def get_add(obj1, obj2, pos1, pos2, quat1, quat2):
obj1.get_transform().set_position(visii.vec3(pos1[0],pos1[1],pos1[2]))
obj1.get_transform().set_rotation(visii.quat(quat1[0],quat1[1],quat1[2],quat1[3]))
obj2.get_transform().set_position(visii.vec3(pos2[0],pos2[1],pos2[2]))
obj2.get_transform().set_rotation(visii.quat(quat2[0],quat2[1],quat2[2],quat2[3]))
dist = []
vertices = obj1.get_mesh().get_vertices()
for i in range(len(vertices)):
v = visii.vec4(vertices[i][0],vertices[i][1],vertices[i][2],1)
p0 = obj1.get_transform().get_local_to_world_matrix() * v
p1 = obj2.get_transform().get_local_to_world_matrix() * v
dist.append(visii.distance(p0, p1))
dist = np.mean(dist)
return dist
visii.render_to_file(width=int(opt.width),
height=int(opt.height),
samples_per_pixel=int(opt.spp),
file_path=f"20_frame1.png")
obj1.get_transform().set_position(obj1.get_transform().get_position(),
previous=True)
obj1.get_transform().add_position(visii.vec3(0, 0.5, 0))
obj2.get_transform().set_position(obj2.get_transform().get_position(),
previous=True)
obj2.get_transform().add_position(visii.vec3(0, 0, 0.5))
obj3.get_transform().set_rotation(obj3.get_transform().get_rotation(),
previous=True)
obj3.get_transform().add_rotation(visii.quat(0, -1, 0, 0))
motion_vectors_array = visii.render_data(width=int(opt.width),
height=int(opt.height),
start_frame=0,
frame_count=1,
bounce=int(0),
options="diffuse_motion_vectors")
motion_vectors_array = np.array(motion_vectors_array).reshape(
opt.height, opt.width, 4) * -1
motion_vectors_array = np.flipud(motion_vectors_array)
image = generate_image_from_motion_vector(motion_vectors_array)
cv2.imwrite("20_motion_from_1_to_2.png", image * 255)
# frame now has to be set at 1 to have the current image, e.g., the transformed one
obj3 = visii.entity.create(name="obj3",
mesh=mesh,
transform=visii.transform.create("obj3"),
material=visii.material.create("obj3"))
obj4 = visii.entity.create(name="obj4",
mesh=mesh,
transform=visii.transform.create("obj4"),
material=visii.material.create("obj4"))
# place those objects into the scene
# lets set the obj_entity up
obj1.get_transform().set_position(visii.vec3(-1.5, 0, 0))
obj1.get_transform().set_rotation(visii.quat(0.7071, 0.7071, 0, 0))
obj1.get_material().set_base_color(visii.vec3(1, 0, 0))
obj1.get_material().set_roughness(0.7)
obj1.get_material().set_specular(1)
obj1.get_material().set_sheen(1)
obj2.get_transform().set_position(visii.vec3(-.5, 0, 0))
obj2.get_transform().set_rotation(visii.quat(0.7071, 0.7071, 0, 0))
obj2.get_material().set_base_color(visii.vec3(0, 1, 0))
obj2.get_material().set_roughness(0.7)
obj2.get_material().set_specular(1)
obj2.get_material().set_sheen(1)
obj3.get_transform().set_position(visii.vec3(.5, 0, 0))
obj3.get_transform().set_rotation(visii.quat(0.7071, 0.7071, 0, 0))
obj3.get_material().set_base_color(visii.vec3(0, 0, 1))
visii.set_camera_entity(camera)
visii.set_dome_light_intensity(1)
# # # # # # # # # # # # # # # # # # # # # # # # #
# This function loads the obj meshes, it will ignore
# other content like materials
mesh = visii.mesh.create_from_obj("obj", opt.path_obj)
obj_entity = visii.entity.create(
name="obj_entity",
mesh=mesh,
transform=visii.transform.create("obj_entity"),
material=visii.material.create("obj_entity"))
# lets set the obj_entity up
obj_entity.get_transform().set_rotation(visii.quat(0.7071, 0.7071, 0, 0))
obj_entity.get_material().set_base_color(visii.vec3(0.9, 0.12, 0.08))
obj_entity.get_material().set_roughness(0.7)
obj_entity.get_material().set_specular(1)
obj_entity.get_material().set_sheen(1)
# # # # # # # # # # # # # # # # # # # # # # # # #
visii.render_to_png(width=int(opt.width),
height=int(opt.height),
samples_per_pixel=int(opt.spp),
image_path=f"{opt.out}")
# let's clean up the GPU
visii.cleanup()
img_name=img_name,
output_folder=f"{opt.outf}/{folder_substructure}",
showbelief=opt.showbelief,
P_matrix=P_matrix,
gt_keypoints=gt_keypoints)
# transfer from dope to visii frame
for name in Metric:
temp = Metric[name]['orientation']
if not temp is None:
'''
q_dope = Quaternion(w=temp[3],x=temp[0],y=temp[1],z=temp[2])
q_dope_trans = q_dope * quat_trans_dope_to_visii
Metric[name]['orientation'] = q_dope_trans
'''
rot = visii.quat(temp[3], temp[0], temp[1], temp[2])
if opt.transform_visii:
rot = rot * visii.angleAxis(-1.57, visii.vec3(
0, 0, 1)) * visii.angleAxis(-1.57, visii.vec3(0, 1, 0))
rot.w, rot.x, rot.y, rot.z = rot.w, rot.x, -rot.y, -rot.z
if opt.transform_hope:
rot = rot * visii.angleAxis(1.57, visii.vec3(
1, 0, 0)) * visii.angleAxis(1.57, visii.vec3(0, 0, 1))
Metric[name]['orientation'] = Quaternion(w=rot.w,
x=rot.x,
y=rot.y,
z=rot.z)
# add ground truth
if not opt.real_world:
objects_gt = visii_camera['objects']
transform=visii.transform.create("light"),
)
obj_entity.set_light(visii.light.create('light'))
obj_entity.get_light().set_intensity(1000)
# lets set the color texture as the color of the light
obj_entity.get_light().set_color_texture(tex)
obj_entity.get_transform().set_scale(visii.vec3(0.6, 0.6, 0.2))
obj_entity.get_transform().set_position(visii.vec3(0.5, -0.4, 0.7))
obj_entity.get_transform().look_at(
visii.vec3(0, 0, 0),
visii.vec3(0, 0, 1),
)
obj_entity.get_transform().add_rotation(visii.quat(0, 0, 1, 0))
obj_entity = visii.entity.create(
name="light_2",
mesh=visii.mesh.create_teapotahedron('light_2'),
transform=visii.transform.create("light_2"),
)
# a light is an entity with a light added to it.
obj_entity.set_light(visii.light.create('light_2'))
obj_entity.get_light().set_intensity(100000)
# you can also set the light color manually
obj_entity.get_light().set_color_texture(tex)
#lets set the size and placement of the light
obj_entity.get_transform().set_scale(visii.vec3(0.1))
def add_random_obj(name="name"):
# this function adds a random object from the pre loaded meshes
# it will give it a random pose and an random material
obj = visii.entity.create(name=name,
transform=visii.transform.create(name),
material=visii.material.create(name))
obj_id = random.randint(0, 15)
# set the mesh, the meshes can be shared
mesh = visii.mesh.get(f'mesh_{obj_id}')
obj.set_mesh(mesh)
obj.get_transform().set_position(
visii.vec3(random.uniform(-5, 5), random.uniform(-5, 5),
random.uniform(-10, 3)))
obj.get_transform().set_rotation(
visii.quat(random.uniform(0, 1), random.uniform(0, 1),
random.uniform(0, 1), random.uniform(0, 1)))
obj.get_transform().set_scale(
visii.vec3(random.uniform(0.15, 0.2), random.uniform(0.15, 0.2),
random.uniform(0.15, 0.2)))
rgb = colorsys.hsv_to_rgb(random.uniform(0, 1), random.uniform(0.7, 1),
random.uniform(0.7, 1))
obj.get_material().set_base_color(visii.vec3(
rgb[0],
rgb[1],
rgb[2],
))
obj_mat = obj.get_material()
r = random.randint(0, 2)
# This is a simple logic for more natural random materials, e.g.,
# mirror or glass like objects
if r == 0:
# Plastic / mat
obj_mat.set_metallic(0) # should 0 or 1
obj_mat.set_transmission(0) # should 0 or 1
obj_mat.set_roughness(random.uniform(0, 1)) # default is 1
if r == 1:
# metallic
obj_mat.set_metallic(random.uniform(0.9, 1)) # should 0 or 1
obj_mat.set_transmission(0) # should 0 or 1
if r == 2:
# glass
obj_mat.set_metallic(0) # should 0 or 1
obj_mat.set_transmission(random.uniform(0.9, 1)) # should 0 or 1
if r > 0: # for metallic and glass
r2 = random.randint(0, 1)
if r2 == 1:
obj_mat.set_roughness(random.uniform(0, .1)) # default is 1
else:
obj_mat.set_roughness(random.uniform(0.9, 1)) # default is 1
obj_mat.set_sheen(random.uniform(0, 1)) # degault is 0
obj_mat.set_clearcoat(random.uniform(0, 1)) # degault is 0
obj_mat.set_specular(random.uniform(0, 1)) # degault is 0
r = random.randint(0, 1)
if r == 0:
obj_mat.set_anisotropic(random.uniform(0, 0.1)) # degault is 0
else:
obj_mat.set_anisotropic(random.uniform(0.9, 1)) # degault is 0
ids_pybullet_and_visii_names = []
for i in range(opt.nb_objects):
name = f"mesh_{i}"
obj = visii.entity.create(name=name,
transform=visii.transform.create(name),
material=visii.material.create(name))
obj.set_mesh(mesh)
# transforms
pos = visii.vec3(random.uniform(-4, 4), random.uniform(-4, 4),
random.uniform(2, 5))
rot = visii.quat(
random.uniform(-1, 1),
random.uniform(-1, 1),
random.uniform(-1, 1),
random.uniform(-1, 1),
)
scale = visii.vec3(random.uniform(0.2, 0.5), )
obj.get_transform().set_position(pos)
obj.get_transform().set_rotation(rot)
obj.get_transform().set_scale(scale)
# pybullet setup
pos = [pos[0], pos[1], pos[2]]
rot = [rot[0], rot[1], rot[2], rot[3]]
scale = [scale[0], scale[1], scale[2]]
obj_col_id = p.createCollisionShape(
p.GEOM_MESH,
ids_pybullet_and_visii_names = []
for i in range(opt.nb_objects):
name = f"mesh_{i}"
obj = visii.entity.create(name=name,
transform=visii.transform.create(name),
material=visii.material.create(name))
obj.set_mesh(mesh)
# transforms
pos = visii.vec3(random.uniform(-4, 4), random.uniform(-4, 4),
random.uniform(2, 5))
rot = visii.quat(
random.uniform(-1, 1),
random.uniform(-1, 1),
random.uniform(-1, 1),
random.uniform(-1, 1),
)
scale = visii.vec3(random.uniform(0.2, 0.5), )
obj.get_transform().set_position(pos)
obj.get_transform().set_rotation(rot)
obj.get_transform().set_scale(scale)
# pybullet setup
pos = [pos[0], pos[1], pos[2]]
rot = [rot[0], rot[1], rot[2], rot[3]]
scale = [scale[0], scale[1], scale[2]]
obj_col_id = p.createCollisionShape(
p.GEOM_MESH,
ids_pybullet_and_visii_names = []
for i in range(opt.nb_objects):
name = f"mesh_{i}"
obj = visii.entity.create(name=name,
transform=visii.transform.create(name),
material=visii.material.create(name))
obj.set_mesh(mesh)
# transforms
pos = visii.vec3(random.uniform(-4, 4), random.uniform(-4, 4),
random.uniform(2, 5))
rot = visii.normalize(
visii.quat(
random.uniform(-1, 1),
random.uniform(-1, 1),
random.uniform(-1, 1),
random.uniform(-1, 1),
))
s = random.uniform(0.2, 0.5)
scale = (s, s, s)
obj.get_transform().set_position(pos)
obj.get_transform().set_rotation(rot)
obj.get_transform().set_scale(scale)
# pybullet setup
pos = [pos[0], pos[1], pos[2]]
rot = [rot[0], rot[1], rot[2], rot[3]]
scale = [scale[0], scale[1], scale[2]]
obj_col_id = p.createCollisionShape(