def render_many(self,
obj_ids,
W,
H,
K,
Rs,
ts,
near,
far,
random_light=True,
phong={
'ambient': 0.4,
'diffuse': 0.8,
'specular': 0.3
}):
assert W <= Renderer.MAX_FBO_WIDTH and H <= Renderer.MAX_FBO_HEIGHT
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glViewport(0, 0, W, H)
if random_light:
self.set_light_pose(1000. * np.random.random(3))
self.set_ambient_light(phong['ambient'] + 0.1 *
(2 * np.random.rand() - 1))
self.set_diffuse_light(phong['diffuse'] + 0.1 *
(2 * np.random.rand() - 1))
self.set_specular_light(phong['specular'] + 0.1 *
(2 * np.random.rand() - 1))
# self.set_ambient_light(phong['ambient'])
# self.set_diffuse_light(0.7)
# self.set_specular_light(0.3)
else:
self.set_light_pose(np.array([400., 400., 400]))
self.set_ambient_light(phong['ambient'])
self.set_diffuse_light(phong['diffuse'])
self.set_specular_light(phong['specular'])
bbs = []
for i in range(len(obj_ids)):
o = obj_ids[i]
R = Rs[i]
t = ts[i]
camera = gu.Camera()
camera.realCamera(W, H, K, R, t, near, far)
self._scene_buffer.update(camera.data)
self._fbo.bind()
glDrawElementsIndirect(GL_TRIANGLES, GL_UNSIGNED_INT,
ctypes.c_void_p(o * 4 * 5))
self._fbo_depth.bind()
glViewport(0, 0, W, H)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glDrawElementsIndirect(GL_TRIANGLES, GL_UNSIGNED_INT,
ctypes.c_void_p(o * 4 * 5))
glNamedFramebufferReadBuffer(self._fbo_depth.id,
GL_COLOR_ATTACHMENT1)
depth_flipped = glReadPixels(0, 0, W, H, GL_RED,
GL_FLOAT).reshape(H, W)
depth = np.flipud(depth_flipped).copy()
ys, xs = np.nonzero(depth > 0)
obj_bb = misc.calc_2d_bbox(xs, ys, (W, H))
bbs.append(obj_bb)
glBindFramebuffer(GL_FRAMEBUFFER, self._fbo.id)
glNamedFramebufferReadBuffer(self._fbo.id, GL_COLOR_ATTACHMENT0)
bgr_flipped = np.frombuffer(glReadPixels(0, 0, W, H, GL_BGR,
GL_UNSIGNED_BYTE),
dtype=np.uint8).reshape(H, W, 3)
bgr = np.flipud(bgr_flipped).copy()
glNamedFramebufferReadBuffer(self._fbo.id, GL_COLOR_ATTACHMENT1)
depth_flipped = glReadPixels(0, 0, W, H, GL_RED,
GL_FLOAT).reshape(H, W)
depth = np.flipud(depth_flipped).copy()
return bgr, depth, bbs
def render(self,
obj_id,
W,
H,
K,
R,
t,
near,
far,
random_light=False,
phong={
'ambient': 0.4,
'diffuse': 0.8,
'specular': 0.3
}):
assert W <= Renderer.MAX_FBO_WIDTH and H <= Renderer.MAX_FBO_HEIGHT
if self._samples > 1:
self._render_fbo.bind()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT
| GL_STENCIL_BUFFER_BIT)
glViewport(0, 0, W, H)
camera = gu.Camera()
camera.realCamera(W, H, K, R, t, near, far)
self._scene_buffer.update(camera.data)
# print phong
if random_light:
self.set_light_pose(1000. * np.random.random(3))
self.set_ambient_light(phong['ambient'])
self.set_diffuse_light(phong['diffuse'] + 0.1 *
(2 * np.random.rand() - 1))
self.set_specular_light(phong['specular'] + 0.1 *
(2 * np.random.rand() - 1))
# self.set_ambient_light(phong['ambient'])
# self.set_diffuse_light(0.7)
# self.set_specular_light(0.3)
else:
self.set_light_pose(np.array([400., 400., 400]))
self.set_ambient_light(phong['ambient'])
self.set_diffuse_light(phong['diffuse'])
self.set_specular_light(phong['specular'])
# self.set_ambient_light(0.4)
# self.set_diffuse_light(0.7)
# self.set_ambient_light(0.5)
# self.set_diffuse_light(0.4)
# self.set_specular_light(0.1)
glDrawElementsIndirect(GL_TRIANGLES, GL_UNSIGNED_INT,
ctypes.c_void_p(obj_id * 4 * 5))
# if self._samples > 1:
# for i in xrange(2):
# glNamedFramebufferReadBuffer(self._render_fbo.id, GL_COLOR_ATTACHMENT0 + i)
# glNamedFramebufferDrawBuffer(self._fbo.id, GL_COLOR_ATTACHMENT0 + i)
# glBlitNamedFramebuffer(self._render_fbo.id, self._fbo.id, 0, 0, W, H, 0, 0, W, H, GL_COLOR_BUFFER_BIT, GL_NEAREST)
# self._fbo.bind()
if self._samples > 1:
self._fbo.bind()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glNamedFramebufferDrawBuffer(self._fbo.id, GL_COLOR_ATTACHMENT1)
glDrawElementsIndirect(GL_TRIANGLES, GL_UNSIGNED_INT,
ctypes.c_void_p(obj_id * 4 * 5))
glNamedFramebufferReadBuffer(self._render_fbo.id,
GL_COLOR_ATTACHMENT0)
glNamedFramebufferDrawBuffer(self._fbo.id, GL_COLOR_ATTACHMENT0)
glBlitNamedFramebuffer(self._render_fbo.id, self._fbo.id, 0, 0, W,
H, 0, 0, W, H, GL_COLOR_BUFFER_BIT,
GL_NEAREST)
glNamedFramebufferDrawBuffers(
self._fbo.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
glNamedFramebufferReadBuffer(self._fbo.id, GL_COLOR_ATTACHMENT0)
bgr_flipped = np.frombuffer(glReadPixels(0, 0, W, H, GL_BGR,
GL_UNSIGNED_BYTE),
dtype=np.uint8).reshape(H, W, 3)
bgr = np.flipud(bgr_flipped).copy()
glNamedFramebufferReadBuffer(self._fbo.id, GL_COLOR_ATTACHMENT1)
depth_flipped = glReadPixels(0, 0, W, H, GL_RED,
GL_FLOAT).reshape(H, W)
depth = np.flipud(depth_flipped).copy()
return bgr, depth
def __init__(self,
models_cad_files,
samples=1,
vertex_tmp_store_folder='.',
clamp=False,
vertex_scale=1.0):
self._samples = samples
self._context = gu.OffscreenContext()
# FBO
W, H = Renderer.MAX_FBO_WIDTH, Renderer.MAX_FBO_HEIGHT
self._fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB8, W, H),
GL_COLOR_ATTACHMENT1:
gu.Texture(GL_TEXTURE_2D, 1, GL_R32F, W, H),
GL_DEPTH_ATTACHMENT:
gu.Renderbuffer(GL_DEPTH_COMPONENT32F, W, H)
})
self._fbo_depth = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB8, W, H),
GL_COLOR_ATTACHMENT1:
gu.Texture(GL_TEXTURE_2D, 1, GL_R32F, W, H),
GL_DEPTH_ATTACHMENT:
gu.Renderbuffer(GL_DEPTH_COMPONENT32F, W, H)
})
glNamedFramebufferDrawBuffers(
self._fbo.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
glNamedFramebufferDrawBuffers(
self._fbo_depth.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
if self._samples > 1:
self._render_fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.TextureMultisample(self._samples, GL_RGB8, W, H, True),
GL_COLOR_ATTACHMENT1:
gu.TextureMultisample(self._samples, GL_R32F, W, H, True),
GL_DEPTH_STENCIL_ATTACHMENT:
gu.RenderbufferMultisample(self._samples, GL_DEPTH32F_STENCIL8,
W, H)
})
glNamedFramebufferDrawBuffers(
self._render_fbo.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
self._fbo.bind()
# VAO
attributes = gu.geo.load_meshes_sixd(models_cad_files,
vertex_tmp_store_folder,
recalculate_normals=False)
vertices = []
indices = []
for vertex, normal, color, faces in attributes:
indices.append(faces.flatten())
vertices.append(
np.hstack(
(vertex * vertex_scale, normal, color / 255.0)).flatten())
indices = np.hstack(indices).astype(np.uint32)
vertices = np.hstack(vertices).astype(np.float32)
vao = gu.VAO(
{
(gu.Vertexbuffer(vertices), 0, 9 * 4):
[(0, 3, GL_FLOAT, GL_FALSE, 0 * 4),
(1, 3, GL_FLOAT, GL_FALSE, 3 * 4),
(2, 3, GL_FLOAT, GL_FALSE, 6 * 4)]
}, gu.EBO(indices))
vao.bind()
# IBO
vertex_count = [np.prod(vert[3].shape) for vert in attributes]
instance_count = np.ones(len(attributes))
first_index = [sum(vertex_count[:i]) for i in range(len(vertex_count))]
vertex_sizes = [vert[0].shape[0] for vert in attributes]
base_vertex = [sum(vertex_sizes[:i]) for i in range(len(vertex_sizes))]
base_instance = np.zeros(len(attributes))
ibo = gu.IBO(vertex_count, instance_count, first_index, base_vertex,
base_instance)
ibo.bind()
gu.Shader.shader_folder = os.path.join(
os.path.dirname(os.path.abspath(__file__)), 'shader')
# if clamp:
# shader = gu.Shader('depth_shader_phong.vs', 'depth_shader_phong_clamped.frag')
# else:
shader = gu.Shader('depth_shader_phong.vs', 'depth_shader_phong.frag')
shader.compile_and_use()
self._scene_buffer = gu.ShaderStorage(0, gu.Camera().data, True)
self._scene_buffer.bind()
glEnable(GL_DEPTH_TEST)
glClearColor(0.0, 0.0, 0.0, 1.0)
def __init__(self,
models_cad_files,
samples=1,
vertex_tmp_store_folder='.',
vertex_scale=1.):
#import ipdb; ipdb.set_trace()
self._samples = samples
self._context = gu.OffscreenContext()
# FBO
W, H = Renderer.MAX_FBO_WIDTH, Renderer.MAX_FBO_HEIGHT
self._fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB8, W, H),
GL_COLOR_ATTACHMENT1:
gu.Texture(GL_TEXTURE_2D, 1, GL_R32F, W, H),
GL_DEPTH_ATTACHMENT:
gu.Renderbuffer(GL_DEPTH_COMPONENT32F, W, H)
})
self._fbo_depth = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB8, W, H),
GL_COLOR_ATTACHMENT1:
gu.Texture(GL_TEXTURE_2D, 1, GL_R32F, W, H),
GL_DEPTH_ATTACHMENT:
gu.Renderbuffer(GL_DEPTH_COMPONENT32F, W, H)
})
glNamedFramebufferDrawBuffers(
self._fbo.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
glNamedFramebufferDrawBuffers(
self._fbo_depth.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
if self._samples > 1:
self._render_fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.TextureMultisample(self._samples, GL_RGB8, W, H, True),
GL_DEPTH_ATTACHMENT:
gu.RenderbufferMultisample(self._samples,
GL_DEPTH_COMPONENT32F, W, H)
})
# VAO
vert_norms = gu.geo.load_meshes(models_cad_files,
vertex_tmp_store_folder,
recalculate_normals=True)
vertices = np.empty(0, dtype=np.float32)
for vert_norm in vert_norms:
_verts = vert_norm[0] * vertex_scale
vertices = np.hstack((vertices, np.hstack(
(_verts, vert_norm[1])).reshape(-1)))
vao = gu.VAO({
(gu.Vertexbuffer(vertices), 0, 6 * 4):
[(0, 3, GL_FLOAT, GL_FALSE, 0 * 4),
(1, 3, GL_FLOAT, GL_FALSE, 3 * 4)]
})
sizes = [vert[0].shape[0] for vert in vert_norms]
offsets = [sum(sizes[:i]) for i in range(len(sizes))]
ibo = gu.IBO(sizes, np.ones(len(vert_norms)), offsets,
np.zeros(len(vert_norms)))
gu.Shader.shader_folder = os.path.join(
os.path.dirname(os.path.abspath(__file__)), 'shader')
shader = gu.Shader('cad_shader.vs', 'cad_shader.frag')
shader.compile()
self._scene_buffer = gu.ShaderStorage(0, gu.Camera().data, True)
self._fbo.bind()
self._scene_buffer.bind()
vao.bind()
ibo.bind()
shader.use()
glEnable(GL_DEPTH_TEST)
glClearColor(0.0, 0.0, 0.0, 1.0)