def main():
if len(sys.argv) > 1:
model_path = sys.argv[1]
else:
model_path = os.path.join(get_scene_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)
def test_render_rendering_cleaning():
download_assets()
test_dir = os.path.join(gibson2.assets_path, 'test')
for i in range(5):
renderer = MeshRenderer(width=800, height=600)
renderer.load_object(
os.path.join(test_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 = renderer.render(('rgb'))[0]
assert (np.sum(rgb, axis=(0, 1, 2)) > 0)
GPUtil.showUtilization()
renderer.release()
GPUtil.showUtilization()
def test_render_rendering(record_property):
download_assets()
test_dir = os.path.join(gibson2.assets_path, 'test')
renderer = MeshRenderer(width=800, height=600)
start = time.time()
renderer.load_object(
os.path.join(test_dir,
'mesh/bed1a77d92d64f5cbbaaae4feed64ec1_new.obj'))
elapsed = time.time() - start
renderer.add_instance(0)
renderer.set_camera([0, 0, 1.2], [0, 1, 1.2], [0, 1, 0])
renderer.set_fov(90)
rgb = renderer.render(('rgb'))[0]
record_property("object_loading_time", elapsed)
assert (np.sum(rgb, axis=(0, 1, 2)) > 0)
renderer.release()
def test_render_pbr_optimized():
hdr_texture = os.path.join(gibson2.ig_dataset_path, 'scenes', 'background',
'quattro_canti_4k.hdr')
model_path = os.path.join(get_ig_model_path('sink', 'sink_1'), 'shape',
'visual')
settings = MeshRendererSettings(msaa=True,
enable_shadow=True,
env_texture_filename=hdr_texture,
env_texture_filename3=hdr_texture,
optimized=True)
renderer = MeshRenderer(width=1024,
height=1024,
vertical_fov=90,
rendering_settings=settings)
renderer.set_light_position_direction([0, 0, 10], [0, 0, 0])
i = 0
for fn in os.listdir(model_path):
if fn.endswith('obj'):
renderer.load_object(os.path.join(model_path, fn), scale=[1, 1, 1])
renderer.add_instance(i)
i += 1
renderer.instances[-1].use_pbr = True
renderer.instances[-1].use_pbr_mapping = True
renderer.set_camera([1.5, 1.5, 1.5], [0, 0, 0], [0, 0, 1], cache=True)
frame = renderer.render(modes=('rgb', 'normal'))
Image.fromarray((255 * np.concatenate(frame, axis=1)[:, :, :3]).astype(
np.uint8)).save('test_render_optimized.png')
renderer.set_camera([1.49, 1.49, 1.49], [0, 0.05, 0.05], [0, 0, 1],
cache=True) # simulate camera movement
frame = renderer.render(modes=('optical_flow', 'scene_flow'))
plt.subplot(1, 2, 1)
plt.imshow(np.abs(frame[0][:, :, :3]) / np.max(np.abs(frame[0][:, :, :3])))
plt.subplot(1, 2, 2)
plt.imshow(np.abs(frame[1][:, :, :3]) / np.max(np.abs(frame[1][:, :, :3])))
plt.savefig('test_render_optimized_flow.png')
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_scene_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)
px = 0
py = 0.2
camera_pose = np.array([px, py, 0.5])
view_direction = np.array([0, -1, -1])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.set_fov(90)
_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'))
cv2.imshow(
'test',
cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
q = cv2.waitKey(1)
if q == ord('w'):
px += 0.01
elif q == ord('s'):
px -= 0.01
elif q == ord('a'):
py += 0.01
elif q == ord('d'):
py -= 0.01
elif q == ord('q'):
break
camera_pose = np.array([px, py, 0.5])
renderer.set_camera(camera_pose, camera_pose + view_direction,
[0, 0, 1])
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_scene_path('Rs_int'), 'mesh_z_up.obj')
settings = MeshRendererSettings(msaa=True, enable_shadow=True)
renderer = MeshRenderer(width=1024, height=1024, vertical_fov=70, rendering_settings=settings)
renderer.set_light_position_direction([0,0,10], [0,0,0])
i = 0
v = []
for fn in os.listdir(model_path):
if fn.endswith('obj'):
vertices, faces = load_obj_np(os.path.join(model_path, fn))
v.append(vertices)
v = np.vstack(v)
print(v.shape)
xlen = np.max(v[:,0]) - np.min(v[:,0])
ylen = np.max(v[:,1]) - np.min(v[:,1])
scale = 2.0/(max(xlen, ylen))
for fn in os.listdir(model_path):
if fn.endswith('obj'):
renderer.load_object(os.path.join(model_path, fn), scale=[scale, scale, scale])
renderer.add_instance(i)
i += 1
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
px = 1
py = 1
pz = 1
camera_pose = np.array([px, py, pz])
view_direction = np.array([-1, -1, -1])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
_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'))
cv2.imshow('test', cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
q = cv2.waitKey(1)
if q == ord('w'):
px += 0.1
elif q == ord('s'):
px -= 0.1
elif q == ord('a'):
py += 0.1
elif q == ord('d'):
py -= 0.1
elif q == ord('q'):
break
camera_pose = np.array([px, py, 1])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
renderer.release()
def benchmark(render_to_tensor=False,
resolution=512,
obj_num=100,
optimized=True):
n_frame = 200
if optimized:
settings = MeshRendererSettings(msaa=True, optimized=True)
renderer = MeshRenderer(width=resolution,
height=resolution,
vertical_fov=90,
rendering_settings=settings)
else:
settings = MeshRendererSettings(msaa=True, optimized=False)
renderer = MeshRenderer(width=resolution,
height=resolution,
vertical_fov=90,
rendering_settings=settings)
renderer.load_object('plane/plane_z_up_0.obj', scale=[3, 3, 3])
renderer.add_instance(0)
renderer.instances[-1].use_pbr = True
renderer.instances[-1].use_pbr_mapping = True
renderer.set_pose([0, 0, -1.5, 1, 0, 0.0, 0.0], -1)
model_path = sys.argv[1]
px = 1
py = 1
pz = 1
camera_pose = np.array([px, py, pz])
view_direction = np.array([-1, -1, -1])
renderer.set_camera(camera_pose, camera_pose + view_direction, [0, 0, 1])
theta = 0
r = 6
scale = 1
i = 1
obj_count_x = int(np.sqrt(obj_num))
for fn in os.listdir(model_path):
if fn.endswith('obj') and 'processed' in fn:
renderer.load_object(os.path.join(model_path, fn),
scale=[scale, scale, scale])
for obj_i in range(obj_count_x):
for obj_j in range(obj_count_x):
renderer.add_instance(i)
renderer.set_pose([
obj_i - obj_count_x / 2., obj_j - obj_count_x / 2., 0,
0.7071067690849304, 0.7071067690849304, 0.0, 0.0
], -1)
renderer.instances[-1].use_pbr = True
renderer.instances[-1].use_pbr_mapping = True
i += 1
print(renderer.visual_objects, renderer.instances)
print(renderer.materials_mapping, renderer.mesh_materials)
start = time.time()
for i in range(n_frame):
px = r * np.sin(theta)
py = r * np.cos(theta)
theta += 0.01
camera_pose = np.array([px, py, pz])
renderer.set_camera(camera_pose, [0, 0, 0], [0, 0, 1])
frame = renderer.render(modes=('rgb', 'normal'))
#print(frame)
cv2.imshow(
'test',
cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
cv2.waitKey(1)
elapsed = time.time() - start
print('{} fps'.format(n_frame / elapsed))
return obj_num, n_frame / elapsed