isl-org#17. these changes allow running headless inside the host term…

…inal without the need to vnc into the docker container.

utilities/docker/ubuntu-xvfb/Dockerfile

@@ -66,14 +66,20 @@ RUN cmake \
 RUN make -j
 
 WORKDIR $HOME
+
 COPY ./setup/.xinitrc .
 RUN chmod a+x .xinitrc
+
 COPY ./setup/entrypoint.sh .
 
 WORKDIR $HOME/Open3D/build/lib/Tutorial/Advanced
+
 COPY ./setup/test.py .
 RUN chmod a+x test.py
 
+COPY ./setup/test.sh .
+RUN chmod a+x test.sh
+
 EXPOSE 5920
 
 CMD ["bash", "/root/entrypoint.sh"]

utilities/docker/ubuntu-xvfb/setup/test.py

@@ -13,18 +13,54 @@
 import faulthandler
 faulthandler.enable()
 
-def custom_draw_geometry(pcd):
-    # The following code achieves the same effect as:
-    # draw_geometries([pcd])
-    vis = Visualizer()
+def custom_draw_geometry_with_camera_trajectory(pcd):
+    custom_draw_geometry_with_camera_trajectory.index = -1
+    custom_draw_geometry_with_camera_trajectory.trajectory =\
+            read_pinhole_camera_trajectory(
+                    "../../TestData/camera_trajectory.json")
+    custom_draw_geometry_with_camera_trajectory.vis = Visualizer()
+    if not os.path.exists("../../TestData/image/"):
+        os.makedirs("../../TestData/image/")
+    if not os.path.exists("../../TestData/depth/"):
+        os.makedirs("../../TestData/depth/")
+    def move_forward(vis):
+        # This function is called within the Visualizer::run() loop
+        # The run loop calls the function, then re-render
+        # So the sequence in this function is to:
+        # 1. Capture frame
+        # 2. index++, check ending criteria
+        # 3. Set camera
+        # 4. (Re-render)
+        ctr = vis.get_view_control()
+        glb = custom_draw_geometry_with_camera_trajectory
+        if glb.index >= 0:
+            print("Capture image {:05d}".format(glb.index))
+            depth = vis.capture_depth_float_buffer(False)
+            image = vis.capture_screen_float_buffer(False)
+            plt.imsave("../../TestData/depth/{:05d}.png".format(glb.index),\
+                    np.asarray(depth), dpi = 1)
+            plt.imsave("../../TestData/image/{:05d}.png".format(glb.index),\
+                    np.asarray(image), dpi = 1)
+            #vis.capture_depth_image("depth/{:05d}.png".format(glb.index), False)
+            #vis.capture_screen_image("image/{:05d}.png".format(glb.index), False)
+        glb.index = glb.index + 1
+        if glb.index < len(glb.trajectory.extrinsic):
+            ctr.convert_from_pinhole_camera_parameters(glb.trajectory.intrinsic,\
+                    glb.trajectory.extrinsic[glb.index])
+        else:
+            custom_draw_geometry_with_camera_trajectory.vis.\
+                    register_animation_callback(None)
+        return False
+    vis = custom_draw_geometry_with_camera_trajectory.vis
     vis.create_window()
     vis.add_geometry(pcd)
+    vis.get_render_option().load_from_json("../../TestData/renderoption.json")
+    vis.register_animation_callback(move_forward)
     vis.run()
     vis.destroy_window()
 
 if __name__ == "__main__":
     pcd = read_point_cloud("../../TestData/fragment.ply")
 
-    print("1. Customized visualization to mimic DrawGeometry")
-    custom_draw_geometry(pcd)
-
+    print("5. Customized visualization playing a camera trajectory")
+    custom_draw_geometry_with_camera_trajectory(pcd)

utilities/docker/ubuntu-xvfb/setup/test.sh

@@ -0,0 +1,5 @@
+Xvfb :99 -screen 0 1920x1080x24 &
+DISPLAY=:99.0
+export DISPLAY
+
+./test.py