def main():
# Initialize colors
color_candidates = []
for n in range(args.num_colors):
hue = n / args.num_colors
saturation = 1
lightness = 1
red, green, blue = colorsys.hsv_to_rgb(hue, saturation, lightness)
color_candidates.append((red, green, blue))
renderer = OffscreenRenderer(viewport_width=args.image_size,
viewport_height=args.image_size)
rad_step = math.pi / 18
total_frames = int(math.pi * 2 / rad_step)
camera_distance = 2
fig = plt.figure(figsize=(3, 3))
ims = []
for num_cubes in range(1, 8):
scene = build_scene(num_cubes, color_candidates)[0]
camera = OrthographicCamera(xmag=0.9, ymag=0.9)
camera_node = Node(camera=camera)
scene.add_node(camera_node)
current_rad = 0
for _ in range(total_frames):
camera_position = np.array(
(math.sin(current_rad), math.sin(math.pi / 6),
math.cos(current_rad)))
camera_position = camera_distance * camera_position / np.linalg.norm(
camera_position)
# Compute yaw and pitch
yaw, pitch = compute_yaw_and_pitch(camera_position)
camera_node.rotation = genearte_camera_quaternion(yaw, pitch)
camera_node.translation = camera_position
# Rendering
flags = RenderFlags.SHADOWS_DIRECTIONAL
if args.anti_aliasing:
flags |= RenderFlags.ANTI_ALIASING
image = renderer.render(scene, flags=flags)[0]
im = plt.imshow(image, interpolation="none", animated=True)
ims.append([im])
current_rad += rad_step
renderer.delete()
ani = animation.ArtistAnimation(fig,
ims,
interval=1 / 24,
blit=True,
repeat_delay=0)
ani.save("shepard_metzler.gif", writer="imagemagick")
def main():
try:
os.makedirs(args.output_directory)
except:
pass
last_file_number = args.initial_file_number + args.total_scenes // args.num_scenes_per_file - 1
initial_file_number = args.initial_file_number
if os.path.isdir(args.output_directory):
files = os.listdir(args.output_directory)
for name in files:
number = int(name.replace(".h5", ""))
if number > last_file_number:
continue
if number < args.initial_file_number:
continue
if number < initial_file_number:
continue
initial_file_number = number + 1
total_scenes_to_render = args.total_scenes - args.num_scenes_per_file * (
initial_file_number - args.initial_file_number)
assert args.num_scenes_per_file <= total_scenes_to_render
# Initialize colors
color_candidates = []
for n in range(args.num_colors):
hue = n / args.num_colors
saturation = 1
lightness = 1
red, green, blue = colorsys.hsv_to_rgb(hue, saturation, lightness)
color_candidates.append((red, green, blue))
scene, cube_nodes = build_scene(args.num_cubes, color_candidates)
camera = OrthographicCamera(xmag=0.9, ymag=0.9)
camera_node = Node(camera=camera)
scene.add_node(camera_node)
renderer = OffscreenRenderer(
viewport_width=args.image_size, viewport_height=args.image_size)
archiver = Archiver(
directory=args.output_directory,
num_scenes_per_file=args.num_scenes_per_file,
image_size=(args.image_size, args.image_size),
num_observations_per_scene=args.num_observations_per_scene,
initial_file_number=initial_file_number)
for scene_index in tqdm(range(total_scenes_to_render)):
camera_distance = 2
scene_data = SceneData((args.image_size, args.image_size),
args.num_observations_per_scene)
for observation_index in range(args.num_observations_per_scene):
# Generate random point on a sphere
camera_position = np.random.normal(size=3)
camera_position = camera_distance * camera_position / np.linalg.norm(
camera_position)
# Compute yaw and pitch
yaw, pitch = compute_yaw_and_pitch(camera_position)
camera_node.rotation = genearte_camera_quaternion(yaw, pitch)
camera_node.translation = camera_position
# Rendering
flags = RenderFlags.SHADOWS_DIRECTIONAL
if args.anti_aliasing:
flags |= RenderFlags.ANTI_ALIASING
image = renderer.render(scene, flags=flags)[0]
scene_data.add(image, camera_position, math.cos(yaw),
math.sin(yaw), math.cos(pitch), math.sin(pitch))
if args.visualize:
plt.clf()
plt.imshow(image)
plt.pause(1e-10)
archiver.add(scene_data)
# Change cube color and position
update_cube_color_and_position(cube_nodes, color_candidates)
# Transfer changes to the vertex buffer on gpu
udpate_vertex_buffer(cube_nodes)
renderer.delete()
def test_scenes():
# Basics
s = Scene()
assert np.allclose(s.bg_color, np.ones(4))
assert np.allclose(s.ambient_light, np.zeros(3))
assert len(s.nodes) == 0
assert s.name is None
s.name = 'asdf'
s.bg_color = None
s.ambient_light = None
assert np.allclose(s.bg_color, np.ones(4))
assert np.allclose(s.ambient_light, np.zeros(3))
assert s.nodes == set()
assert s.cameras == set()
assert s.lights == set()
assert s.point_lights == set()
assert s.spot_lights == set()
assert s.directional_lights == set()
assert s.meshes == set()
assert s.camera_nodes == set()
assert s.light_nodes == set()
assert s.point_light_nodes == set()
assert s.spot_light_nodes == set()
assert s.directional_light_nodes == set()
assert s.mesh_nodes == set()
assert s.main_camera_node is None
assert np.all(s.bounds == 0)
assert np.all(s.centroid == 0)
assert np.all(s.extents == 0)
assert np.all(s.scale == 0)
# From trimesh scene
tms = trimesh.load('tests/data/WaterBottle.glb')
s = Scene.from_trimesh_scene(tms)
assert len(s.meshes) == 1
assert len(s.mesh_nodes) == 1
# Test bg color formatting
s = Scene(bg_color=[0, 1.0, 0])
assert np.allclose(s.bg_color, np.array([0.0, 1.0, 0.0, 1.0]))
# Test constructor for nodes
n1 = Node()
n2 = Node()
n3 = Node()
nodes = [n1, n2, n3]
s = Scene(nodes=nodes)
n1.children.append(n2)
s = Scene(nodes=nodes)
n3.children.append(n2)
with pytest.raises(ValueError):
s = Scene(nodes=nodes)
n3.children = []
n2.children.append(n3)
n3.children.append(n2)
with pytest.raises(ValueError):
s = Scene(nodes=nodes)
# Test node accessors
n1 = Node()
n2 = Node()
n3 = Node()
nodes = [n1, n2]
s = Scene(nodes=nodes)
assert s.has_node(n1)
assert s.has_node(n2)
assert not s.has_node(n3)
# Test node poses
for n in nodes:
assert np.allclose(s.get_pose(n), np.eye(4))
with pytest.raises(ValueError):
s.get_pose(n3)
with pytest.raises(ValueError):
s.set_pose(n3, np.eye(4))
tf = np.eye(4)
tf[:3, 3] = np.ones(3)
s.set_pose(n1, tf)
assert np.allclose(s.get_pose(n1), tf)
assert np.allclose(s.get_pose(n2), np.eye(4))
nodes = [n1, n2, n3]
tf2 = np.eye(4)
tf2[:3, :3] = np.diag([-1, -1, 1])
n1.children.append(n2)
n1.matrix = tf
n2.matrix = tf2
s = Scene(nodes=nodes)
assert np.allclose(s.get_pose(n1), tf)
assert np.allclose(s.get_pose(n2), tf.dot(tf2))
assert np.allclose(s.get_pose(n3), np.eye(4))
n1 = Node()
n2 = Node()
n3 = Node()
n1.children.append(n2)
s = Scene()
s.add_node(n1)
with pytest.raises(ValueError):
s.add_node(n2)
s.set_pose(n1, tf)
assert np.allclose(s.get_pose(n1), tf)
assert np.allclose(s.get_pose(n2), tf)
s.set_pose(n2, tf2)
assert np.allclose(s.get_pose(n2), tf.dot(tf2))
# Test node removal
n1 = Node()
n2 = Node()
n3 = Node()
n1.children.append(n2)
n2.children.append(n3)
s = Scene(nodes=[n1, n2, n3])
s.remove_node(n2)
assert len(s.nodes) == 1
assert n1 in s.nodes
assert len(n1.children) == 0
assert len(n2.children) == 1
s.add_node(n2, parent_node=n1)
assert len(n1.children) == 1
n1.matrix = tf
n3.matrix = tf2
assert np.allclose(s.get_pose(n3), tf.dot(tf2))
# Now test ADD function
s = Scene()
m = Mesh([], name='m')
cp = PerspectiveCamera(yfov=2.0)
co = OrthographicCamera(xmag=1.0, ymag=1.0)
dl = DirectionalLight()
pl = PointLight()
sl = SpotLight()
n1 = s.add(m, name='mn')
assert n1.mesh == m
assert len(s.nodes) == 1
assert len(s.mesh_nodes) == 1
assert n1 in s.mesh_nodes
assert len(s.meshes) == 1
assert m in s.meshes
assert len(s.get_nodes(node=n2)) == 0
n2 = s.add(m, pose=tf)
assert len(s.nodes) == len(s.mesh_nodes) == 2
assert len(s.meshes) == 1
assert len(s.get_nodes(node=n1)) == 1
assert len(s.get_nodes(node=n1, name='mn')) == 1
assert len(s.get_nodes(name='mn')) == 1
assert len(s.get_nodes(obj=m)) == 2
assert len(s.get_nodes(obj=m, obj_name='m')) == 2
assert len(s.get_nodes(obj=co)) == 0
nsl = s.add(sl, name='sln')
npl = s.add(pl, parent_name='sln')
assert nsl.children[0] == npl
ndl = s.add(dl, parent_node=npl)
assert npl.children[0] == ndl
nco = s.add(co)
ncp = s.add(cp)
assert len(s.light_nodes) == len(s.lights) == 3
assert len(s.point_light_nodes) == len(s.point_lights) == 1
assert npl in s.point_light_nodes
assert len(s.spot_light_nodes) == len(s.spot_lights) == 1
assert nsl in s.spot_light_nodes
assert len(s.directional_light_nodes) == len(s.directional_lights) == 1
assert ndl in s.directional_light_nodes
assert len(s.cameras) == len(s.camera_nodes) == 2
assert s.main_camera_node == nco
s.main_camera_node = ncp
s.remove_node(ncp)
assert len(s.cameras) == len(s.camera_nodes) == 1
assert s.main_camera_node == nco
s.remove_node(n2)
assert len(s.meshes) == 1
s.remove_node(n1)
assert len(s.meshes) == 0
s.remove_node(nsl)
assert len(s.lights) == 0
s.remove_node(nco)
assert s.main_camera_node is None
s.add_node(n1)
s.clear()
assert len(s.nodes) == 0
# Trigger final errors
with pytest.raises(ValueError):
s.main_camera_node = None
with pytest.raises(ValueError):
s.main_camera_node = ncp
with pytest.raises(ValueError):
s.add(m, parent_node=n1)
with pytest.raises(ValueError):
s.add(m, name='asdf')
s.add(m, name='asdf')
s.add(m, parent_name='asdf')
with pytest.raises(ValueError):
s.add(m, parent_name='asfd')
with pytest.raises(TypeError):
s.add(None)
s.clear()
# Test bounds
m1 = Mesh.from_trimesh(trimesh.creation.box())
m2 = Mesh.from_trimesh(trimesh.creation.box())
m3 = Mesh.from_trimesh(trimesh.creation.box())
n1 = Node(mesh=m1)
n2 = Node(mesh=m2, translation=[1.0, 0.0, 0.0])
n3 = Node(mesh=m3, translation=[0.5, 0.0, 1.0])
s.add_node(n1)
s.add_node(n2)
s.add_node(n3)
assert np.allclose(s.bounds, [[-0.5, -0.5, -0.5], [1.5, 0.5, 1.5]])
s.clear()
s.add_node(n1)
s.add_node(n2, parent_node=n1)
s.add_node(n3, parent_node=n2)
assert np.allclose(s.bounds, [[-0.5, -0.5, -0.5], [2.0, 0.5, 1.5]])
tf = np.eye(4)
tf[:3, 3] = np.ones(3)
s.set_pose(n3, tf)
assert np.allclose(s.bounds, [[-0.5, -0.5, -0.5], [2.5, 1.5, 1.5]])
s.remove_node(n2)
assert np.allclose(s.bounds, [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]])
s.clear()
assert np.allclose(s.bounds, 0.0)
def main():
# Colors
colors = []
for n in range(args.num_colors):
hue = n / args.num_colors
saturation = 1
lightness = 1
red, green, blue = colorsys.hsv_to_rgb(hue, saturation, lightness)
colors.append(np.array((red, green, blue, 1)))
floor_textures = [
"../textures/lg_floor_d.tga",
"../textures/lg_style_01_floor_blue_d.tga",
"../textures/lg_style_01_floor_orange_bright_d.tga",
]
wall_textures = [
"../textures/lg_style_01_wall_cerise_d.tga",
"../textures/lg_style_01_wall_green_bright_d.tga",
"../textures/lg_style_01_wall_red_bright_d.tga",
"../textures/lg_style_02_wall_yellow_d.tga",
"../textures/lg_style_03_wall_orange_bright_d.tga",
]
objects = [
pyrender.objects.Capsule,
pyrender.objects.Cylinder,
pyrender.objects.Icosahedron,
pyrender.objects.Box,
pyrender.objects.Sphere,
]
renderer = OffscreenRenderer(viewport_width=args.image_size,
viewport_height=args.image_size)
plt.tight_layout()
fig = plt.figure(figsize=(6, 3))
axis_perspective = fig.add_subplot(1, 2, 1)
axis_orthogonal = fig.add_subplot(1, 2, 2)
ims = []
scene = build_scene(floor_textures,
wall_textures,
fix_light_position=args.fix_light_position)
place_objects(scene,
colors,
objects,
min_num_objects=args.num_objects,
max_num_objects=args.num_objects,
discrete_position=args.discrete_position,
rotate_object=args.rotate_object)
camera_distance = 5
perspective_camera = PerspectiveCamera(yfov=math.pi / 4)
perspective_camera_node = Node(camera=perspective_camera,
translation=np.array([0, 1, 1]))
orthographic_camera = OrthographicCamera(xmag=3, ymag=3)
orthographic_camera_node = Node(camera=orthographic_camera)
rad_step = math.pi / 36
total_frames = int(math.pi * 2 / rad_step)
current_rad = 0
for _ in range(total_frames):
scene.add_node(perspective_camera_node)
# Perspective camera
camera_xz = camera_distance * np.array(
(math.sin(current_rad), math.cos(current_rad)))
# Compute yaw and pitch
camera_direction = np.array([camera_xz[0], 0, camera_xz[1]])
yaw, pitch = compute_yaw_and_pitch(camera_direction)
perspective_camera_node.rotation = genearte_camera_quaternion(
yaw, pitch)
camera_position = np.array([camera_xz[0], 1, camera_xz[1]])
perspective_camera_node.translation = camera_position
# Rendering
flags = RenderFlags.SHADOWS_DIRECTIONAL
if args.anti_aliasing:
flags |= RenderFlags.ANTI_ALIASING
image = renderer.render(scene, flags=flags)[0]
im1 = axis_perspective.imshow(image,
interpolation="none",
animated=True)
scene.remove_node(perspective_camera_node)
# Orthographic camera
scene.add_node(orthographic_camera_node)
camera_direction = camera_distance * np.array(
(math.sin(current_rad), math.sin(
math.pi / 6), math.cos(current_rad)))
yaw, pitch = compute_yaw_and_pitch(camera_direction)
orthographic_camera_node.rotation = genearte_camera_quaternion(
yaw, pitch)
orthographic_camera_node.translation = np.array(
[camera_direction[0], 4, camera_direction[2]])
image = renderer.render(scene, flags=flags)[0]
im2 = axis_orthogonal.imshow(image,
interpolation="none",
animated=True)
ims.append([im1, im2])
plt.pause(1e-8)
current_rad += rad_step
scene.remove_node(orthographic_camera_node)
ani = animation.ArtistAnimation(fig,
ims,
interval=1 / 24,
blit=True,
repeat_delay=0)
filename = "rooms"
if args.discrete_position:
filename += "_discrete_position"
if args.rotate_object:
filename += "_rotate_object"
if args.fix_light_position:
filename += "_fix_light_position"
filename += ".gif"
ani.save(filename, writer="imagemagick")
def main():
# Load MNIST images
mnist_images = load_mnist_images()
renderer = OffscreenRenderer(viewport_width=args.image_size,
viewport_height=args.image_size)
plt.tight_layout()
fig = plt.figure(figsize=(6, 3))
axis_perspective = fig.add_subplot(1, 2, 1)
axis_orthogonal = fig.add_subplot(1, 2, 2)
ims = []
scene = build_scene(floor_textures,
wall_textures,
fix_light_position=args.fix_light_position)
place_dice(scene,
mnist_images,
discrete_position=args.discrete_position,
rotate_dice=args.rotate_dice)
camera_distance = 5
perspective_camera = PerspectiveCamera(yfov=math.pi / 4)
perspective_camera_node = Node(camera=perspective_camera,
translation=np.array([0, 1, 1]))
orthographic_camera = OrthographicCamera(xmag=3, ymag=3)
orthographic_camera_node = Node(camera=orthographic_camera)
rad_step = math.pi / 36
total_frames = int(math.pi * 2 / rad_step)
current_rad = 0
for _ in range(total_frames):
scene.add_node(perspective_camera_node)
# Perspective camera
camera_xz = camera_distance * np.array(
(math.sin(current_rad), math.cos(current_rad)))
# Compute yaw and pitch
camera_direction = np.array([camera_xz[0], 0, camera_xz[1]])
yaw, pitch = compute_yaw_and_pitch(camera_direction)
perspective_camera_node.rotation = genearte_camera_quaternion(
yaw, pitch)
camera_position = np.array([camera_xz[0], 1, camera_xz[1]])
perspective_camera_node.translation = camera_position
# Rendering
flags = RenderFlags.SHADOWS_DIRECTIONAL
if args.anti_aliasing:
flags |= RenderFlags.ANTI_ALIASING
image = renderer.render(scene, flags=flags)[0]
im1 = axis_perspective.imshow(image,
interpolation="none",
animated=True)
scene.remove_node(perspective_camera_node)
# Orthographic camera
scene.add_node(orthographic_camera_node)
camera_direction = camera_distance * np.array(
(math.sin(current_rad), math.sin(
math.pi / 6), math.cos(current_rad)))
yaw, pitch = compute_yaw_and_pitch(camera_direction)
orthographic_camera_node.rotation = genearte_camera_quaternion(
yaw, pitch)
orthographic_camera_node.translation = np.array(
[camera_direction[0], 4, camera_direction[2]])
image = renderer.render(scene, flags=flags)[0]
im2 = axis_orthogonal.imshow(image,
interpolation="none",
animated=True)
ims.append([im1, im2])
plt.pause(1e-8)
current_rad += rad_step
scene.remove_node(orthographic_camera_node)
ani = animation.ArtistAnimation(fig,
ims,
interval=1 / 24,
blit=True,
repeat_delay=0)
filename = "mnist_dice"
if args.discrete_position:
filename += "_discrete_position"
if args.rotate_dice:
filename += "_rotate_dice"
if args.fix_light_position:
filename += "_fix_light_position"
filename += ".gif"
ani.save(filename, writer="imagemagick")
def test_orthographic_camera():
xm = 1.0
ym = 2.0
n = 0.05
f = 100.0
with pytest.raises(TypeError):
c = OrthographicCamera()
c = OrthographicCamera(xmag=xm, ymag=ym)
assert c.xmag == xm
assert c.ymag == ym
assert c.znear == 0.05
assert c.zfar == 100.0
assert c.name is None
with pytest.raises(TypeError):
c.ymag = None
with pytest.raises(ValueError):
c.ymag = 0.0
with pytest.raises(ValueError):
c.ymag = -1.0
with pytest.raises(TypeError):
c.xmag = None
with pytest.raises(ValueError):
c.xmag = 0.0
with pytest.raises(ValueError):
c.xmag = -1.0
with pytest.raises(TypeError):
c.znear = None
with pytest.raises(ValueError):
c.znear = 0.0
with pytest.raises(ValueError):
c.znear = -1.0
with pytest.raises(ValueError):
c.zfar = 0.01
assert np.allclose(
c.get_projection_matrix(),
np.array([[1.0 / xm, 0, 0, 0], [0, 1.0 / ym, 0, 0],
[0, 0, 2.0 / (n - f), (f + n) / (n - f)], [0, 0, 0, 1.0]]))