def _add_raymond_light(self):
from pyrender.light import DirectionalLight
from pyrender.node import Node
thetas = np.pi * np.array([1.0 / 6.0, 1.0 / 6.0, 1.0 / 6.0])
phis = np.pi * np.array([0.0, 2.0 / 3.0, 4.0 / 3.0])
nodes = []
for phi, theta in zip(phis, thetas):
xp = np.sin(theta) * np.cos(phi)
yp = np.sin(theta) * np.sin(phi)
zp = np.cos(theta)
z = np.array([xp, yp, zp])
z = z / np.linalg.norm(z)
x = np.array([-z[1], z[0], 0.0])
if np.linalg.norm(x) == 0:
x = np.array([1.0, 0.0, 0.0])
x = x / np.linalg.norm(x)
y = np.cross(z, x)
matrix = np.eye(4)
matrix[:3, :3] = np.c_[x, y, z]
nodes.append(
Node(light=DirectionalLight(color=np.ones(3), intensity=1.0),
matrix=matrix))
return nodes
def add_raymond_light(self, s=1, d=0.25, T=np.eye(4)):
thetas = np.pi * np.array([1.0 / 6.0, 1.0 / 6.0, 1.0 / 6.0])
phis = np.pi * np.array([0.0, 2.0 / 3.0, 4.0 / 3.0])
nodes = []
for phi, theta in zip(phis, thetas):
xp = s * np.sin(theta) * np.cos(phi)
yp = s * np.sin(theta) * np.sin(phi)
zp = s * np.cos(theta)
z = np.array([xp, yp, zp])
z = z / np.linalg.norm(z)
x = np.array([-z[1], z[0], 0.0])
if np.linalg.norm(x) == 0:
x = np.array([1.0, 0.0, 0.0])
x = x / np.linalg.norm(x)
y = np.cross(z, x)
matrix = np.eye(4)
matrix[:3, :3] = np.c_[x, y, z]
Tl = np.copy(T)
matrix = matrix @ Tl
nodes.append(
Node(light=DirectionalLight(color=np.ones(3),
intensity=1.0 / d),
matrix=matrix))
return nodes
def __init__(self,
width=1200,
height=800,
bg_color=[0.0, 0.0, 0.0, 1.0],
offscreen=False,
center_cam=False,
registered_keys=None):
super(MeshViewer, self).__init__()
if registered_keys is None:
registered_keys = dict()
self.bg_color = bg_color
self.offscreen = offscreen
self.center_cam = center_cam
self.scene = pyrender.Scene(bg_color=bg_color,
ambient_light=(0.4, 0.4, 0.4),
name='scene')
self.aspect_ratio = float(width) / height
pc = pyrender.PerspectiveCamera(yfov=np.pi / 3.0,
aspectRatio=self.aspect_ratio)
camera_pose = np.eye(4)
camera_pose[:3, 3] = np.array([0, 0, .6])
self.cam = pyrender.Node(name='camera', camera=pc, matrix=camera_pose)
self.scene.add_node(self.cam)
if self.offscreen:
light = Node(light=DirectionalLight(color=np.ones(3),
intensity=3.0),
matrix=camera_pose)
self.scene.add_node(light)
self.viewer = pyrender.OffscreenRenderer(width, height)
else:
self.viewer = pyrender.Viewer(self.scene,
use_raymond_lighting=True,
viewport_size=(width, height),
cull_faces=False,
run_in_thread=True,
registered_keys=registered_keys)
for i, node in enumerate(self.scene.get_nodes()):
if node.name is None:
node.name = 'Req%d' % i