def test_render_rendering():
renderer = MeshRenderer(width=800, height=600)
renderer.load_object(
os.path.join(dir, 'mesh/bed1a77d92d64f5cbbaaae4feed64ec1_new.obj'))
renderer.add_instance(0)
renderer.set_camera([0, 0, 1.2], [0, 1, 1.2], [0, 1, 0])
renderer.set_fov(90)
rgb, _, seg, _ = renderer.render()
#plt.imshow(np.concatenate([rgb, seg], axis=1)) # uncomment these two lines to show the rendering results
#plt.show()
assert (np.allclose(np.mean(rgb, axis=(0, 1)),
np.array([0.51661223, 0.5035339, 0.4777793, 1.]),
rtol=1e-3))
renderer.release()
def test_render_rendering_cleaning():
for i in range(5):
renderer = MeshRenderer(width=800, height=600)
renderer.load_object(
os.path.join(dir, 'mesh/bed1a77d92d64f5cbbaaae4feed64ec1_new.obj'))
renderer.add_instance(0)
renderer.set_camera([0, 0, 1.2], [0, 1, 1.2], [0, 1, 0])
renderer.set_fov(90)
rgb, _, seg, _ = renderer.render()
assert (np.allclose(np.mean(rgb, axis=(0, 1)),
np.array([0.51661223, 0.5035339, 0.4777793, 1.]),
rtol=1e-3))
GPUtil.showUtilization()
renderer.release()
GPUtil.showUtilization()
def main():
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_model_path('Rs'), 'mesh_z_up.obj')
renderer = MeshRenderer(width=512, height=512)
renderer.load_object(model_path)
renderer.add_instance(0)
camera_pose = np.array([0, 0, 1.2])
view_direction = np.array([1, 0, 0])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
frames = renderer.render(modes=('rgb', 'normal', '3d'))
frames = cv2.cvtColor(np.concatenate(frames, axis=1), cv2.COLOR_RGB2BGR)
cv2.imshow('image', frames)
cv2.waitKey(0)
import sys
import numpy as np
from gibson2.core.render.mesh_renderer.mesh_renderer_cpu import MeshRenderer
from gibson2.core.render.profiler import Profiler
if __name__ == '__main__':
model_path = sys.argv[1]
renderer = MeshRenderer(width=512, height=512)
renderer.load_object(model_path)
renderer.add_instance(0)
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
camera_pose = np.array([0, 0, 1.2])
view_direction = np.array([1, 0, 0])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
px = 0
py = 0
_mouse_ix, _mouse_iy = -1, -1
down = False
def change_dir(event, x, y, flags, param):
global _mouse_ix, _mouse_iy, down, view_direction
if event == cv2.EVENT_LBUTTONDOWN:
_mouse_ix, _mouse_iy = x, y
down = True
if event == cv2.EVENT_MOUSEMOVE:
if down:
def main():
global _mouse_ix, _mouse_iy, down, view_direction
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_model_path('Rs'), 'mesh_z_up.obj')
renderer = MeshRenderer(width=512, height=512)
renderer.load_object(model_path)
renderer.add_instance(0)
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
camera_pose = np.array([0, 0, 1.2])
view_direction = np.array([1, 0, 0])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
px = 0
py = 0
_mouse_ix, _mouse_iy = -1, -1
down = False
def change_dir(event, x, y, flags, param):
global _mouse_ix, _mouse_iy, down, view_direction
if event == cv2.EVENT_LBUTTONDOWN:
_mouse_ix, _mouse_iy = x, y
down = True
if event == cv2.EVENT_MOUSEMOVE:
if down:
dx = (x - _mouse_ix) / 100.0
dy = (y - _mouse_iy) / 100.0
_mouse_ix = x
_mouse_iy = y
r1 = np.array([[np.cos(dy), 0, np.sin(dy)], [0, 1, 0],
[-np.sin(dy), 0, np.cos(dy)]])
r2 = np.array([[np.cos(-dx), -np.sin(-dx), 0],
[np.sin(-dx), np.cos(-dx), 0], [0, 0, 1]])
view_direction = r1.dot(r2).dot(view_direction)
elif event == cv2.EVENT_LBUTTONUP:
down = False
cv2.namedWindow('test')
cv2.setMouseCallback('test', change_dir)
while True:
with Profiler('Render'):
frame = renderer.render(modes=('rgb', 'normal', '3d'))
cv2.imshow(
'test',
cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
q = cv2.waitKey(1)
if q == ord('w'):
px += 0.05
elif q == ord('s'):
px -= 0.05
elif q == ord('a'):
py += 0.05
elif q == ord('d'):
py -= 0.05
elif q == ord('q'):
break
camera_pose = np.array([px, py, 1.2])
renderer.set_camera(camera_pose, camera_pose + view_direction,
[0, 0, 1])
renderer.release()
def main():
global _mouse_ix, _mouse_iy, down, view_direction
###################################################################################
# load the scene to get traversable area (disable the whole area for performance) #
###################################################################################
p.connect(p.GUI)
p.setGravity(0, 0, -9.8)
p.setTimeStep(1. / 240.)
scene = BuildingScene('Allensville',
build_graph=True,
pybullet_load_texture=True)
objects = scene.load()
random_floor = scene.get_random_floor()
p1 = scene.get_random_point_floor(random_floor)[1]
p2 = scene.get_random_point_floor(random_floor)[1]
shortest_path, geodesic_distance = scene.get_shortest_path(
random_floor, p1[:2], p2[:2], entire_path=True)
print('random point 1:', p1)
print('random point 2:', p2)
print('geodesic distance between p1 and p2', geodesic_distance)
print('shortest path from p1 to p2:', shortest_path)
p.disconnect()
###################################################################################
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_model_path('Allensville'),
'mesh_z_up.obj')
# set width, height (has to be equal for panorama)
renderer = MeshRenderer(width=512, height=512)
renderer.load_object(model_path)
renderer.add_instance(0)
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
# set camera_pose / view direction
camera_pose = np.array([0, 0, 1.2])
view_direction = np.array([1, 0, 0])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
px = 0
py = 0
_mouse_ix, _mouse_iy = -1, -1
down = False
def change_dir(event, x, y, flags, param):
global _mouse_ix, _mouse_iy, down, view_direction
if event == cv2.EVENT_LBUTTONDOWN:
_mouse_ix, _mouse_iy = x, y
down = True
if event == cv2.EVENT_MOUSEMOVE:
if down:
dx = (x - _mouse_ix) / 100.0
dy = (y - _mouse_iy) / 100.0
_mouse_ix = x
_mouse_iy = y
r1 = np.array([[np.cos(dy), 0, np.sin(dy)], [0, 1, 0],
[-np.sin(dy), 0, np.cos(dy)]])
r2 = np.array([[np.cos(-dx), -np.sin(-dx), 0],
[np.sin(-dx), np.cos(-dx), 0], [0, 0, 1]])
view_direction = r1.dot(r2).dot(view_direction)
elif event == cv2.EVENT_LBUTTONUP:
down = False
cv2.namedWindow('test')
cv2.setMouseCallback('test', change_dir)
while True:
with Profiler('Render'):
frame = renderer.render(modes=('rgb', 'normal', '3d'))
cv2.imshow(
'test',
cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
q = cv2.waitKey(1)
if q == ord('w'):
px += 0.05
elif q == ord('s'):
px -= 0.05
elif q == ord('a'):
py += 0.05
elif q == ord('d'):
py -= 0.05
elif q == ord('q'):
break
camera_pose = np.array([px, py, 1.2])
renderer.set_camera(camera_pose, camera_pose + view_direction,
[0, 0, 1])
renderer.release()