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Commit 94d9131c authored by Olivier Bertrand's avatar Olivier Bertrand
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Update rendering doc

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doc/source/example/rendering/blenddemo_beesampling.py
+ 2
− 2
View file @ 94d9131c
......@@ -2,8 +2,8 @@
Example on how to use the rendering module
"""
import tempfile
import numpy as np # noqa: E402
from navipy.rendering.bee_sampling import BeeSampling # noqa: E402
import numpy as np
from navipy.rendering.bee_sampling import BeeSampling
# create a bee sampling
bee_samp = BeeSampling()
......
doc/source/example/rendering/blenddemo_cyberbee.py
+ 13
− 1
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import numpy as np
import pandas as pd
from matplotlib.colors import hsv_to_rgb, rgb_to_hsv
import matplotlib.pyplot as plt
from navipy.rendering.cyber_bee import Cyberbee
......@@ -6,7 +7,18 @@ from navipy.rendering.cyber_bee import Cyberbee
# with tempfile.TemporaryDirectory() as folder:
cyberbee = Cyberbee()
cyberbee.cycle_samples = 50
posorient = [0, 0, 1.8, np.pi / 2, 0, 0]
cyberbee.camera_rotation_mode = 'XYZ'
cyberbee.camera_fov = [[-90, 90], [-180, 180]]
cyberbee.gaussian_width = 1.5
cyberbee.camera_resolution = [360, 180]
posorient = pd.Series(index=['x', 'y', 'z',
'alpha_0', 'alpha_1', 'alpha_2'])
posorient.x = 0
posorient.y = 0
posorient.z = 1.8
posorient.alpha_0 = np.pi / 2
posorient.alpha_1 = 0
posorient.alpha_2 = 0
scene = cyberbee.scene(posorient)
......
navipy/rendering/bee_sampling.py
+ 35
− 40
View file @ 94d9131c
"""
.. literalinclude:: example/rendering/blenddemo_beesampling.py
:lines: 30-31
:lines: 6
With the toolbox at disposition we just need to configure the \
BeeSampling to render images on a regular 3D grid.
......@@ -107,29 +107,40 @@ class BeeSampling(Cyberbee):
@property
def grid_posorients(self):
"""return a copy of the posorientation matrix
:returns: position-orientations of the grid
:rtype: pandas array
.. todo: use @property
def grid_posorients(self)
.. todo: create @property.setter
def grid_posorients(self,posorients)
(need a type check, and col check, and copy of df)
"""Position orientations to be rendered
:getter: position-orientations of the grid
:setter: set a list of locations to be randered
:type: pandas array
"""
return self.__grid_posorients.copy()
def set_gridindeces2nan(self, indeces):
"""Set certain grid point to nan, so they will be ignore in the rendering
:param indeces: a list of indeces to be set to nan
@grid_posorients.setter
def grid_posorients(self, grid_df):
"""Position orientation to be rendered
"""
columns = ['x', 'y', 'z',
'alpha_0',
'alpha_1',
'alpha_2']
for col in grid_df.columns:
if col not in columns:
raise KeyError(
'Grid dataframe should contains {} column'.format(col))
self.__grid_posorients = grid_df.copy()
.. todo: use @property.setter
def blacklist_indeces(self,indeces)
@property
def blacklist_indeces(self):
""" Blacklist certain indeces of the grid posorients\
so that they are not rendered
:getter: return a list of blacklisted indeces
:setter: set a blacklisted indeces
:type: list
"""
@blacklist_indeces.setter
def blacklist_indeces(self, indeces):
""" Blacklist certain indeces
"""
if not isinstance(indeces, list):
raise TypeError('indeces must be a list')
......@@ -138,6 +149,12 @@ class BeeSampling(Cyberbee):
self.__grid_posorients.loc[indeces, :] = np.nan
def render(self, database_filename):
""" Render all images at position specified by grid_posorients.
:param database_filename: path to the database
:type database_filename: str
"""
if not isinstance(database_filename, str):
raise TypeError('filename must be a string')
database_folder = os.path.dirname(database_filename)
......@@ -167,25 +184,3 @@ class BeeSampling(Cyberbee):
image[:, :, 3] = distance
dataloger.write_image(posorient, image)
print('rendering completed')
if __name__ == "__main__":
import tempfile
bee_samp = BeeSampling()
# Create mesh
world_dim = 15.0
x = np.linspace(-7.5, 7.5, 5)
y = np.linspace(-7.5, 7.5, 5)
z = np.arange(1, 8, 2)
alpha_1 = np.array([0]) + np.pi / 2
alpha_2 = np.array([0])
alpha_3 = np.array([0])
bee_samp.create_sampling_grid(
x, y, z, alpha1=alpha_1, alpha2=alpha_2, alpha3=alpha_3)
bee_samp.world_dim = world_dim
grid_pos = bee_samp.grid_posorients
condition = (grid_pos.x**2 + grid_pos.y**2) < ((bee_samp.world_dim / 2)**2)
bee_samp.set_gridindeces2nan(condition[condition == 0].index)
bee_samp.cycle_samples(samples=5)
with tempfile.TemporaryDirectory() as folder:
bee_samp.render(folder + '/database.db')
navipy/rendering/cyber_bee.py
+ 56
− 112
View file @ 94d9131c
"""
.. literalinclude:: example/rendering/blenddemo_cyberbee.py
:lines: 4
:lines: 5
With the toolbox at disposition we just need to configure the \
Cyberbee to render images at desired positions.
.. literalinclude:: example/rendering/blenddemo_cyberbee.py
:lines: 7-8
:lines: 8-13
To render a scene at a given positions we just have to do:
.. literalinclude:: example/rendering/blenddemo_cyberbee.py
:lines: 9-10
:lines: 14-22
"""
import warnings
......@@ -98,17 +98,16 @@ class Cyberbee():
:returns: the mode of rotation used by the camera
:rtype: string
..todo: Use @property
def camera_rotation_mode(self)
"""
return bpy.data.scenes["Scene"].camera.rotation_mode
@camera_rotation_mode.setter
def camera_rotation_mode(self, mode):
"""change the camera rotation mode
:param mode: the mode of rotation for the camera see blender do
:type mode: a string
.. seealso: blender bpy.data.scenes["Scene"].camera.rotation_mode
"""
if not isinstance(mode, str):
......@@ -123,8 +122,6 @@ class Cyberbee():
:returns: the number of samples used for the rendering
:rtype: int
..todo use @property
def cycle_samples(self)
"""
return bpy.context.scene.cycles.samples
......@@ -132,15 +129,9 @@ class Cyberbee():
def cycle_samples(self, samples=30):
"""change the samples for rendering with cycle
:param samples: the number of samples to use when rendering images
:type samples: int
..todo: Use @property.setter
def cycle_samples(self, samples=30)
"""
if not isinstance(samples, int):
raise TypeError('samples must be an integer')
......@@ -150,28 +141,17 @@ class Cyberbee():
def camera_fov(self):
"""get fov of camera
:returns: the field of view of the camera as min/max,longitude/latitude
in degrees
:returns: the field of view of the camera as \
[min,max],[longitude,latitude] in degrees
:rtype: dict
..todo use @property
def camera_fov()
..todo Change assert to if -> raise TypeError/KeyError
"""
assert self.camera.data.type == 'PANO', 'Camera is not panoramic'
assert self.camera.cycles.panorama_type == 'EQUIRECTANGULAR',\
'Camera is not equirectangular'
if self.camera.data.type != 'PANO':
raise TypeError('Camera is not panoramic')
if self.camera.cycles.panorama_type == 'EQUIRECTANGULAR':
raise TypeError('The panoramic camera is not equirectangular')
fov = dict()
fov['latitude_min'] = np.rad2ged(self.camera.data.cycles.latitude_min)
fov['latitude_max'] = np.rad2ged(self.camera.data.cycles.latitude_max)
......@@ -182,29 +162,22 @@ class Cyberbee():
return fov
@camera_fov.setter
def camera_fov(self, resolution=[[-90, 90], [-180, 180]]):
def camera_fov(self, resolution):
"""change the field of view of the panoramic camera
:param resolution: [[minimum latitude, maximum latitude],
[minimum longitude, maximum longitude]]
(in deg)
:type latmin: 2x2 float array or list
..todo use @property.setter
def camera_fov(self, latlongrange)
here latlongrange is a a 2x2 list or array:
[[latmin,latmax],[longmin,longmax]]
..todo Change assert to if -> raise TypeError()/KeyError()
"""
if not (isinstance(resolution, tuple) or
isinstance(resolution, list) or
isinstance(resolution, np.ndarray)):
raise TypeError('resolution must be list, array, or tuple')
if not self.camera.data.type == 'PANO':
raise Exception('Camera is not panoramic')
raise TypeError('Camera is not panoramic')
if not self.camera.data.cycles.panorama_type == 'EQUIRECTANGULAR':
raise Exception('Camera is not equirectangular')
raise TypeError('Camera is not equirectangular')
self.camera.data.cycles.latitude_min = np.deg2rad(
resolution[0][0])
self.camera.data.cycles.latitude_max = np.deg2rad(
......@@ -215,33 +188,22 @@ class Cyberbee():
resolution[1][1])
@property
def camera_gaussian_width(self, gauss_w=1.5):
def camera_gaussian_width(self):
"""get width of the gaussian spatial filter
:returns: the width of the gaussian filter
:rtype: float
..todo use @property
def camera_gaussian_width(self)
"""
if not (isinstance(gauss_w, int) or isinstance(gauss_w, float)):
raise TypeError('gauss window must be integer or float')
return bpy.context.scene.cycles.filter_width
@camera_gaussian_width.setter
def camera_gaussian_width(self, gauss_w=1.5):
def camera_gaussian_width(self, gauss_w):
"""change width of the gaussian spatial filter
:param gauss_w: width of the gaussian filter
:type gauss_w: float
..todo use @property.setter
def camera_gaussian_width(self)
..todo check that input argument is of correct type,
if not raise TypeError()
"""
if not (isinstance(gauss_w, int) or isinstance(gauss_w, float)):
......@@ -255,36 +217,19 @@ class Cyberbee():
:returns: the resolution of the camera along (x-axis,y-axis)
:rtype: (int,int)
..todo use @property
def camera_resolution(self)
"""
resolution_x = bpy.context.scene.render.resolution_x
resolution_y = bpy.context.scene.render.resolution_y
return resolution_x, resolution_y
@camera_resolution.setter
def camera_resolution(self, resolution=[360, 180]):
def camera_resolution(self, resolution):
"""change the camera resolution (nb of pixels)
:param resolution_x: number of pixels along the x-axis of the camera
:type resolution_x: int
:param resolution_y: number of pixels along the y-axis of the camera
:type resolution_y: int
..todo use @property.setter
def camera_resolution(self,resolution)
here resolution is [res_x,res_y]
..todo check type and raise TypeError
"""
if not (isinstance(resolution, list) or
isinstance(resolution, np.ndarray)):
......@@ -293,45 +238,15 @@ class Cyberbee():
bpy.context.scene.render.resolution_y = resolution[1]
bpy.context.scene.render.resolution_percentage = 100
def update(self, posorient):
"""assign the position and the orientation of the camera.
:param posorient: is a 1x6 vector containing:
x,y,z, angle_1, angle_2, angle_3,
here the angles are euler rotation around the axis
specified by scene.camera.rotation_mode
:type posorient: 1x6 double array
"""
print(posorient)
if (isinstance(posorient, np.ndarray) or
isinstance(posorient, list)):
if len(posorient) != 6:
raise Exception('posorient should be a 1x6 double array')
self.camera.location = posorient[:3]
self.camera.rotation_euler = posorient[3:]
elif isinstance(posorient, pd.Series):
self.camera.location = posorient.loc[['x', 'y', 'z']].values
self.camera.rotation_euler = \
posorient.loc[['alpha_0', 'alpha_1', 'alpha_2']].values
else:
raise TypeError(
'posorient must be of type array, list, or pandas Series')
# Render
bpy.ops.render.render()
@property
def image(self):
"""return the last rendered image as a numpy array
:returns: the image (height,width,4)
:returns: the image (height,width,nchannel)
:rtype: a double numpy array
.. note: A temporary file will be written on the harddrive,
due to API blender limitation
.. todo: use @property
def image(self)
"""
# save image as a temporary file, and then loaded
# sadly the rendered image pixels can not directly be access
......@@ -341,9 +256,9 @@ class Cyberbee():
im_width, im_height = self.camera_resolution
im = bpy.data.images.load(filename)
pixels = np.array(im.pixels)
# im=PIL.Image.open(filename)
# pixels=np.asarray(im)
pixels = pixels.reshape([im_height, im_width, 4])
pixels = pixels.reshape([im_height, im_width, -1])
# The last channel is the alpha channel
pixels[..., :(pixels.shape[2] - 1)]
return pixels
@property
......@@ -367,12 +282,39 @@ class Cyberbee():
im_width, im_height = self.camera_resolution
im = bpy.data.images.load(filename)
distance = np.array(im.pixels)
# im=PIL.Image.open(filename)
# distance=np.asarray(im)
distance = distance.reshape([im_height, im_width, 4])
distance = distance.reshape([im_height, im_width, -1])
# Distance are channel independent
distance = distance[:, :, 0]
return distance
def update(self, posorient):
"""assign the position and the orientation of the camera.
:param posorient: is a 1x6 vector containing:
x,y,z, angle_1, angle_2, angle_3,
here the angles are euler rotation around the axis
specified by scene.camera.rotation_mode
:type posorient: 1x6 double array
"""
print(posorient)
if (isinstance(posorient, np.ndarray) or
isinstance(posorient, list)):
if len(posorient) != 6:
raise Exception('posorient should be a 1x6 double array')
self.camera.location = posorient[:3]
self.camera.rotation_euler = posorient[3:]
elif isinstance(posorient, pd.Series):
self.camera.location = \
posorient.loc[['x', 'y', 'z']].values
self.camera.rotation_euler = \
posorient.loc[['alpha_0', 'alpha_1', 'alpha_2']].values
else:
raise TypeError(
'posorient must be of type array, list, or pandas Series')
# Render
bpy.ops.render.render()
def scene(self, posorient):
""" update position orientation and return a RGBD image
......@@ -381,8 +323,10 @@ class Cyberbee():
here the angles are euler rotation around the axis
specified by scene.camera.rotation_mode
:type posorient: 1x6 double array
:returns: a (height,width, channel) array here the last channel \
is the distance.
:rtype: a double numpy array
"""
self.update(posorient)
image = self.image
image[:, :, 3] = self.distance
return image
return np.concatenate((self.image,
self.distance), axis=2)
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