def render_lsd(seq):
plypath = os.path.join(seq, 'render_me.ply')
verts, edges = IO.read_ply(plypath)
lsd_mesh = Mesh()
lsd_mesh.verts = verts.astype(np.float32)
campath = os.path.join(seq, 'render.py')
Rs, ts = IO.import_blender_cam(campath)
W, H = 1920, 1080
im = empty((H, W, 3), np.uint8)
cam = Geom.cam_params(29.97, W, H, 35) # Blender defaults
cam = cam.astype(np.float32)
render_out = os.path.join(seq, 'render')
Util.try_mkdir(render_out)
im[:] = 255
pts = lsd_mesh.project_verts(Rs[0].astype(np.float32), ts[0].astype(np.float32), cam)
pt_buf = buffer_points(pts, np.r_[255, 82, 82], alpha=0.2, size=2)
render_buffer(im, pt_buf, bg=255)
out = os.path.join(render_out, 'frame_0.png')
IO.imwrite(out, im)
def test_render_cube():
import pynutmeg
import time
fig = pynutmeg.figure('cube', 'figs/imshow.qml')
im = empty((720, 1280, 3), np.uint8)
azi = 0
alt = np.deg2rad(40)
dist = 10
cam = Geom.cam_params(29.97, 1280, 720, 35) # Blender defaults
cam = cam.astype(np.float32)
mesh = get_cube_mesh(1)
obj_mesh = Mesh()
n = 0
while True:
n += 1
azi += np.deg2rad(2)
tw = dist * np.array([cos(alt)*cos(azi), cos(alt)*sin(azi), sin(alt)], np.float32)
alpha = -np.pi/2 - alt
beta = np.pi/2 + azi
Rx = np.array([
[1, 0, 0],
[0, cos(alpha), -sin(alpha)],
[0, sin(alpha), cos(alpha)]
], np.float32)
Rz = np.array([
[cos(beta), -sin(beta), 0],
[sin(beta), cos(beta), 0],
[0, 0, 1]
], np.float32)
Rw = dot(Rz, Rx)
t = -dot(Rw.T, tw)
R = Rw.T
im[:] = 255
render_frame(im, obj_mesh, mesh, R, t, cam)
time.sleep(0.005)
fig.set('ax.im', binary=im)
def render_animation(seq, sub, dopoly):
import pynutmeg
import time
import os
import RayCloud
fig = pynutmeg.figure('cube', 'figs/imshow.qml')
W, H = 1920, 1080
im = empty((H, W, 3), np.uint8)
cam = Geom.cam_params(29.97, W, H, 35) # Blender defaults
cam = cam.astype(np.float32)
print("Loading data")
cloud = RayCloud.load(os.path.join(seq, sub))
datapath = os.path.join(seq, 'occlusion_data.npz')
data = np.load(datapath)
mesh_path = os.path.join(seq, 'occlusion_mesh.npz')
occl_mesh = load_mesh(mesh_path)
# occl_mesh = Mesh()
# occl_mesh.verts = data['verts'].astype(np.float32)
edges = data['edges'].astype(np.uint32)
ply_path = os.path.join(seq, 'model.ply')
if os.path.exists(ply_path):
obj_mesh = from_ply(ply_path)
else:
obj_mesh = Mesh()
if dopoly:
poly_data = os.path.join(seq, sub, 'poly_data.npz')
polynpz = np.load(poly_data)
poly_mesh = Mesh()
poly_mesh.verts = polynpz['verts'].astype(np.float32)
poly_mesh.edges = polynpz['edges'].astype(np.uint32)
else:
poly_mesh = None
# pers_mesh_path = os.path.join(seq, 'persistent_mesh.npz')
# pers_mesh = load_mesh(pers_mesh_path)
campath = os.path.join(seq, 'animation.py')
Rs, ts = IO.import_blender_cam(campath)
# Grab frame info
inds = data['inds']
frames = cloud.frames[inds]
render_out = os.path.join(seq, 'animate')
Util.try_mkdir(render_out)
F = len(Rs)
N = len(frames)
print("Loaded", frames.max())
end_frame = 0
for f in range(0, F, 10):
print("Frame:", f)
# R = cloud.Rs[f]
# t = cloud.ts[f]
R = Rs[f].astype(np.float32)
t = ts[f].astype(np.float32)
while end_frame < N and frames[end_frame] < f:
end_frame += 1
occl_mesh.edges = edges[:end_frame]
im[:] = 255
if len(occl_mesh.edges) > 0:
t0 = time.time()
render_frame(im, obj_mesh, occl_mesh, None, R, t, cam)
print("Render time: {} ms".format( int((time.time() - t0)*1000) ))
# time.sleep(0.005)
fig.set('ax.im', binary=im)
out = os.path.join(render_out, 'frame_{:05d}.png'.format(f))
IO.imwrite(out, im)
def test_render_seq(seq, sub, dopoly):
import pynutmeg
import time
import os
import RayCloud
fig = pynutmeg.figure('cube', 'figs/imshow.qml')
W, H = 1920, 1080
im = empty((H, W, 3), np.uint8)
cam = Geom.cam_params(29.97, W, H, 35) # Blender defaults
cam = cam.astype(np.float32)
print("Loading data")
cloud = RayCloud.load(os.path.join(seq, sub))
mesh_path = os.path.join(seq, 'occlusion_mesh.npz')
occl_mesh = load_mesh(mesh_path)
ply_path = os.path.join(seq, 'model.ply')
if os.path.exists(ply_path):
obj_mesh = from_ply(ply_path)
else:
obj_mesh = Mesh()
if dopoly:
poly_data = os.path.join(seq, sub, 'poly_data.npz')
polynpz = np.load(poly_data)
poly_mesh = Mesh()
poly_mesh.verts = polynpz['verts'].astype(np.float32)
poly_mesh.edges = polynpz['edges'].astype(np.uint32)
else:
poly_mesh = None
pers_mesh_path = os.path.join(seq, 'persistent_mesh.npz')
pers_mesh = load_mesh(pers_mesh_path)
campath = os.path.join(seq, 'render.py')
Rs, ts = IO.import_blender_cam(campath)
render_out = os.path.join(seq, 'render')
Util.try_mkdir(render_out)
F = min(3, len(Rs))
print("Loaded")
for f in range(F):
print("Frame:", f)
# R = cloud.Rs[f]
# t = cloud.ts[f]
R = Rs[f].astype(np.float32)
t = ts[f].astype(np.float32)
im[:] = 255
t0 = time.time()
render_frame(im, obj_mesh, occl_mesh, None, R, t, cam)
print("dt:", (time.time() - t0)*1000)
# time.sleep(0.005)
fig.set('ax.im', binary=im)
out = os.path.join(render_out, 'frame_{}.png'.format(f))
IO.imwrite(out, im)
im[:] = 255
t0 = time.time()
render_frame(im, obj_mesh, pers_mesh, poly_mesh, R, t, cam, color=np.r_[255, 82, 82], poly_color=np.r_[0,0,0])
print("dt:", (time.time() - t0)*1000)
fig.set('ax.im', binary=im)
out = os.path.join(render_out, 'frame_pers_{}.png'.format(f))
IO.imwrite(out, im)
def test_contours_rgb():
import Edge_Tracker
seq = 'data/synth/plant_out'
out_d = os.path.join(seq, 'outlines_out')
IO.imshow(zeros((3, 3, 3), np.uint8))
try:
os.makedirs(out_d)
except FileExistsError:
pass
h, w = 360, 640
cam = Geom.cam_params(f=29.9, sw=35.0, w=w, h=h)
fx, fy, cx, cy = cam
def to_homogenious(pts):
N = pts.shape[0]
out = empty((N, 3))
out[:, 2] = 1
out[:, 0] = (pts[:, 0] - cx) * (1 / fx)
out[:, 1] = (pts[:, 1] - cy) * (1 / fy)
return out
def from_homogenious(pts):
x = (fx * pts[:, 0] + cx).astype(int)
y = (fy * pts[:, 1] + cy).astype(int)
return x, y
i = 0
contour_set = []
normal_set = []
P_last = None
pose = zeros(6)
try:
for im, D in load_datas(seq, imext='png'):
print("Frame {}".format(i))
P, normals, edge_map = find_contours_rgb(im, D)
P_hom = to_homogenious(P)
H, W = im.shape[:2]
if P_last is not None:
P_tr, pose, tree = Edge_Tracker.align(P_last, P_hom, pose=pose)
P_tr = from_homogenious(P_tr)
np.clip(P_tr[0], 0, W - 1, out=P_tr[0])
np.clip(P_tr[1], 0, H - 1, out=P_tr[1])
align = np.zeros_like(im)
last_u, last_v = from_homogenious(P_last)
align[P[:, 1], P[:, 0], 2] = 255
align[last_v, last_u, 1] = 255
align[P_tr[1], P_tr[0], 0] = 255
IO.imshow(align, "align")
# outlines, contours, normals = find_contours_rgb(im, D, snakes=False)
# imio.imsave(os.path.join(out_d, "{:04d}.png".format(i)), outlines.astype(np.uint16)*2**3)
# contour_set.append(contours)
# normal_set.append(normals)
# time.sleep(1)
P_last = P_hom
i += 1
except Exception as e:
print(e)
raise
np.savez(os.path.join(seq, 'contours.npz'),
contours=contour_set,
normals=normal_set)