VirtualPlantImager REST API

The Python implementation is done in the bin/romi_virtualplantimager.py file, that is also used to start a Flask server.

Hereafter we list the GET/POST requests that can be made and give some examples.

REST URLs

Objects

• /objects (GET): retrieve the list of obj files in the data folder that can be loaded.
• /load_object/<object_id> (GET) load the given object in the scene. Takes a translation vector as URL parameters (dx, dy, dz)

Classes

• /classes (GET): retrieve the list of classes.

Backgrounds

• /backgrounds (GET): retrieve the list of hdr files in the hdri folder that can be loaded.
• /load_background/<background_id> (GET) load the given background in the scene.

Camera

• /camera_intrinsics (POST): set camera intrinsics. Keys: width, height, focal
• /camera_pose (POST): set camera pose. Keys: tx, ty, tz, rx, ry, rz

Rendering

• /render (GET): gets the rendering of the scene
• /render_class/<class_id> (GET) renders the scene, with everything transparent except the given class

Todo

Missing endpoints.

Examples

Using a browser to send HTTP requests is not too convenient. Instead, you may use httpie to send HTTP commands from a terminal.

To easily adapt to other configurations, we define the $VPI_HOST & $VPI_PORT variables. For example, matching the example given above, we define:

export VPI_HOST='172.17.0.2'
export VPI_PORT='9001'

Setup camera

http -f post "http://$VPI_HOST:$VPI_PORT/camera_intrinsics width=1920 height=1080 focal=35"

Load arabidopsis_0 OBJ

http get "http://$VPI_HOST:$VPI_PORT/load_object/arabidopsis_0.obj?dx=10&dy=20&dz=1"

Load "old tree in the park" background

http get "http://127.0.0.1:$VPI_PORT/load_background/old_tree_in_city_park_8k.hdr"

Move camera

http -f post "http://$VPI_HOST:$VPI_PORT/camera_pose tx=-60 ty=0 tz=50 rx=60 ry=0 rz=-90"

Render scene and download image

http --download get "http://$VPI_HOST:$VPI_PORT/render"

Render only leaves

http --download get "http://$VPI_HOST:$VPI_PORT/render_class/Color_7"