From 94d9131c46c959929e744f1483e49d6d63a2764e Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Sun, 14 Jan 2018 12:12:12 +0100
Subject: [PATCH] Update rendering doc
---
.../rendering/blenddemo_beesampling.py | 4 +-
.../example/rendering/blenddemo_cyberbee.py | 14 +-
navipy/rendering/bee_sampling.py | 75 ++++----
navipy/rendering/cyber_bee.py | 168 ++++++------------
4 files changed, 106 insertions(+), 155 deletions(-)
diff --git a/doc/source/example/rendering/blenddemo_beesampling.py b/doc/source/example/rendering/blenddemo_beesampling.py
index 1ea027c..b882510 100644
--- a/doc/source/example/rendering/blenddemo_beesampling.py
+++ b/doc/source/example/rendering/blenddemo_beesampling.py
@@ -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()
diff --git a/doc/source/example/rendering/blenddemo_cyberbee.py b/doc/source/example/rendering/blenddemo_cyberbee.py
index badfa9f..64f222f 100644
--- a/doc/source/example/rendering/blenddemo_cyberbee.py
+++ b/doc/source/example/rendering/blenddemo_cyberbee.py
@@ -1,4 +1,5 @@
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)
diff --git a/navipy/rendering/bee_sampling.py b/navipy/rendering/bee_sampling.py
index bdcc0e0..2181034 100644
--- a/navipy/rendering/bee_sampling.py
+++ b/navipy/rendering/bee_sampling.py
@@ -1,6 +1,6 @@
"""
.. 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')
diff --git a/navipy/rendering/cyber_bee.py b/navipy/rendering/cyber_bee.py
index f3c1def..6b6181d 100644
--- a/navipy/rendering/cyber_bee.py
+++ b/navipy/rendering/cyber_bee.py
@@ -1,17 +1,17 @@
"""
.. 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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