def test_render_rendering():
renderer = MeshRenderer(width=800, height=600)
renderer.load_object(
os.path.join(dir, 'mesh/bed1a77d92d64f5cbbaaae4feed64ec1_new.obj'))
renderer.add_instance(0)
renderer.set_camera([0, 0, 1.2], [0, 1, 1.2], [0, 1, 0])
renderer.set_fov(90)
rgb, _, seg, _ = renderer.render()
#plt.imshow(np.concatenate([rgb, seg], axis=1)) # uncomment these two lines to show the rendering results
#plt.show()
assert (np.allclose(np.mean(rgb, axis=(0, 1)),
np.array([0.51661223, 0.5035339, 0.4777793, 1.]),
rtol=1e-3))
renderer.release()
def test_render_rendering_cleaning():
for i in range(5):
renderer = MeshRenderer(width=800, height=600)
renderer.load_object(
os.path.join(dir, 'mesh/bed1a77d92d64f5cbbaaae4feed64ec1_new.obj'))
renderer.add_instance(0)
renderer.set_camera([0, 0, 1.2], [0, 1, 1.2], [0, 1, 0])
renderer.set_fov(90)
rgb, _, seg, _ = renderer.render()
assert (np.allclose(np.mean(rgb, axis=(0, 1)),
np.array([0.51661223, 0.5035339, 0.4777793, 1.]),
rtol=1e-3))
GPUtil.showUtilization()
renderer.release()
GPUtil.showUtilization()
def main():
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_model_path('Rs'), 'mesh_z_up.obj')
renderer = MeshRenderer(width=512, height=512)
renderer.load_object(model_path)
renderer.add_instance(0)
camera_pose = np.array([0, 0, 1.2])
view_direction = np.array([1, 0, 0])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
frames = renderer.render(modes=('rgb', 'normal', '3d'))
frames = cv2.cvtColor(np.concatenate(frames, axis=1), cv2.COLOR_RGB2BGR)
cv2.imshow('image', frames)
cv2.waitKey(0)
import numpy as np
from gibson2.core.render.mesh_renderer.mesh_renderer_cpu import MeshRenderer
from gibson2.core.render.profiler import Profiler
if __name__ == '__main__':
model_path = sys.argv[1]
renderer = MeshRenderer(width=512, height=512)
renderer.load_object(model_path)
renderer.add_instance(0)
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
camera_pose = np.array([0, 0, 1.2])
view_direction = np.array([1, 0, 0])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
px = 0
py = 0
_mouse_ix, _mouse_iy = -1, -1
down = False
def change_dir(event, x, y, flags, param):
global _mouse_ix, _mouse_iy, down, view_direction
if event == cv2.EVENT_LBUTTONDOWN:
_mouse_ix, _mouse_iy = x, y
down = True
if event == cv2.EVENT_MOUSEMOVE:
if down:
dx = (x - _mouse_ix) / 100.0
class Simulator:
def __init__(self,
gravity=9.8,
timestep=1 / 240.0,
use_fisheye=False,
mode='gui',
resolution=256,
device_idx=0):
# physics simulator
self.gravity = gravity
self.timestep = timestep
self.mode = mode
# renderer
self.resolution = resolution
self.device_idx = device_idx
self.use_fisheye = use_fisheye
if self.mode == 'gui':
self.viewer = Viewer()
self.load()
def set_timestep(self, timestep):
self.timestep = timestep
p.setTimeStep(self.timestep)
def add_viewer(self):
self.viewer = Viewer()
self.viewer.renderer = self.renderer
def reload(self):
self.renderer.release()
p.disconnect(self.cid)
self.load()
def load(self):
if self.mode == 'gui':
self.cid = p.connect(p.GUI)
else:
self.cid = p.connect(p.DIRECT)
p.setTimeStep(self.timestep)
p.setGravity(0, 0, -self.gravity)
self.renderer = MeshRenderer(width=self.resolution,
height=self.resolution,
device_idx=self.device_idx,
use_fisheye=self.use_fisheye)
self.renderer.set_fov(90)
if self.mode == 'gui':
self.viewer.renderer = self.renderer
self.visual_objects = {}
self.robots = []
self.scene = None
self.objects = []
def import_scene(self, scene, texture_scale=1.0):
new_objects = scene.load()
for item in new_objects:
self.objects.append(item)
for new_object in new_objects:
for shape in p.getVisualShapeData(new_object):
id, _, type, _, filename = shape[:5]
if type == p.GEOM_MESH:
filename = filename.decode('utf-8')
if not filename in self.visual_objects.keys():
self.renderer.load_object(filename,
texture_scale=texture_scale)
self.visual_objects[filename] = len(
self.renderer.visual_objects) - 1
self.renderer.add_instance(
len(self.renderer.visual_objects) - 1, new_object)
else:
self.renderer.add_instance(
self.visual_objects[filename], new_object)
self.scene = scene
return new_objects
def import_object(self, object):
new_object = object.load()
self.objects.append(new_object)
for shape in p.getVisualShapeData(new_object):
id, link_id, type, dimensions, filename, rel_pos, rel_orn, color = shape[:
8]
if type == p.GEOM_MESH:
filename = filename.decode('utf-8')
print(filename, self.visual_objects)
if not filename in self.visual_objects.keys():
self.renderer.load_object(filename)
self.visual_objects[filename] = len(
self.renderer.visual_objects) - 1
self.renderer.add_instance(
len(self.renderer.visual_objects) - 1,
new_object,
dynamic=True)
else:
self.renderer.add_instance(self.visual_objects[filename],
pybullet_uuid=new_object,
dynamic=True)
elif type == p.GEOM_SPHERE:
filename = os.path.join(gibson2.assets_path,
'models/mjcf_primitives/sphere8.obj')
self.renderer.load_object(filename,
input_kd=color[:3],
scale=[
dimensions[0] / 0.5,
dimensions[0] / 0.5,
dimensions[0] / 0.5
])
self.renderer.add_instance(len(self.renderer.visual_objects) -
1,
pybullet_uuid=new_object,
dynamic=True)
elif type == p.GEOM_CAPSULE or type == p.GEOM_CYLINDER:
filename = os.path.join(gibson2.assets_path,
'models/mjcf_primitives/cube.obj')
self.renderer.load_object(filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
input_kd=color[:3],
scale=[
dimensions[1] / 0.5,
dimensions[1] / 0.5,
dimensions[0]
])
self.renderer.add_instance(len(self.renderer.visual_objects) -
1,
pybullet_uuid=new_object,
dynamic=True)
elif type == p.GEOM_BOX:
filename = os.path.join(gibson2.assets_path,
'models/mjcf_primitives/cube.obj')
self.renderer.load_object(
filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
input_kd=color[:3],
scale=[dimensions[0], dimensions[1], dimensions[2]])
self.renderer.add_instance(len(self.renderer.visual_objects) -
1,
pybullet_uuid=new_object,
dynamic=True)
return new_object
def import_robot(self, robot):
ids = robot.load()
visual_objects = []
link_ids = []
poses_rot = []
poses_trans = []
self.robots.append(robot)
for shape in p.getVisualShapeData(ids[0]):
id, link_id, type, dimensions, filename, rel_pos, rel_orn, color = shape[:
8]
if type == p.GEOM_MESH:
filename = filename.decode('utf-8')
if not filename in self.visual_objects.keys():
print(filename, rel_pos, rel_orn, color, dimensions)
self.renderer.load_object(filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
input_kd=color[:3],
scale=np.array(dimensions))
visual_objects.append(
len(self.renderer.visual_objects) - 1)
self.visual_objects[filename] = len(
self.renderer.visual_objects) - 1
else:
visual_objects.append(self.visual_objects[filename])
link_ids.append(link_id)
elif type == p.GEOM_SPHERE:
filename = os.path.join(gibson2.assets_path,
'models/mjcf_primitives/sphere8.obj')
print(filename, dimensions, rel_pos, rel_orn, color)
self.renderer.load_object(filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
input_kd=color[:3],
scale=[
dimensions[0] / 0.5,
dimensions[0] / 0.5,
dimensions[0] / 0.5
])
visual_objects.append(len(self.renderer.visual_objects) - 1)
#self.visual_objects[filename] = len(self.renderer.visual_objects) - 1
link_ids.append(link_id)
elif type == p.GEOM_CAPSULE or type == p.GEOM_CYLINDER:
filename = os.path.join(gibson2.assets_path,
'models/mjcf_primitives/cube.obj')
print(filename, dimensions, rel_pos, rel_orn, color)
self.renderer.load_object(filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
input_kd=color[:3],
scale=[
dimensions[1] / 0.5,
dimensions[1] / 0.5,
dimensions[0]
])
visual_objects.append(len(self.renderer.visual_objects) - 1)
link_ids.append(link_id)
elif type == p.GEOM_BOX:
filename = os.path.join(gibson2.assets_path,
'models/mjcf_primitives/cube.obj')
print(filename, dimensions, rel_pos, rel_orn, color)
self.renderer.load_object(
filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
input_kd=color[:3],
scale=[dimensions[0], dimensions[1], dimensions[2]])
visual_objects.append(len(self.renderer.visual_objects) - 1)
link_ids.append(link_id)
if link_id == -1:
pos, orn = p.getBasePositionAndOrientation(id)
else:
_, _, _, _, pos, orn = p.getLinkState(id, link_id)
poses_rot.append(
np.ascontiguousarray(
quat2rotmat([orn[-1], orn[0], orn[1], orn[2]])))
poses_trans.append(np.ascontiguousarray(xyz2mat(pos)))
self.renderer.add_robot(object_ids=visual_objects,
link_ids=link_ids,
pybullet_uuid=ids[0],
poses_rot=poses_rot,
poses_trans=poses_trans,
dynamic=True,
robot=robot)
return ids
def import_interactive_object(self, obj):
ids = obj.load()
visual_objects = []
link_ids = []
poses_rot = []
poses_trans = []
for shape in p.getVisualShapeData(ids):
id, link_id, type, dimensions, filename, rel_pos, rel_orn, color = shape[:
8]
if type == p.GEOM_MESH:
filename = filename.decode('utf-8')
if not filename in self.visual_objects.keys():
print(filename, rel_pos, rel_orn, color, dimensions)
self.renderer.load_object(filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
input_kd=color[:3],
scale=np.array(dimensions))
visual_objects.append(
len(self.renderer.visual_objects) - 1)
self.visual_objects[filename] = len(
self.renderer.visual_objects) - 1
else:
visual_objects.append(self.visual_objects[filename])
link_ids.append(link_id)
elif type == p.GEOM_SPHERE:
filename = os.path.join(gibson2.assets_path,
'models/mjcf_primitives/sphere8.obj')
print(filename, dimensions, rel_pos, rel_orn, color)
self.renderer.load_object(filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
input_kd=color[:3],
scale=[
dimensions[0] / 0.5,
dimensions[0] / 0.5,
dimensions[0] / 0.5
])
visual_objects.append(len(self.renderer.visual_objects) - 1)
# self.visual_objects[filename] = len(self.renderer.visual_objects) - 1
link_ids.append(link_id)
elif type == p.GEOM_CAPSULE or type == p.GEOM_CYLINDER:
filename = os.path.join(gibson2.assets_path,
'models/mjcf_primitives/cube.obj')
print(filename, dimensions, rel_pos, rel_orn, color)
self.renderer.load_object(filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
input_kd=color[:3],
scale=[
dimensions[1] / 0.5,
dimensions[1] / 0.5,
dimensions[0]
])
visual_objects.append(len(self.renderer.visual_objects) - 1)
link_ids.append(link_id)
elif type == p.GEOM_BOX:
filename = os.path.join(gibson2.assets_path,
'models/mjcf_primitives/cube.obj')
print(filename, dimensions, rel_pos, rel_orn, color)
self.renderer.load_object(
filename,
transform_orn=rel_orn,
transform_pos=rel_pos,
input_kd=color[:3],
scale=[dimensions[0], dimensions[1], dimensions[2]])
visual_objects.append(len(self.renderer.visual_objects) - 1)
link_ids.append(link_id)
if link_id == -1:
pos, orn = p.getBasePositionAndOrientation(id)
else:
_, _, _, _, pos, orn = p.getLinkState(id, link_id)
poses_rot.append(
np.ascontiguousarray(
quat2rotmat([orn[-1], orn[0], orn[1], orn[2]])))
poses_trans.append(np.ascontiguousarray(xyz2mat(pos)))
self.renderer.add_instance_group(object_ids=visual_objects,
link_ids=link_ids,
pybullet_uuid=ids,
poses_rot=poses_rot,
poses_trans=poses_trans,
dynamic=True,
robot=None)
return ids
def step(self):
p.stepSimulation()
for instance in self.renderer.instances:
if instance.dynamic:
self.update_position(instance)
if self.mode == 'gui' and not self.viewer is None:
self.viewer.update()
@staticmethod
def update_position(instance):
if isinstance(instance, Instance):
pos, orn = p.getBasePositionAndOrientation(instance.pybullet_uuid)
instance.set_position(pos)
instance.set_rotation([orn[-1], orn[0], orn[1], orn[2]])
elif isinstance(instance, InstanceGroup):
poses_rot = []
poses_trans = []
for link_id in instance.link_ids:
if link_id == -1:
pos, orn = p.getBasePositionAndOrientation(
instance.pybullet_uuid)
else:
_, _, _, _, pos, orn = p.getLinkState(
instance.pybullet_uuid, link_id)
poses_rot.append(
np.ascontiguousarray(
quat2rotmat([orn[-1], orn[0], orn[1], orn[2]])))
poses_trans.append(np.ascontiguousarray(xyz2mat(pos)))
#print(instance.pybullet_uuid, link_id, pos, orn)
instance.poses_rot = poses_rot
instance.poses_trans = poses_trans
def isconnected(self):
return p.getConnectionInfo(self.cid)['isConnected']
def disconnect(self):
if self.isconnected():
p.disconnect(self.cid)
self.renderer.release()
def main():
global _mouse_ix, _mouse_iy, down, view_direction
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_model_path('Rs'), 'mesh_z_up.obj')
renderer = MeshRenderer(width=512, height=512)
renderer.load_object(model_path)
renderer.add_instance(0)
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
camera_pose = np.array([0, 0, 1.2])
view_direction = np.array([1, 0, 0])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
px = 0
py = 0
_mouse_ix, _mouse_iy = -1, -1
down = False
def change_dir(event, x, y, flags, param):
global _mouse_ix, _mouse_iy, down, view_direction
if event == cv2.EVENT_LBUTTONDOWN:
_mouse_ix, _mouse_iy = x, y
down = True
if event == cv2.EVENT_MOUSEMOVE:
if down:
dx = (x - _mouse_ix) / 100.0
dy = (y - _mouse_iy) / 100.0
_mouse_ix = x
_mouse_iy = y
r1 = np.array([[np.cos(dy), 0, np.sin(dy)], [0, 1, 0],
[-np.sin(dy), 0, np.cos(dy)]])
r2 = np.array([[np.cos(-dx), -np.sin(-dx), 0],
[np.sin(-dx), np.cos(-dx), 0], [0, 0, 1]])
view_direction = r1.dot(r2).dot(view_direction)
elif event == cv2.EVENT_LBUTTONUP:
down = False
cv2.namedWindow('test')
cv2.setMouseCallback('test', change_dir)
while True:
with Profiler('Render'):
frame = renderer.render(modes=('rgb', 'normal', '3d'))
cv2.imshow(
'test',
cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
q = cv2.waitKey(1)
if q == ord('w'):
px += 0.05
elif q == ord('s'):
px -= 0.05
elif q == ord('a'):
py += 0.05
elif q == ord('d'):
py -= 0.05
elif q == ord('q'):
break
camera_pose = np.array([px, py, 1.2])
renderer.set_camera(camera_pose, camera_pose + view_direction,
[0, 0, 1])
renderer.release()
def main():
global _mouse_ix, _mouse_iy, down, view_direction
###################################################################################
# load the scene to get traversable area (disable the whole area for performance) #
###################################################################################
p.connect(p.GUI)
p.setGravity(0, 0, -9.8)
p.setTimeStep(1. / 240.)
scene = BuildingScene('Allensville',
build_graph=True,
pybullet_load_texture=True)
objects = scene.load()
random_floor = scene.get_random_floor()
p1 = scene.get_random_point_floor(random_floor)[1]
p2 = scene.get_random_point_floor(random_floor)[1]
shortest_path, geodesic_distance = scene.get_shortest_path(
random_floor, p1[:2], p2[:2], entire_path=True)
print('random point 1:', p1)
print('random point 2:', p2)
print('geodesic distance between p1 and p2', geodesic_distance)
print('shortest path from p1 to p2:', shortest_path)
p.disconnect()
###################################################################################
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_model_path('Allensville'),
'mesh_z_up.obj')
# set width, height (has to be equal for panorama)
renderer = MeshRenderer(width=512, height=512)
renderer.load_object(model_path)
renderer.add_instance(0)
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
# set camera_pose / view direction
camera_pose = np.array([0, 0, 1.2])
view_direction = np.array([1, 0, 0])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
px = 0
py = 0
_mouse_ix, _mouse_iy = -1, -1
down = False
def change_dir(event, x, y, flags, param):
global _mouse_ix, _mouse_iy, down, view_direction
if event == cv2.EVENT_LBUTTONDOWN:
_mouse_ix, _mouse_iy = x, y
down = True
if event == cv2.EVENT_MOUSEMOVE:
if down:
dx = (x - _mouse_ix) / 100.0
dy = (y - _mouse_iy) / 100.0
_mouse_ix = x
_mouse_iy = y
r1 = np.array([[np.cos(dy), 0, np.sin(dy)], [0, 1, 0],
[-np.sin(dy), 0, np.cos(dy)]])
r2 = np.array([[np.cos(-dx), -np.sin(-dx), 0],
[np.sin(-dx), np.cos(-dx), 0], [0, 0, 1]])
view_direction = r1.dot(r2).dot(view_direction)
elif event == cv2.EVENT_LBUTTONUP:
down = False
cv2.namedWindow('test')
cv2.setMouseCallback('test', change_dir)
while True:
with Profiler('Render'):
frame = renderer.render(modes=('rgb', 'normal', '3d'))
cv2.imshow(
'test',
cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
q = cv2.waitKey(1)
if q == ord('w'):
px += 0.05
elif q == ord('s'):
px -= 0.05
elif q == ord('a'):
py += 0.05
elif q == ord('d'):
py -= 0.05
elif q == ord('q'):
break
camera_pose = np.array([px, py, 1.2])
renderer.set_camera(camera_pose, camera_pose + view_direction,
[0, 0, 1])
renderer.release()