def render_color(mesh, f, Rt, img_size=(224, 224), bg_img=None):
# apply Rt
verts = mesh.points().copy()
for i in range(len(verts)):
verts[i] = np.dot(Rt[:3, :3], verts[i]) + Rt[:, 3]
rn = ColoredRenderer()
if bg_img is not None:
rn.background_image = bg_img.astype(
np.float) / 300. if bg_img.max() > 1 else bg_img
rn.camera = ProjectPoints(v=verts,
rt=np.zeros(3),
t=np.zeros(3),
f=np.array([f, f]),
c=np.array([img_size[1], img_size[0]]) / 2.,
k=np.zeros(5))
rn.frustum = {
'near': .5,
'far': 10.,
'width': img_size[1],
'height': img_size[0]
}
rn.v = verts
rn.f = mesh.face_vertex_indices()
rn.bgcolor = np.zeros(3)
rn.vc = vc = mesh.vertex_colors()[:, :3]
return rn.r
TTT = RT[:3, 3]
RRR = RT[:3, :3]
RRR = RRR * opencv2opengl
fff = model.f.copy()
vvv = model.r.copy()
rn.camera = ProjectPoints(f=ch.array([KKK[0, 0], KKK[1, 1]]),
rt=cv2.Rodrigues(RRR)[0].flatten(),
t=ch.array(TTT),
k=ch.array([0, 0, 0, 0]),
c=ch.array([KKK[0, 2], KKK[1, 2]]))
rn.frustum = {'near': 0.1, 'far': 15., 'width': w, 'height': h}
rn.set(v=vvv, f=fff, bgcolor=ch.zeros(3))
rn.background_image = img / 255. if img.max() > 1 else img
# Construct point light source
rn.vc = LambertianPointLight(f=model.f,
v=rn.v,
num_verts=len(model),
light_pos=ch.array([0, 0, 0]),
vc=np.ones_like(model) * .5,
light_color=ch.array([-100., -100., -100.]))
if toOpenGL:
cv2.imshow('render_SMPL', rn.r)
cv2.waitKey(0)
cv2.destroyAllWindows()
else:
smpl_vertices = model.r
