ' + str(len(views)))
view_sampler.save_vis(out_views_vis_mpath.format(str(radius)),
views, views_level)
# Render the object model from all the views
for view_id, view in enumerate(views):
if view_id % 10 == 0:
print('obj,radius,view: ' + str(obj_id) +
',' + str(radius) + ',' + str(view_id))
# Render depth image
depth = renderer.render(model, par['cam']['im_size'], par['cam']['K'],
view['R'], view['t'],
clip_near, clip_far, mode='depth')
# Convert depth so it is in the same units as the real test images
depth /= par['cam']['depth_scale']