def __init__(self, width=1200, height=800, use_offscreen=True):
#super().__init__()
self.width, self.height = width, height
self.use_offscreen = use_offscreen
self.render_wireframe = False
self.mat_constructor = pyrender.MetallicRoughnessMaterial
self.trimesh_to_pymesh = pyrender.Mesh.from_trimesh
self.scene = pyrender.Scene(bg_color=colors['white'],
ambient_light=(0.3, 0.3, 0.3))
pc = pyrender.PerspectiveCamera(yfov=np.pi / 3.0,
aspectRatio=float(width) / height)
camera_pose = np.eye(4)
camera_pose[:3, 3] = np.array([0, 0, 3.0])
self.camera_node = self.scene.add(pc,
pose=camera_pose,
name='pc-camera')
self.figsize = (width, height)
if self.use_offscreen:
self.viewer = pyrender.OffscreenRenderer(*self.figsize)
self.use_raymond_lighting(4.)
else:
self.viewer = Viewer(self.scene,
use_raymond_lighting=True,
viewport_size=self.figsize,
cull_faces=False,
run_in_thread=True)
def view_3d_scene(self):
""" Render the scene in a 3D viewer.
"""
if self.state is None or self.camera is None:
raise ValueError('Cannot render 3D scene before state is set! You can set the state with the reset() function')
Viewer(self.scene, use_raymond_lighting=True)
def quick_color_visualize():
scene = Scene(bg_color=[0, 0, 0])
root = os.path.expanduser('~')
mesh_path = '.keras/paz/datasets/ycb_models/035_power_drill/textured.obj'
path = os.path.join(root, mesh_path)
mesh = color_object(path)
scene.add(mesh)
Viewer(scene, use_raymond_lighting=True, flags=RenderFlags.FLAT)
def start(self):
if self._physics_client is None:
self._physics_client = pybullet.connect(pybullet.DIRECT)
pybullet.setGravity(0, 0, -GRAVITY_ACCEL, physicsClientId=self._physics_client)
self._key_to_id = {}
self._key_to_com = {}
if self._debug:
self._create_scene()
self._viewer = Viewer(self._scene, use_raymond_lighting=True, run_in_thread=True)
def run(self):
"""
"""
self.viewer = Viewer(self.scene,
use_raymond_lighting=False,
cull_faces=False,
run_in_thread=True)
threading.Thread(target=self.accept_messages).start()
def _run(kwargs):
"""Internal method that runs the viewer
Parameters
----------
kwargs : dict
Other keyword arguments for the Viewer instance.
"""
if 'use_raymond_lighting' not in kwargs:
kwargs['use_raymond_lighting'] = True
viewer = Viewer(Visualizer3D._scene,
viewport_size=Visualizer3D._size,
**kwargs)
if viewer.viewer_flags['save_directory']:
Visualizer3D._save_directory = viewer.viewer_flags[
'save_directory']
Visualizer3D._kwargs = {}
return viewer
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()
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,
'save_directory': '/home/wanglz14/Desktop/video/',
'window_title': 'FOV Human',
'refresh_rate': 10.0,
'fullscreen': False,
'show_world_axis': False,
'show_mesh_axes': False,
'caption': None
}
v = Viewer(scene,
viewport_size=(800, 800),
render_flags=render_flags,
viewer_flags=viewer_flags,
run_in_thread=True)
mesh = trimesh.load('../results/test/01.ply')
points_mesh = Mesh.from_trimesh(mesh, smooth=True)
v._render_lock.acquire()
scene.remove_node(human_node)
human_node = scene.add(points_mesh)
v._render_lock.release()
from pyrender import Mesh, Scene, Viewer
from io import BytesIO
import numpy as np
import trimesh
import requests
import time
duck_source = "https://github.com/KhronosGroup/glTF-Sample-Models/raw/master/2.0/Duck/glTF-Binary/Duck.glb"
duck = trimesh.load(BytesIO(requests.get(duck_source).content),
file_type='glb')
duckmesh = Mesh.from_trimesh(list(duck.geometry.values())[0])
scene = Scene(ambient_light=np.array([1.0, 1.0, 1.0, 1.0]))
scene.add(duckmesh)
orig_positions = duckmesh.primitives[0].positions
vwr = Viewer(scene,
run_in_thread=True,
render_flags={
"cull_faces": False,
"all_wireframe": False
},
use_raymond_lighting=True,
bg_color=[255, 0, 255])
while vwr.is_active:
with vwr.render_lock:
duckmesh.primitives[0].positions = orig_positions + np.random.randn(
*orig_positions.shape) * 2
time.sleep(0.1)
scene.add_node(boxf_node) # ------------------------------------------------------------------------------ # By using the add() utility function # ------------------------------------------------------------------------------ drill_node = scene.add(drill_mesh, pose=drill_pose) bottle_node = scene.add(bottle_mesh, pose=bottle_pose) wood_node = scene.add(wood_mesh) direc_l_node = scene.add(direc_l, pose=cam_pose) spot_l_node = scene.add(spot_l, pose=cam_pose) # ============================================================================== # Using the viewer with a default camera # ============================================================================== v = Viewer(scene, shadows=True) # ============================================================================== # Using the viewer with a pre-specified camera # ============================================================================== cam_node = scene.add(cam, pose=cam_pose) v = Viewer(scene, central_node=drill_node) # ============================================================================== # Rendering offscreen from that camera # ============================================================================== r = OffscreenRenderer(viewport_width=640 * 2, viewport_height=480 * 2) color, depth = r.render(scene) import matplotlib.pyplot as plt
from io import BytesIO import numpy as np import requests import trimesh from pyrender import Mesh, Scene, Viewer duck_source = "https://github.com/KhronosGroup/glTF-Sample-Models/raw/master/2.0/Duck/glTF-Binary/Duck.glb" duck = trimesh.load(BytesIO(requests.get(duck_source).content), file_type="glb") duckmesh = Mesh.from_trimesh(list(duck.geometry.values())[0]) scene = Scene(ambient_light=np.array([1.0, 1.0, 1.0, 1.0])) scene.add(duckmesh) Viewer(scene)
file_type='glb')
duckmesh = Mesh.from_trimesh(list(duck.geometry.values())[0])
# create all available backgrounds
bg_idx = 0
bg_imgs = [
Image.open("./models/background.png"),
Image.open("./models/wood_uv.png"), None
]
background_texs = [
Texture(source=bg_img, source_channels="RGBA") if bg_img else None
for bg_img in bg_imgs
]
scene = Scene(ambient_light=np.array([1.0, 1.0, 1.0, 1.0]),
bg_color=[255, 0, 255],
background_texture=background_texs[0])
scene.add(duckmesh)
def on_background_toggle(vwr):
global bg_idx
bg_idx = (bg_idx + 1) % 3
scene.background_texture = background_texs[bg_idx]
Viewer(scene,
registered_keys={"b": on_background_toggle},
run_in_thread=False,
viewport_size=(640, 480))
# at_x, at_y, at_z = 0,0,0
# Create camera pose and add it to the scene
new_campose, _ = lookAt(distance=distance, alpha=alpha, beta=beta, at_x=at_x, at_y=at_y, at_z=at_z)
cam_node = scene.add(camera, pose=new_campose)
# A light pointing from the camera's perspective could also be added
# point_l_node = scene.add(point_l_cam, pose=new_campose)
#==============================================================================
# Use viewer to display scene
#==============================================================================
# View the scene
view_render_flags = {'cull_faces': False, 'vertex_normals': False}
v = Viewer(scene, render_flags=view_render_flags, viewport_size=(IMAGE_WIDTH, IMAGE_HEIGHT))
#==============================================================================
# Prepare for dataset generation
#==============================================================================
flags = RenderFlags.SKIP_CULL_FACES
r = OffscreenRenderer(viewport_width=IMAGE_WIDTH, viewport_height=IMAGE_HEIGHT)
# color, _ = r.render(scene, flags=flags)
# Generate dataset ?
choice = input("Generate dataset? [y/n]: ")
accepted_inputs = ['y','n']
while (not (choice in accepted_inputs)):
choice = input("Generate dataset? [y/n]: ")
#==============================================================================
scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0]))
cam_node = scene.add(cam, pose=cam_pose)
scene.main_camera_node = cam_node
#==============================================================================
drill_node = scene.add(drill_mesh)
r = OffscreenRenderer(viewport_width=640, viewport_height=480)
rf = pyrender.RenderFlags.NONE
rf |= pyrender.RenderFlags.USE_RAW_DEPTH
color, raw_depth = r.render(scene, flags=rf)
r.delete()
# unproject to get point cloud
pcd = unproj(inv_mvp, raw_depth)
#==============================================================================
#------------------------------------------------------------------------------
# Creating meshes from point clouds
#------------------------------------------------------------------------------
points_mesh = Mesh.from_points(pcd, colors=np.array((0.0, 1.0, 0.0, 1.0)))
pcd_node = scene.add(points_mesh)
#==============================================================================
# Using the viewer with a pre-specified camera
#==============================================================================
v = Viewer(scene, render_flags={'point_size': 5})
vec = np.array([0, point_size_ndc])
vertices[0, 0:2] = vec
vertices[1, 0:2] = _rot_mat(np.radians(120)) @ vec
vertices[2, 0:2] = _rot_mat(np.radians(-120)) @ vec
mat = MetallicRoughnessMaterial(doubleSided=True,
baseColorFactor=[1.0, 0, 0, 1])
instances = [np.eye(4) for i in range(pts_2d.shape[0])]
for i in range(pts_2d.shape[0]):
instances[i][0, 3] = (2 * pts_2d[i][0] - width) / height
instances[i][1, 3] = pts_2d[i][1] / height * 2 - 1
instances[i][2, 3] = -1
prim = Primitive(positions=vertices,
mode=GLTF.TRIANGLES,
material=mat,
poses=instances)
return Mesh(primitives=[prim])
pts_mesh = create_2d_point_mesh(640,
480, [[0, 0], [320, 240], [640, 480]],
point_size_px=15)
duck_node = scene.add(duckmesh)
dn = scene.add_hud_node(Node(name="hud", mesh=pts_mesh))
Viewer(scene,
run_in_thread=False,
viewer_flags={"use_direct_lighting": True},
viewport_size=(640, 480))
e = subjectVertex
if inside(e):
if not inside(s):
outputList.append(computeIntersection())
outputList.append(e)
elif inside(s):
outputList.append(computeIntersection())
s = e
cp1 = cp2
return (outputList)
# View the scene
view_render_flags = {'cull_faces': False}
v = Viewer(scene,
viewport_size=(width, height),
render_flags=view_render_flags)
r = OffscreenRenderer(viewport_width=width, viewport_height=height)
color, depth = r.render(scene, flags=RenderFlags.SKIP_CULL_FACES)
# color = cvtColor(color, COLOR_RGB2BGR)
def draw_point(img, imgpts):
for point in imgpts:
img = circle(img, tuple(point), 4, (255, 0, 0), 2)
return img
# draw the computed (x,y) coords on the image
color = draw_point(color, points)
plt.imshow(color)
obj_points_numpy) # Values close to 0 are 0
obj_points_numpy = obj_points_numpy.astype('float32')
# Add spheres at the object points in obj_spoints
# ball_trimesh = trimesh.creation.icosphere(subdivisions=3)
# ball_mesh = Mesh.from_trimesh(ball_trimesh)
# for row in obj_points:
# scene.add(ball_mesh, pose=spatial_transform_Matrix(scale=0.005, t_x=row[0], t_y=row[1], t_z=row[2]))
#==============================================================================
# Attempt to convert 3D to 2D position
#==============================================================================
# View the scene
view_render_flags = {'cull_faces': False}
v = Viewer(scene, render_flags=view_render_flags)
#==============================================================================
# Rendering offscreen from that camera
#==============================================================================
dimensions = 600
# dimensions = 1280
r = OffscreenRenderer(viewport_width=dimensions, viewport_height=dimensions)
# Generate dataset ?
question_string = "Generate chess board dataset? (select no because it's already there) [y/n]: "
choice = input(question_string)
accepted_inputs = ['y', 'n']
while (not (choice in accepted_inputs)):
choice = input(question_string)
