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run_visualizer.py
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run_visualizer.py
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#!/usr/bin/python3
from pathlib import Path
import sys
import os
import re
from multiprocessing import Process, Queue
import ctypes
from typing import List
import vtkmodules.all as vtk
from apps.shared.app import App
from apps.visualizer.parameters import VisualizerParameters
from apps.visualizer.app import VisualizerApp
from ext_argparse import process_arguments, process_settings_file
from apps.frameviewer.app import FrameViewerApp, CameraProjection
from data.camera import load_intrinsic_matrix_entries_from_text_4x4_matrix
from apps.frameviewer.parameters import FrameviewerParameters
PROGRAM_EXIT_SUCCESS = 0
PROGRAM_EXIT_FAILURE = -1
class TimerCallback:
def __init__(self, queue: Queue, name: str, app: App):
self.queue = queue
self.name = name
self.app = app
def execute(self, object, event):
if not self.queue.empty():
self.app.handle_key(self.queue.get())
self.app.render_window.Render()
def start_synchronized_frameviewer(frameviewer_settings_path: Path, visualizer_incoming_queue: Queue,
frameviewer_incoming_queue: Queue):
process_settings_file(FrameviewerParameters, str(frameviewer_settings_path),
generate_default_settings_if_missing=True)
FrameviewerParameters.output.argument = str(frameviewer_settings_path.parent)
print("Reading input frame data from ", FrameviewerParameters.input.value)
FrameViewerApp.VOXEL_BLOCK_SIZE_METERS = \
FrameviewerParameters.tsdf.voxel_size.value * FrameviewerParameters.tsdf.block_resolution.value
FrameViewerApp.VOXEL_BLOCK_SIZE_VOXELS = FrameviewerParameters.tsdf.block_resolution.value
FrameViewerApp.VOXEL_SIZE = FrameviewerParameters.tsdf.voxel_size.value
fx, fy, cx, cy = load_intrinsic_matrix_entries_from_text_4x4_matrix(
os.path.join(FrameviewerParameters.input.value, "intrinsics.txt"))
FrameViewerApp.PROJECTION = CameraProjection(fx, fy, cx, cy)
frameviewer = FrameViewerApp(FrameviewerParameters.input.value,
FrameviewerParameters.output.value,
FrameviewerParameters.start_frame_index.value,
FrameviewerParameters.masking_threshold.value,
FrameviewerParameters.tsdf.voxel_size.value,
FrameviewerParameters.tsdf.block_resolution.value,
save_sequence_parameter_state=False,
outgoing_queue=visualizer_incoming_queue)
timer_callback = TimerCallback(frameviewer_incoming_queue, "frameviewer", frameviewer)
frameviewer.interactor.AddObserver('TimerEvent', timer_callback.execute)
frameviewer.interactor.CreateRepeatingTimer(100)
frameviewer.launch()
def main():
settings_path = os.path.join(Path(__file__).parent.resolve(), "configuration_files/visualizer_parameters.yaml")
process_arguments(VisualizerParameters,
"App for visualizing block allocation and generated mesh alignment.",
default_settings_file=settings_path,
generate_default_settings_if_missing=True)
experiment_folder = VisualizerParameters.experiment_folder.value
base_output_folder = VisualizerParameters.base_output_path.value
sortable_timestamp_pattern = re.compile(r"^\d\d-\d\d-\d\d-\d\d-\d\d-\d\d")
if experiment_folder == "!LATEST!":
folders = [item for item in os.listdir(base_output_folder) if
os.path.isdir(os.path.join(base_output_folder, item))]
if folders is None:
raise ValueError(
f"No experiment-run output folders detected in the base output directory {base_output_folder}")
sortable_timestamp_named_folders = []
for folder in folders:
match_result = sortable_timestamp_pattern.match(folder)
if match_result is not None:
sortable_timestamp_named_folders.append(folder)
if len(sortable_timestamp_named_folders) > 0:
sortable_timestamp_named_folders.sort(reverse=True)
experiment_folder = sortable_timestamp_named_folders[0]
else:
base_output_directory = Path(base_output_folder)
paths: List[Path] = \
[path for path in sorted(base_output_directory.iterdir(), key=os.path.getmtime, reverse=True) if
path.is_dir()]
experiment_folder = paths[0].name
print(type(experiment_folder), experiment_folder)
frame_output_folder = Path(base_output_folder, experiment_folder, "frame_output")
print("Reading data from ", frame_output_folder)
visualizer = VisualizerApp(frame_output_folder, VisualizerParameters.start_frame.value)
# TODO: launching multiple VTK windows via multiprocessing fails on VTK 9.1 (at least w/ Xorg server).
# Use VTK 9.0.1 for now if you're facing this issue...
frameviewer_info_path = Path(base_output_folder, experiment_folder, "frameviewer_info.yaml")
frameviewer_running = False
frameviewer_process = None
if frameviewer_info_path.exists() and VisualizerParameters.add_synchronized_frameviewer.value:
visualizer_incoming_queue = Queue()
frameviewer_incoming_queue = Queue()
visualizer.outgoing_queue = frameviewer_incoming_queue
frameviewer_process = Process(target=start_synchronized_frameviewer,
args=(frameviewer_info_path, visualizer_incoming_queue, frameviewer_incoming_queue))
frameviewer_process.start()
frameviewer_running = True
timer_callback = TimerCallback(visualizer_incoming_queue, "visualizer", visualizer)
visualizer.interactor.AddObserver('TimerEvent', timer_callback.execute)
visualizer.interactor.CreateRepeatingTimer(100)
visualizer.trigger_own_exit = False
visualizer.launch()
if frameviewer_running:
frameviewer_process.join()
return PROGRAM_EXIT_SUCCESS
if __name__ == "__main__":
sys.exit(main())