def recenter_camera(self):
camera_center = self.object_center + np.array([0, 0, 3]) * self.object_radius
rotation = np.array([[1, 0, 0], [0, -1, 0], [0, 0, -1]])
translation = -rotation.T.dot(camera_center)
extrinsic = np.column_stack((rotation, translation))
focal = 0.5 * self.width / np.tan(0.5 * self.horizontal_fov * np.pi / 180)
intrinsic = np.array(
[[focal, 0, self.width / 2], [0, focal, self.height / 2], [0, 0, 1]]
)
distortion = [0, 0, 0, 0, 0]
self.camera = differentiable_renderer.Camera(
extrinsic=extrinsic,
intrinsic=intrinsic,
width=self.width,
height=self.height,
distortion=distortion,
)
self.interactor = Interactor(
camera=self.camera,
object_center=self.object_center,
z_translation_speed=0.01 * self.object_radius,
xy_translation_speed=3e-4,
)
def mesh_viewer(
file_or_mesh,
display_texture_map=True,
width=640,
height=480,
display_fps=True,
title=None,
use_moderngl=False,
light_directional=(0, 0, -0.5),
light_ambient=0.5,
):
if isinstance(file_or_mesh, str):
if title is None:
title = file_or_mesh
mesh_trimesh = trimesh.load(file_or_mesh)
mesh = ColoredTriMesh.from_trimesh(mesh_trimesh)
elif isinstance(file_or_mesh, trimesh.base.Trimesh):
mesh_trimesh = file_or_mesh
mesh = ColoredTriMesh.from_trimesh(mesh_trimesh)
if title is None:
title = "unknown"
elif isinstance(file_or_mesh, ColoredTriMesh):
mesh = file_or_mesh
if title is None:
title = "unknown"
else:
raise (BaseException(
f"unknown type {type(file_or_mesh)}for input obj_file_or_trimesh,"
" can be string or trimesh.base.Trimesh"))
if display_texture_map:
ax = plt.subplot(111)
if mesh.textured:
mesh.plot_uv_map(ax)
object_center = 0.5 * (mesh.vertices.max(axis=0) +
mesh.vertices.min(axis=0))
object_radius = np.max(
mesh.vertices.max(axis=0) - mesh.vertices.min(axis=0))
camera_center = object_center + np.array([0, 0, 3]) * object_radius
rotation = np.array([[1, 0, 0], [0, -1, 0], [0, 0, -1]])
translation = -rotation.T.dot(camera_center)
extrinsic = np.column_stack((rotation, translation))
focal = 2 * width
intrinsic = np.array([[focal, 0, width / 2], [0, focal, height / 2],
[0, 0, 1]])
distortion = [0, 0, 0, 0, 0]
camera = differentiable_renderer.Camera(
extrinsic=extrinsic,
intrinsic=intrinsic,
width=width,
height=height,
distortion=distortion,
)
use_antiliazing = True
use_light = True
scene = differentiable_renderer.Scene3D(sigma=1)
scene.set_light(light_directional=np.array(light_directional),
light_ambient=light_ambient)
scene.set_mesh(mesh)
scene.set_background_color([1, 1, 1])
if mesh.texture is not None:
mesh.texture = mesh.texture[:, :, ::
-1] # convert texture to GBR to avoid future conversion when ploting in Opencv
fps = 0
fps_decay = 0.1
windowname = f"DEODR mesh viewer:{title}"
interactor = Interactor(
camera=camera,
object_center=object_center,
z_translation_speed=0.01 * object_radius,
xy_translation_speed=3e-4,
)
cv2.namedWindow(windowname, cv2.WINDOW_NORMAL)
cv2.resizeWindow(windowname, width, height)
cv2.setMouseCallback(windowname, interactor.mouse_callback)
if use_moderngl:
import deodr.opengl.moderngl
offscreen_renderer = deodr.opengl.moderngl.OffscreenRenderer()
scene.mesh.compute_vertex_normals()
offscreen_renderer.set_scene(scene)
else:
offscreen_renderer = None
while cv2.getWindowProperty(windowname, 0) >= 0:
# mesh.set_vertices(mesh.vertices+np.random.randn(*mesh.vertices.shape)*0.001)
width, height = cv2.getWindowImageRect(windowname)[2:]
focal = 2 * width
intrinsic = np.array([[focal, 0, width / 2], [0, focal, height / 2],
[0, 0, 1]])
camera.intrinsic = intrinsic
camera.width = width
camera.height = height
start = time.clock()
if use_moderngl:
image = offscreen_renderer.render(camera)
else:
image = scene.render(interactor.camera)
if display_fps:
font = cv2.FONT_HERSHEY_SIMPLEX
bottom_left_corner_of_text = (20, height - 20)
font_scale = 1
font_color = (0, 0, 255)
thickness = 2
cv2.putText(
image,
"fps:%0.1f" % fps,
bottom_left_corner_of_text,
font,
font_scale,
font_color,
thickness,
)
cv2.imshow(windowname, image)
stop = time.clock()
fps = (1 - fps_decay) * fps + fps_decay * (1 / (stop - start))
key = cv2.waitKey(1)
if key >= 0:
if key == ord("r"):
# change renderer between DEODR cpu rendering and moderngl
use_moderngl = not (use_moderngl)
print(f"use_moderngl = {use_moderngl}")
if offscreen_renderer is None:
offscreen_renderer = deodr.opengl.moderngl.OffscreenRenderer(
)
scene.mesh.compute_vertex_normals()
offscreen_renderer.set_scene(scene)
if key == ord("p"):
if use_moderngl:
print(
"can only use perspective corect mapping when using moderngl"
)
else:
# toggle perspective correct mapping (texture or interpolation)
scene.perspective_correct = not (scene.perspective_correct)
print(f"perspective_correct = {scene.perspective_correct}")
if key == ord("l"):
# toggle directional light + ambient vs ambient = 1
use_light = not (use_light)
print(f"use_light = {use_light}")
if use_light:
if use_moderngl:
offscreen_renderer.set_light(
light_directional=np.array(light_directional),
light_ambient=light_ambient,
)
else:
scene.set_light(
light_directional=np.array(light_directional),
light_ambient=light_ambient,
)
else:
if use_moderngl:
offscreen_renderer.set_light(
light_directional=(0, 0, 0),
light_ambient=1.0,
)
else:
scene.set_light(light_directional=None,
light_ambient=1.0)
if key == ord("a"):
# toggle edge overdraw anti-aliasing
if use_moderngl:
print("no anti-alizaing available when using moderngl")
else:
use_antiliazing = not (use_antiliazing)
print(f"use_antialiazing = {use_antiliazing}")
if use_antiliazing:
scene.sigma = 1.0
else:
scene.sigma = 0.0
if key == ord("s"):
filename = os.path.abspath("scene.pickle")
# save scene and camera in pickle file
with open(filename, "wb") as file:
# dump information to the file
pickle.dump(scene, file)
print(f"saved scene in {filename}")
filename = os.path.abspath("camera.pickle")
print(f"save scene in {filename}")
with open(filename, "wb") as file:
# dump information to the file
pickle.dump(camera, file)
print(f"saved camera in {filename}")
def mesh_viewer(
obj_file_or_trimesh,
display_texture_map=True,
width=640,
height=480,
display_fps=True,
title=None,
use_moderngl=False,
light_directional=(-0.5, 0, -0.5),
light_ambient=0.3,
):
if type(obj_file_or_trimesh) == str:
if title is None:
title = obj_file_or_trimesh
mesh_trimesh = trimesh.load(obj_file_or_trimesh)
elif type(obj_file_or_trimesh) == trimesh.base.Trimesh:
mesh_trimesh = obj_file_or_trimesh
if title is None:
title = "unknown"
else:
raise (BaseException(
f"unknown type {type(obj_file_or_trimesh)}for input obj_file_or_trimesh,"
" can be string or trimesh.base.Trimesh"))
mesh = ColoredTriMesh.from_trimesh(mesh_trimesh)
if display_texture_map:
ax = plt.subplot(111)
if mesh.textured:
mesh.plot_uv_map(ax)
object_center = 0.5 * (mesh.vertices.max(axis=0) +
mesh.vertices.min(axis=0))
object_radius = np.max(
mesh.vertices.max(axis=0) - mesh.vertices.min(axis=0))
camera_center = object_center + np.array([0, 0, 3]) * object_radius
focal = 2 * width
rotation = np.array([[1, 0, 0], [0, -1, 0], [0, 0, -1]])
translation = -rotation.T.dot(camera_center)
extrinsic = np.column_stack((rotation, translation))
intrinsic = np.array([[focal, 0, width / 2], [0, focal, height / 2],
[0, 0, 1]])
distortion = [0, 0, 0, 0, 0]
camera = differentiable_renderer.Camera(
extrinsic=extrinsic,
intrinsic=intrinsic,
width=width,
height=height,
distortion=distortion,
)
use_antiliazing = True
use_light = True
scene = differentiable_renderer.Scene3D(sigma=1)
scene.set_light(light_directional=np.array(light_directional),
light_ambient=light_ambient)
scene.set_mesh(mesh)
background_image = np.ones((height, width, 3))
scene.set_background(background_image)
if mesh.texture is not None:
mesh.texture = mesh.texture[:, :, ::
-1] # convert texture to GBR to avoid future conversion when ploting in Opencv
fps = 0
fps_decay = 0.1
windowname = f"DEODR mesh viewer:{title}"
interactor = Interactor(
camera=camera,
object_center=object_center,
z_translation_speed=0.01 * object_radius,
xy_translation_speed=3e-4,
)
cv2.namedWindow(windowname)
cv2.setMouseCallback(windowname, interactor.mouse_callback)
if use_moderngl:
import deodr.opengl.moderngl
offscreen_renderer = deodr.opengl.moderngl.OffscreenRenderer()
scene.mesh.compute_vertex_normals()
offscreen_renderer.set_scene(scene)
while cv2.getWindowProperty(windowname, 0) >= 0:
# mesh.set_vertices(mesh.vertices+np.random.randn(*mesh.vertices.shape)*0.001)
start = time.clock()
if use_moderngl:
image = offscreen_renderer.render(camera)
else:
image = scene.render(interactor.camera)
if display_fps:
font = cv2.FONT_HERSHEY_SIMPLEX
bottom_left_corner_of_text = (20, height - 20)
font_scale = 1
font_color = (0, 0, 255)
thickness = 2
cv2.putText(
image,
"fps:%0.1f" % fps,
bottom_left_corner_of_text,
font,
font_scale,
font_color,
thickness,
)
cv2.imshow(windowname, image)
stop = time.clock()
fps = (1 - fps_decay) * fps + fps_decay * (1 / (stop - start))
key = cv2.waitKey(1)
if key >= 0:
if key == ord("p"):
# toggle perspective correct mapping (texture or interpolation)
scene.perspective_correct = not (scene.perspective_correct)
print(f"perspective_correct = {scene.perspective_correct}")
if key == ord("l"):
# toggle directional light + ambient vs ambient = 1
use_light = not (use_light)
if use_light:
scene.set_light(
light_directional=np.array(light_directional),
light_ambient=light_ambient,
)
else:
scene.set_light(light_directional=None, light_ambient=1.0)
if key == ord("a"):
# toggle edge overdraw anti-aliasing
use_antiliazing = not (use_antiliazing)
if use_antiliazing:
scene.sigma = 1.0
else:
scene.sigma = 0.0