def __init__(self, *args, **kwargs):
super(TestGradients, self).__init__(*args, **kwargs)
sl.init()
self.scene = sl.Scene((640, 480))
# Taken from first YCB frame
# NOTE: This is not constant throughout the real dataset!
fx, fy, cx, cy = 1066.778, 1067.487, 312.9869, 241.3109
self.scene.set_camera_intrinsics(fx, fy, cx, cy)
mesh_files = [os.path.join(TESTS_PATH, 'stanford_bunny', 'scene.gltf')]
self.meshes = []
for mesh_file in mesh_files:
mesh = sl.Mesh(mesh_file)
print("Loaded mesh with bounding box:", mesh.bbox)
print("center:", mesh.bbox.center, "size:", mesh.bbox.size)
mesh.center_bbox()
mesh.scale_to_bbox_diagonal(0.5, 'order_of_magnitude')
print("normalized:", mesh.bbox)
print("center:", mesh.bbox.center, "size:", mesh.bbox.size,
"diagonal:", mesh.bbox.diagonal)
self.meshes.append(mesh)
def run(ycb_path, ibl_path, plane_texture_path):
mesh_path = pathlib.Path(ycb_path) / 'models'
if ibl_path:
ibl_path = pathlib.Path(ibl_path)
sl.init() # use sl.init_cuda() for CUDA interop
# Load all meshes
meshes = sl.Mesh.load_threaded(
[mesh_path / c / 'textured.obj' for c in CLASSES[1:]])
# Setup class IDs
for i, mesh in enumerate(meshes):
mesh.class_index = i + 1
# Create a scene with matching intrinsics
scene = sl.Scene(RESOLUTION)
scene.set_camera_intrinsics(*INTRINSICS)
for mesh in random.sample(meshes, 10):
obj = sl.Object(mesh)
# Override the metallic/roughness parameters so that it gets interesting
obj.metallic = random.random()
obj.roughness = random.random()
scene.add_object(obj)
# Let them fall in a heap
scene.simulate_tabletop_scene()
# Setup lighting
if ibl_path:
scene.light_map = sl.LightMap(ibl_path)
else:
scene.choose_random_light_position()
# Display a plane & set background color
scene.background_plane_size = torch.tensor([3.0, 3.0])
scene.background_color = torch.tensor([0.1, 0.1, 0.1, 1.0])
if plane_texture_path:
scene.background_plane_texture = sl.Texture2D(plane_texture_path)
# Display interactive viewer
sl.view(scene)
# Render a frame
renderer = sl.RenderPass()
result = renderer.render(scene)
# Save as JPEG
Image.fromarray(result.rgb()[:, :, :3].cpu().numpy()).save('rgb.jpeg')
def test_render(self):
scene = sl.Scene((640, 480))
with Timer('Mesh load'):
mesh = sl.Mesh(
os.path.join(TESTS_PATH, 'stanford_bunny', 'scene.gltf'))
mesh.center_bbox()
mesh.scale_to_bbox_diagonal(0.5)
object = sl.Object(mesh)
scene.add_object(object)
pose = torch.eye(4)
pose[2, 3] = 0.5
object.set_pose(pose)
with Timer('render'):
renderer = sl.RenderPass()
result = renderer.render(scene)
with Timer('retrieve'):
rgb = result.rgb()
print("First pixel:", rgb[0, 0])
print("min: {}, max: {}".format(rgb.min(), rgb.max()))
rgb_np = rgb.cpu().numpy()
img = Image.fromarray(rgb_np, mode='RGBA')
img.save('/tmp/stillleben.png')
dbg = sl.render_debug_image(scene)
dbg_np = dbg.cpu().numpy()
dbg_img = Image.fromarray(dbg_np, mode='RGBA')
dbg_img.save('/tmp/stillleben_debug.png')
rgb_noise = process_image(rgb.permute(2, 0, 1)[:3].float() / 255.0)
rgb_noise_np = (rgb_noise * 255).byte().permute(
1, 2, 0).contiguous().cpu().numpy()
noise_img = Image.fromarray(rgb_noise_np, mode='RGB')
noise_img.save('/tmp/stillleben_noise.png')
import stillleben as sl
import torch
import random
from PIL import Image
sl.init() # use sl.init_cuda() for CUDA interop
# Load a mesh (the constructor accepts pathlib paths)
mesh = sl.Mesh(SL_PATH / 'tests' / 'stanford_bunny' / 'scene.gltf')
# Meshes can come in strange dimensions - rescale to something reasonable
mesh.scale_to_bbox_diagonal(0.5)
# Create a scene with a few bunnies
scene = sl.Scene((1920, 1080))
for i in range(20):
obj = sl.Object(mesh)
# Override the metallic/roughness parameters so that it gets interesting
obj.metallic = random.random()
obj.roughness = random.random()
scene.add_object(obj)
# Let them fall in a heap
scene.simulate_tabletop_scene()
# Setup lighting
scene.light_map = sl.LightMap(SL_PATH / 'examples' / 'Circus_Backstage' /
'Circus_Backstage.ibl')
type=str,
default='0,0',
help='Background plane size')
parser.add_argument('--background-plane-texture',
type=str,
help='Background plane texture')
parser.add_argument('--tabletop-video',
type=str,
help='Write tabletop video to this location')
args = parser.parse_args()
sl.init()
scene = sl.Scene([int(d) for d in args.size.split('x')])
if args.background:
scene.background_image = sl.Texture(args.background)
scene.background_color = torch.tensor(
[float(a) for a in args.background_color.split(',')])
print('Loading meshes (this can take some time)...')
meshes = sl.Mesh.load_threaded(args.mesh)
for mesh in meshes:
print("Loaded mesh with bounding box:", mesh.bbox)
print("center:", mesh.bbox.center, "size:", mesh.bbox.size)
if args.normalize:
mesh.center_bbox()