def _update_scene(self):
# update camera
camera = IntrinsicsCamera(
self.camera.intrinsics.fx,
self.camera.intrinsics.fy,
self.camera.intrinsics.cx,
self.camera.intrinsics.cy,
)
cn = next(iter(self._scene.get_nodes(name=self.camera.frame)))
cn.camera = camera
pose_m = self.camera.pose.matrix.copy()
pose_m[:, 1:3] *= -1.0
cn.matrix = pose_m
self._scene.main_camera_node = cn
# update workspace
for obj_key in self.state.workspace_keys:
next(
iter(self._scene.get_nodes(name=obj_key))
).matrix = self.state[obj_key].pose.matrix
# update object
for obj_key in self.state.obj_keys:
next(
iter(self._scene.get_nodes(name=obj_key))
).matrix = self.state[obj_key].pose.matrix
def _reset_scene(self, scale_factor=1.0):
"""Resets the scene.
Parameters
----------
scale_factor : float
optional scale factor to apply to the image dimensions
"""
# delete scene
if self._scene is not None:
self._scene.clear()
del self._scene
# create scene
scene = Scene()
# setup camera
camera = IntrinsicsCamera(
self.camera.intrinsics.fx,
self.camera.intrinsics.fy,
self.camera.intrinsics.cx,
self.camera.intrinsics.cy,
)
pose_m = self.camera.pose.matrix.copy()
pose_m[:, 1:3] *= -1.0
scene.add(camera, pose=pose_m, name=self.camera.frame)
scene.main_camera_node = next(
iter(scene.get_nodes(name=self.camera.frame))
)
material = MetallicRoughnessMaterial(
baseColorFactor=np.array([1, 1, 1, 1.0]),
metallicFactor=0.2,
roughnessFactor=0.8,
)
# add workspace objects
for obj_key in self.state.workspace_keys:
obj_state = self.state[obj_key]
obj_mesh = Mesh.from_trimesh(obj_state.mesh, material=material)
T_obj_world = obj_state.pose.matrix
scene.add(obj_mesh, pose=T_obj_world, name=obj_key)
# add scene objects
for obj_key in self.state.obj_keys:
obj_state = self.state[obj_key]
obj_mesh = Mesh.from_trimesh(obj_state.mesh, material=material)
T_obj_world = obj_state.pose.matrix
scene.add(obj_mesh, pose=T_obj_world, name=obj_key)
# add light (for color rendering)
light = DirectionalLight(color=np.ones(3), intensity=1.0)
scene.add(light, pose=np.eye(4))
ray_light_nodes = self._create_raymond_lights()
[scene.add_node(rln) for rln in ray_light_nodes]
self._scene = scene
def get_pyrender_cam(intrinsics, cam_pose, scene):
R, tvec = from_pyrender_pose(cam_pose)
import itertools
bbx = scene.bounds
abs_z_values = []
for (x, y, z) in itertools.product(list(bbx[:, 0]), list(bbx[:, 1]),
list(bbx[:, 2])):
tmp = np.array([x, y, z]).reshape((3, 1))
tmp = np.dot(R, tmp) + tvec
abs_z_values.append(np.abs(tmp[2, 0]))
znear = np.min(abs_z_values) * 0.9
zfar = np.max(abs_z_values) * 1.1
print('znear, zfar: {},{}'.format(znear, zfar))
fx, fy, cx, cy = intrinsics
cam = IntrinsicsCamera(fx=fx, fy=fy, cx=cx, cy=cy, znear=znear, zfar=zfar)
return cam
def _reset_scene(self, scale_factor=1.0):
""" Resets the scene.
Parameters
----------
scale_factor : float
optional scale factor to apply to the image dimensions
"""
# delete scene
if self._scene is not None:
self._scene.clear()
del self._scene
# create scene
scene = Scene()
# setup camera
camera = IntrinsicsCamera(self.camera.intrinsics.fx, self.camera.intrinsics.fy,
self.camera.intrinsics.cx, self.camera.intrinsics.cy)
pose_m = self.camera.pose.matrix.copy()
pose_m[:,1:3] *= -1.0
scene.add(camera, pose=pose_m, name=self.camera.frame)
scene.main_camera_node = next(iter(scene.get_nodes(name=self.camera.frame)))
# add workspace objects
for obj_key in self.state.workspace_keys:
obj_state = self.state[obj_key]
obj_mesh = Mesh.from_trimesh(obj_state.mesh)
T_obj_world = obj_state.pose.matrix
scene.add(obj_mesh, pose=T_obj_world, name=obj_key)
# add scene objects
for obj_key in self.state.obj_keys:
obj_state = self.state[obj_key]
obj_mesh = Mesh.from_trimesh(obj_state.mesh)
T_obj_world = obj_state.pose.matrix
scene.add(obj_mesh, pose=T_obj_world, name=obj_key)
self._scene = scene
def main(mesh_path):
# rendering conf
ambient_light = 0.8
directional_light = 1.0
img_res = 512
cam_f = 500
cam_c = img_res / 2.0
scene = Scene(ambient_light=np.array(
[ambient_light, ambient_light, ambient_light, 1.0]))
mesh_v, mesh_vc, mesh_f = load_ply_data(mesh_path)
mesh_ = trimesh.Trimesh(vertices=mesh_v,
faces=mesh_f,
vertex_colors=mesh_vc)
points_mesh = Mesh.from_trimesh(mesh_, smooth=True, material=None)
mesh_node = scene.add(points_mesh)
cam = IntrinsicsCamera(fx=cam_f, fy=cam_f, cx=cam_c, cy=cam_c)
cam_pose = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 2.0], [0.0, 0.0, 0.0, 1.0]])
direc_l = DirectionalLight(color=np.ones(3), intensity=directional_light)
light_node_1 = scene.add(direc_l,
pose=np.matmul(rotationy(30), rotationx(45)))
direc_l = DirectionalLight(color=np.ones(3), intensity=directional_light)
light_node_2 = scene.add(direc_l,
pose=np.matmul(rotationy(-30), rotationx(45)))
direc_l = DirectionalLight(color=np.ones(3), intensity=directional_light)
light_node_3 = scene.add(direc_l,
pose=np.matmul(rotationy(-180), rotationx(45)))
direc_l = DirectionalLight(color=np.ones(3),
intensity=(directional_light - 0.5))
light_node_4 = scene.add(direc_l,
pose=np.matmul(rotationy(0), rotationx(-10)))
################
# rendering
cam_node = scene.add(cam, pose=cam_pose)
render_flags = {
'flip_wireframe': False,
'all_wireframe': False,
'all_solid': False,
'shadows': True,
'vertex_normals': False,
'face_normals': False,
'cull_faces': True,
'point_size': 1.0,
}
viewer_flags = {
'mouse_pressed': False,
'rotate': False,
'rotate_rate': np.pi / 6.0,
'rotate_axis': np.array([0.0, 1.0, 0.0]),
'view_center': np.array([0.0, 0.0, 0.0]),
'record': False,
'use_raymond_lighting': False,
'use_direct_lighting': False,
'lighting_intensity': 3.0,
'use_perspective_cam': True,
'window_title': 'DIT',
'refresh_rate': 25.0,
'fullscreen': False,
'show_world_axis': False,
'show_mesh_axes': False,
'caption': None,
'save_one_frame': False,
}
v = Viewer(scene,
viewport_size=(512, 512),
render_flags=render_flags,
viewer_flags=viewer_flags,
run_in_thread=False)
v.close()