points = []
#for i in range(6):
# points.append(
# PointLight(
# location=np.array([-3.0, 3.0-i, 3.0]),
# color=np.array([1.0, 1.0, 1.0]),
# strength=4.0
# )
# )
#
#for i, point in enumerate(points):
# scene.add_light('point_{}'.format(i), point)
# Add the lights to the scene
scene.ambient_light = ambient # only one ambient light per scene
dl = DirectionalLight(direction=np.array([0.0, 0.0, -1.0]),
color=np.array([1.0, 1.0, 1.0]),
strength=2.0)
scene.add_light('direc', dl)
#====================================
# Add a camera to the scene
#====================================
# Set up camera intrinsics
ci = CameraIntrinsics(frame='camera',
fx=525.0,
fy=525.0,
cx=320.0,
print("ADDED OBJECT SUCCESSFULLY")
# table_obj_properties = MaterialProperties(
# color = np.array([0, 0, 0]),
# )
# wrap the table as a SceneObject
# table_mesh = trimesh.load(PLANE_MESH)
# T_table_world = RigidTransform.load(PLANE_POSE)
# table = SceneObject(table_mesh, T_table_world, table_obj_properties)
# scene.add_object('table', table)
# add light
ambient = AmbientLight(color=np.array([1.0, 1.0, 1.0]), strength=1.0)
scene.ambient_light = ambient
dl = DirectionalLight(direction=np.array([0, 0, -1.0]),
color=np.array([1.0, 1.0, 1.0]),
strength=1.0)
scene.add_light('direc', dl)
print("Added directional light")
#====================================
# Add a camera to the scene
#====================================
# Set up camera intrinsics
ci = CameraIntrinsics(frame='camera',
fx=525.0,
fy=525.0,