def main():
global _mouse_ix, _mouse_iy, down, view_direction
model_path = sys.argv[1]
print(model_path)
model_id = os.path.basename(model_path)
category = os.path.basename(os.path.dirname(model_path))
hdr_texture = os.path.join(
gibson2.ig_dataset_path, 'scenes', 'background',
'photo_studio_01_2k.hdr')
settings = MeshRendererSettings(env_texture_filename=hdr_texture,
enable_shadow=True, msaa=True,
light_dimming_factor=1.5)
s = Simulator(mode='headless',
image_width=1800, image_height=1200,
vertical_fov=70, rendering_settings=settings
)
s.renderer.set_light_position_direction([0,0,10], [0,0,0])
s.renderer.load_object('plane/plane_z_up_0.obj', scale=[3,3,3])
s.renderer.add_instance(0)
s.renderer.set_pose([0,0,-1.5,1, 0, 0.0, 0.0], -1)
v = []
mesh_path = os.path.join(model_path, 'shape/visual')
for fn in os.listdir(mesh_path):
if fn.endswith('obj'):
vertices, faces = load_obj_np(os.path.join(mesh_path, fn))
v.append(vertices)
v = np.vstack(v)
print(v.shape)
xlen = np.max(v[:,0]) - np.min(v[:,0])
ylen = np.max(v[:,1]) - np.min(v[:,1])
zlen = np.max(v[:,2]) - np.min(v[:,2])
scale = 1.5/(max([xlen, ylen, zlen]))
center = np.mean(v, axis=0)
centered_v = v - center
center = (np.max(v, axis=0) + np.min(v, axis=0)) / 2.
urdf_path = os.path.join(model_path, '{}.urdf'.format(model_id))
print(urdf_path)
obj = ArticulatedObject(filename=urdf_path, scale=scale)
s.import_object(obj)
obj.set_position(center)
s.sync()
print(s.renderer.visual_objects, s.renderer.instances)
_mouse_ix, _mouse_iy = -1, -1
down = False
theta,r = 0,1.5
px = r*np.sin(theta)
py = r*np.cos(theta)
pz = 1
camera_pose = np.array([px, py, pz])
s.renderer.set_camera(camera_pose, [0,0,0], [0, 0, 1])
num_views = 6
save_dir = os.path.join(model_path, 'visualizations')
for i in range(num_views):
theta += np.pi*2/(num_views+1)
obj.set_orientation([0., 0., 1.0, np.cos(theta/2)])
s.sync()
with Profiler('Render'):
frame = s.renderer.render(modes=('rgb'))
img = Image.fromarray((
255*np.concatenate(frame, axis=1)[:,:,:3]).astype(np.uint8))
img.save(os.path.join(save_dir, '{:02d}.png'.format(i)))
cmd = 'ffmpeg -framerate 2 -i {s}/%2d.png -y -r 16 -c:v libx264 -pix_fmt yuvj420p {s}/{m}.mp4'.format(s=save_dir,m=model_id)
subprocess.call(cmd, shell=True)
cmd = 'rm {}/??.png'.format(save_dir)
subprocess.call(cmd, shell=True)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--scene',
type=str,
help='Name of the scene in the iG Dataset')
parser.add_argument('--save_dir',
type=str,
help='Directory to save the frames.',
default='misc')
parser.add_argument('--seed', type=int, default=15, help='Random seed.')
parser.add_argument('--domain_rand',
dest='domain_rand',
action='store_true')
parser.add_argument('--domain_rand_interval',
dest='domain_rand_interval',
type=int,
default=50)
parser.add_argument('--object_rand',
dest='object_rand',
action='store_true')
args = parser.parse_args()
# hdr_texture1 = os.path.join(
# gibson2.ig_dataset_path, 'scenes', 'background', 'photo_studio_01_2k.hdr')
hdr_texture1 = os.path.join(gibson2.ig_dataset_path, 'scenes',
'background', 'probe_03.hdr')
hdr_texture2 = os.path.join(gibson2.ig_dataset_path, 'scenes',
'background', 'probe_02.hdr')
light_map = os.path.join(get_ig_scene_path(args.scene), 'layout',
'floor_lighttype_0.png')
background_texture = os.path.join(gibson2.ig_dataset_path, 'scenes',
'background', 'urban_street_01.jpg')
settings = MeshRendererSettings(env_texture_filename=hdr_texture1,
env_texture_filename2=hdr_texture2,
env_texture_filename3=background_texture,
light_modulation_map_filename=light_map,
enable_shadow=True,
msaa=True,
skybox_size=36.,
light_dimming_factor=0.8)
s = Simulator(mode='headless',
image_width=1080,
image_height=720,
vertical_fov=60,
rendering_settings=settings)
random.seed(args.seed)
scene = InteractiveIndoorScene(args.scene,
texture_randomization=args.domain_rand,
object_randomization=args.object_rand)
s.import_ig_scene(scene)
traj_path = os.path.join(get_ig_scene_path(args.scene), 'misc',
'tour_cam_trajectory.txt')
save_dir = os.path.join(get_ig_scene_path(args.scene), args.save_dir)
os.makedirs(save_dir, exist_ok=True)
tmp_dir = os.path.join(save_dir, 'tmp')
os.makedirs(tmp_dir, exist_ok=True)
with open(traj_path, 'r') as fp:
points = [l.rstrip().split(',') for l in fp.readlines()]
for _ in range(60):
s.step()
s.sync()
for i in range(len(points)):
if args.domain_rand and i % args.domain_rand_interval == 0:
scene.randomize_texture()
x, y, dir_x, dir_y = [float(p) for p in points[i]]
z = 1.7
tar_x = x + dir_x
tar_y = y + dir_y
tar_z = 1.4
# cam_loc = np.array([x, y, z])
s.renderer.set_camera([x, y, z], [tar_x, tar_y, tar_z], [0, 0, 1])
with Profiler('Render'):
frame = s.renderer.render(modes=('rgb'))
img = Image.fromarray(
(255 * np.concatenate(frame, axis=1)[:, :, :3]).astype(np.uint8))
img.save(os.path.join(tmp_dir, '{:05d}.png'.format(i)))
cmd = 'ffmpeg -i {t}/%5d.png -y -an -c:v libx264 -crf 18 -preset veryslow -r 30 {s}/tour.mp4'.format(
t=tmp_dir, s=save_dir)
subprocess.call(cmd, shell=True)
cmd = 'rm -r {}'.format(tmp_dir)
subprocess.call(cmd, shell=True)
s.disconnect()
def main():
global _mouse_ix, _mouse_iy, down, view_direction
args = parser.parse_args()
model_path = args.input_dir
print(model_path)
model_id = os.path.basename(model_path)
category = os.path.basename(os.path.dirname(model_path))
hdr_texture = os.path.join(gibson2.ig_dataset_path, 'scenes', 'background',
'probe_03.hdr')
settings = MeshRendererSettings(env_texture_filename=hdr_texture,
enable_shadow=True,
msaa=True)
s = Simulator(mode='headless',
image_width=1800,
image_height=1200,
vertical_fov=70,
rendering_settings=settings)
s.renderer.set_light_position_direction([0, 0, 10], [0, 0, 0])
s.renderer.load_object('plane/plane_z_up_0.obj', scale=[3, 3, 3])
s.renderer.add_instance(0)
s.renderer.set_pose([0, 0, -1.5, 1, 0, 0.0, 0.0], -1)
###########################
# Get center and scale
###########################
bbox_json = os.path.join(model_path, 'misc', 'metadata.json')
with open(bbox_json, 'r') as fp:
bbox_data = json.load(fp)
scale = 1.5 / max(bbox_data['bbox_size'])
center = -scale * np.array(bbox_data['base_link_offset'])
urdf_path = os.path.join(model_path, '{}.urdf'.format(model_id))
print(urdf_path)
obj = ArticulatedObject(filename=urdf_path, scale=scale)
s.import_object(obj)
obj.set_position(center)
s.sync()
_mouse_ix, _mouse_iy = -1, -1
down = False
theta, r = 0, 1.5
px = r * np.sin(theta)
py = r * np.cos(theta)
pz = 1
camera_pose = np.array([px, py, pz])
s.renderer.set_camera(camera_pose, [0, 0, 0], [0, 0, 1])
num_views = 6
save_dir = os.path.join(model_path, 'visualizations')
os.makedirs(save_dir, exist_ok=True)
for i in range(num_views):
theta += np.pi * 2 / (num_views + 1)
obj.set_orientation([0., 0., 1.0, np.cos(theta / 2)])
s.sync()
with Profiler('Render'):
frame = s.renderer.render(modes=('rgb'))
img = Image.fromarray(
(255 * np.concatenate(frame, axis=1)[:, :, :3]).astype(np.uint8))
img.save(os.path.join(save_dir, '{:02d}.png'.format(i)))
if which('ffmpeg') is not None:
cmd = 'ffmpeg -framerate 2 -i {s}/%2d.png -y -r 16 -c:v libx264 -pix_fmt yuvj420p {s}/{m}.mp4'.format(
s=save_dir, m=model_id)
subprocess.call(cmd, shell=True)
def main():
step_per_sec = 100
num_directions = 12
obj_count = 0
root_dir = '/cvgl2/u/chengshu/ig_dataset_v5/objects'
s = Simulator(mode='headless',
image_width=512,
image_height=512,
physics_timestep=1 / float(step_per_sec))
p.setGravity(0.0, 0.0, 0.0)
for obj_class_dir in sorted(os.listdir(root_dir)):
obj_class_dir = os.path.join(root_dir, obj_class_dir)
for obj_inst_dir in os.listdir(obj_class_dir):
obj_inst_name = obj_inst_dir
urdf_path = obj_inst_name + '.urdf'
obj_inst_dir = os.path.join(obj_class_dir, obj_inst_dir)
urdf_path = os.path.join(obj_inst_dir, urdf_path)
obj = ArticulatedObject(urdf_path)
s.import_object(obj)
with open(os.path.join(obj_inst_dir, 'misc/bbox.json'),
'r') as bbox_file:
bbox_data = json.load(bbox_file)
bbox_max = np.array(bbox_data['max'])
bbox_min = np.array(bbox_data['min'])
offset = -(bbox_max + bbox_min) / 2.0
z = stable_z_on_aabb(obj.body_id, [[0, 0, 0], [0, 0, 0]])
obj.set_position([offset[0], offset[1], z])
_, extent = get_center_extent(obj.body_id)
max_half_extent = max(extent) / 2.0
px = max_half_extent * 3.0
py = 0.0
pz = extent[2] / 2.0
camera_pose = np.array([px, py, pz])
s.renderer.set_camera(camera_pose, [0, 0, pz], [0, 0, 1])
num_joints = p.getNumJoints(obj.body_id)
if num_joints == 0:
s.reload()
continue
# collect joint low/high limit
joint_low = []
joint_high = []
for j in range(num_joints):
j_low, j_high = p.getJointInfo(obj.body_id, j)[8:10]
joint_low.append(j_low)
joint_high.append(j_high)
# set joints to their lowest limits
for j, j_low in zip(range(num_joints), joint_low):
p.resetJointState(obj.body_id,
j,
targetValue=j_low,
targetVelocity=0.0)
s.sync()
# render the images
joint_low_imgs = []
for i in range(num_directions):
yaw = np.pi * 2.0 / num_directions * i
obj.set_orientation(
quatToXYZW(euler2quat(0.0, 0.0, yaw), 'wxyz'))
s.sync()
rgb, three_d = s.renderer.render(modes=('rgb', '3d'))
depth = -three_d[:, :, 2]
rgb[depth == 0] = 1.0
joint_low_imgs.append(
Image.fromarray((rgb[:, :, :3] * 255).astype(np.uint8)))
# set joints to their highest limits
for j, j_high in zip(range(num_joints), joint_high):
p.resetJointState(obj.body_id,
j,
targetValue=j_high,
targetVelocity=0.0)
s.sync()
# render the images
joint_high_imgs = []
for i in range(num_directions):
yaw = np.pi * 2.0 / num_directions * i
obj.set_orientation(
quatToXYZW(euler2quat(0.0, 0.0, yaw), 'wxyz'))
s.sync()
rgb, three_d = s.renderer.render(modes=('rgb', '3d'))
depth = -three_d[:, :, 2]
rgb[depth == 0] = 1.0
joint_high_imgs.append(
Image.fromarray((rgb[:, :, :3] * 255).astype(np.uint8)))
# concatenate the images
imgs = []
for im1, im2 in zip(joint_low_imgs, joint_high_imgs):
dst = Image.new('RGB', (im1.width + im2.width, im1.height))
dst.paste(im1, (0, 0))
dst.paste(im2, (im1.width, 0))
imgs.append(dst)
gif_path = '{}/visualizations/{}_joint_limit.gif'.format(
obj_inst_dir, obj_inst_name)
# save the gif
imgs[0].save(gif_path,
save_all=True,
append_images=imgs[1:],
optimize=True,
duration=200,
loop=0)
s.reload()
obj_count += 1
print(obj_count, gif_path)
