def test_render_rendering_cleaning():
download_assets()
test_dir = os.path.join(gibson2.assets_path, 'test')
for i in range(5):
renderer = MeshRenderer(width=800, height=600)
renderer.load_object(
os.path.join(test_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 = renderer.render(('rgb'))[0]
assert (np.sum(rgb, axis=(0, 1, 2)) > 0)
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_scene_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)
def test_render_rendering(record_property):
download_assets()
test_dir = os.path.join(gibson2.assets_path, 'test')
renderer = MeshRenderer(width=800, height=600)
start = time.time()
renderer.load_object(
os.path.join(test_dir,
'mesh/bed1a77d92d64f5cbbaaae4feed64ec1_new.obj'))
elapsed = time.time() - start
renderer.add_instance(0)
renderer.set_camera([0, 0, 1.2], [0, 1, 1.2], [0, 1, 0])
renderer.set_fov(90)
rgb = renderer.render(('rgb'))[0]
record_property("object_loading_time", elapsed)
assert (np.sum(rgb, axis=(0, 1, 2)) > 0)
renderer.release()
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_scene_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)
px = 0
py = 0.2
camera_pose = np.array([px, py, 0.5])
view_direction = np.array([0, -1, -1])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
_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'))
cv2.imshow(
'test',
cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
q = cv2.waitKey(1)
if q == ord('w'):
px += 0.01
elif q == ord('s'):
px -= 0.01
elif q == ord('a'):
py += 0.01
elif q == ord('d'):
py -= 0.01
elif q == ord('q'):
break
camera_pose = np.array([px, py, 0.5])
renderer.set_camera(camera_pose, camera_pose + view_direction,
[0, 0, 1])
renderer.release()