def create_scene(self, off_screen=False, ego_view=True, pose=None):
""" Creates a scene with the robot and a camera
Parameters
----------
off_screen : bool, optional
False for showing and displaying the robot, by default False
ego_view : bool, optional
True for ego view, false for observer camera, by default True
"""
if pose is None:
if ego_view:
pose = [[0, 0.5, -0.35, 0.2], [-1, 0, 0, 0.0],
[0, 0.35, 0.5, 1.5], [0, 0, 0, 1]]
else:
pose = [[0, 0, 1, 1.5], [1, 0, 0, 0.0], [0, 1, 0, 1.2],
[0, 0, 0, 1]]
node_map = {}
self.scene = pyrender.Scene()
fk = self.get_robot_trimesh()
for tm in self.get_robot_trimesh():
pose = fk[tm]
mesh = pyrender.Mesh.from_trimesh(tm, smooth=False)
node = self.scene.add(mesh, pose=pose)
self.r_node_map[tm] = node
if off_screen:
if ego_view:
camera = pyrender.IntrinsicsCamera(400, 400, 1920 / 2,
1080 / 2)
light = pyrender.DirectionalLight(color=[1, 1, 1],
intensity=2e3)
'''
self.scene.add(camera, pose=[[ 0, 0.5, -0.87, 0.2],
[ -1, 0, 0, 0.0],
[ 0, 0.87, 0.5, 1.5],
[ 0, 0, 0, 1]])'''
self.scene.add(camera, pose=pose)
self.scene.add(light, pose=np.eye(4))
else:
camera = pyrender.IntrinsicsCamera(800, 800, 1920 / 2,
1080 / 2)
light = pyrender.DirectionalLight(color=[1, 1, 1],
intensity=2e3)
self.scene.add(camera, pose=pose)
self.scene.add(light, pose=np.eye(4))
self.rend = pyrender.OffscreenRenderer(1920, 1080)
logger.debug("renderer initialised: " + str(self.rend))
else:
self.viewer = pyrender.Viewer(self.scene,
use_raymond_lighting=True,
run_in_thread=True)
def render(self, camera_pose : np.array, camera_intrinsics : np.array , znear : float = 1.0, zfar : float= 100.0, render_flags : BoxRenderFlags = None):
'''
camera_pose: numpy 4x4 array of camera pose in global coordinate system
camera_intrinsics: [fx, fy, cx, cy]: list of 4 floating point values for camera intrinsics (fx,fy,cx,cy in pixels)
znear: near clipping plane - not relevant to intrinsics - z near defines the clipping of the depth values
zfar: far clipping plane - not relevant to intrinsics - z far defines the clipping of the depth values
'''
if(self._initialize_offscreen_renderer):
self._renderer = pyrender.OffscreenRenderer(self._canvas_width, self._canvas_height)
self._initialize_offscreen_renderer = False
if(len(self._scene.camera_nodes)>0):
self._scene.remove_node(next(iter(self._scene.camera_nodes)))
camera = pyrender.IntrinsicsCamera(fx = camera_intrinsics[0], fy = camera_intrinsics[1], cx = camera_intrinsics[2], cy = camera_intrinsics[3], \
znear = znear, zfar = zfar)
final_camera_pose = np.dot(camera_pose,self._camera_transform)
self._scene.bg_color = self._background_color
self._scene.add(camera, pose = final_camera_pose)
self._generate_mesh(camera_pose, render_flags)
self._add_box_mesh_to_scene()
color, depth = self._renderer.render(self._scene, flags = pyrender.RenderFlags.DISABLE_MULTISAMPLING | pyrender.RenderFlags.RGBA)
# undo normal color encoding
normals = (2.0*color[:,:,:3])/255.0 - 1
labels = color[:,:,3]
# convert normals to camera coordinate system
inv_camera_transform = np.linalg.inv(self._camera_transform)
inv_camera_rot = inv_camera_transform[:3,:3]
trans_normals = np.dot(inv_camera_rot, normals.reshape((-1,3)).T)
normals_reshaped = np.reshape(trans_normals.T,normals.shape)
return color, depth, normals_reshaped, labels
def _init_camera_renderer(self):
"""
If not in visualizing mode, initialize camera with given intrinsics
"""
if self._viewer:
return
if self._intrinsics in ['kinect_azure', 'realsense']:
camera = pyrender.IntrinsicsCamera(self._fx, self._fy, self._cx,
self._cy, self._znear,
self._zfar)
self._camera_node = self._scene.add(camera,
pose=np.eye(4),
name='camera')
self.renderer = pyrender.OffscreenRenderer(
viewport_width=self._width,
viewport_height=self._height,
point_size=1.0)
else:
camera = pyrender.PerspectiveCamera(
yfov=self._fov, aspectRatio=1.0,
znear=0.001) # do not change aspect ratio
self._camera_node = self._scene.add(camera,
pose=tra.euler_matrix(
np.pi, 0, 0),
name='camera')
self.renderer = pyrender.OffscreenRenderer(400, 400)
def get_rendered_depth(method, mesh_root, param_root, model_name,
camera_index):
trimesh_obj = trimesh.load(get_mesh_path(mesh_root, model_name, method),
process=True)
mesh = pyrender.Mesh.from_trimesh(trimesh_obj)
extrinsic, intrinsic = read_camera(param_root, model_name, camera_index)
scene = None
if LIGHTING == 'plain':
scene = pyrender.Scene(ambient_light=[0.75, 0.75, 0.75])
else:
scene = pyrender.Scene()
scene.add(mesh)
camera_intrinsic = pyrender.IntrinsicsCamera(intrinsic[0][0],
intrinsic[1][1],
intrinsic[0][2],
intrinsic[1][2],
zfar=6000)
scene.add(camera_intrinsic, pose=extrinsic)
if LIGHTING != 'plain':
for n in create_raymond_lights():
scene.add_node(n, scene.main_camera_node)
# pyrender.Viewer(scene, viewport_size=window_dims[::-1])
r = pyrender.OffscreenRenderer(window_dims[1], window_dims[0])
color, depth = r.render(scene)
return depth
def rnder_one_scene(args, mesh_pth, obj_pose, camera_pose):
try:
fuze_trimesh = trimesh.load(mesh_pth)
mesh = pyrender.Mesh.from_trimesh(fuze_trimesh)
except Exception:
print("Error loadding from {}".format(mesh_pth))
return
scene = pyrender.Scene(ambient_light=[0.9, 0.9, 0.9])
nm = pyrender.Node(mesh=mesh, matrix=obj_pose)
scene.add_node(nm)
h, w = args.h, args.w
if type(args.K) == list:
K = np.array(args.K).reshape(3, 3)
else:
K = args.K
camera = pyrender.IntrinsicsCamera(K[0][0], K[1][1], K[0][2], K[1][2])
scene.add(camera, pose=camera_pose)
light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=1.0)
# light = pyrender.light.Light(color=[1.0, 1.0, 1.0], intensity=5)
scene.add(light)
r = pyrender.OffscreenRenderer(w, h)
color, depth = r.render(scene)
return color, depth
def add_camera(self, camera_pose = np.eye(4)):
fx = self.config["camera"]["fx"]
fy = self.config["camera"]["fy"]
cx = self.config["camera"]["width"] / 2
cy = self.config["camera"]["height"] /2
camera = pyrender.IntrinsicsCamera(fx, fy, cx, cy)
self.scene.add(camera, pose=camera_pose)
def __init__(self, model_paths, cam_K, H, W):
if not isinstance(model_paths, list):
print("model_paths have to be list")
raise RuntimeError
self.scene = pyrender.Scene(ambient_light=[1., 1., 1.],
bg_color=[0, 0, 0])
self.camera = pyrender.IntrinsicsCamera(fx=cam_K[0, 0],
fy=cam_K[1, 1],
cx=cam_K[0, 2],
cy=cam_K[1, 2],
znear=0.1,
zfar=2.0)
self.cam_node = self.scene.add(self.camera, pose=np.eye(4))
self.mesh_nodes = []
for model_path in model_paths:
print('model_path', model_path)
obj_mesh = trimesh.load(model_path)
colorVisual = obj_mesh.visual.to_color()
mesh = pyrender.Mesh.from_trimesh(obj_mesh)
mesh_node = self.scene.add(
mesh, pose=np.eye(4),
parent_node=self.cam_node) # Object pose parent is cam
self.mesh_nodes.append(mesh_node)
self.H = H
self.W = W
self.r = pyrender.OffscreenRenderer(self.W, self.H)
self.glcam_in_cvcam = np.array([[1, 0, 0, 0], [0, -1, 0, 0],
[0, 0, -1, 0], [0, 0, 0, 1]])
self.cvcam_in_glcam = np.linalg.inv(self.glcam_in_cvcam)
def set_intrinsics(self,
size,
K,
scale=None,
znear=0.1,
zfar=10,
rvec=None):
self.K_no_scale = deepcopy(K)
self.K = deepcopy(K)
if scale is not None:
self.K[:2] *= scale
self.camera = pyrender.IntrinsicsCamera(fx=self.K[0, 0],
fy=self.K[1, 1],
cx=self.K[0, 2],
cy=self.K[1, 2],
znear=znear,
zfar=zfar)
if self.camera_node is not None:
self.scene.remove_node(self.camera_node)
self.T = np.eye(4)
if rvec is not None:
rotmtx = cv2.Rodrigues(np.array(rvec))[0]
self.T[:3, :3] = rotmtx
self.camera_node = self.scene.add(self.camera,
pose=self.T,
name='pc-camera')
self.size = deepcopy(size)
if scale is not None:
for k in self.size:
self.size[k] *= scale
self.viewer = pyrender.OffscreenRenderer(self.size['w'],
self.size['h'])
def __init__(self,
width,
height,
camera_distance=0.05,
pose_y=0.0,
focal_length=None):
self.camera = pyrender.OrthographicCamera(xmag=1.0,
ymag=1.0,
znear=0.05)
if focal_length:
focal_length = focal_length * height
self.camera = pyrender.IntrinsicsCamera(focal_length, focal_length,
width / 2, height / 2,
0.05, 5.05)
self.width = width
self.height = height
self.global_tr = np.array([[1.0, 0.0, 0.0,
0.0], [0.0, 1.0, 0.0, pose_y],
[0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])
self.camera_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, camera_distance],
[0.0, 0.0, 0.0, 1.0]])
self.tri_mesh = self.py_mesh = self.vertices = self.faces = self.render = self.py_scene = None
def render_images(self, mode):
if self.all_viewpoints[mode] is None:
print("Error: list of points to render %s is None" % mode)
r = pyrender.OffscreenRenderer(self.width*self.anti_alias, self.height*self.anti_alias)
if mode is 'train':
N = min(len(self.all_viewpoints['train']), self.n_views_train)
elif mode is 'test':
N = min(len(self.all_viewpoints['test']), self.n_views_test)
elif mode is 'val':
N = min(len(self.all_viewpoints['val']), self.n_views_train)
print("Rendering %s from %d views ..." % (mode,N))
frames_data_dump = []
camera = pyrender.IntrinsicsCamera(self.fx, self.fx, self.cx,
self.cy, 0.0001, 1000)
camera_node = self.scene.add(camera, pose=np.eye(4))
#camera_node = self.scene.add(camera, self.all_viewpoints['train'][1][0])
for i in tqdm(range(N)):
#camera_pose = lookAt(np.array([-9.0,-4.0,13]),np.array([0,0,0]))
camera_position = self.all_viewpoints[mode][i]
camera_pose = lookAt(camera_position, [0,0,0])
self.scene.set_pose(self.scene.main_camera_node, pose = camera_pose)
# Render the scene
color, depth = r.render(self.scene, flags=1024) #skip backface culling
#print('\n',self.scene.main_camera_node.matrix , '\n')
#print('\n', np.max(color))
#print(np.min(color))
if np.max(color) == np.min(color):
print("rendered nothing for %d-th pose" % i)
#np.save(os.path.join(opt.folder_name, 'poses_train.npy'), view_sampler.points)
# save png file
im = PIL.Image.fromarray(color)
# Down sample high resolution version
if self.anti_alias > 1:
im.thumbnail([self.height, self.width], PIL.Image.ANTIALIAS)
# I/O - Json and image
im.save((self.target_path + '%s/r_%04d.png' % (mode,i)))
frames_data_dump.append({'file_path': './%s/r_%04d' % (mode,i),
'transform_matrix':camera_pose.tolist()})
with open(self.target_path + '/transforms_%s.json' % mode, 'w') as fp:
json.dump({'camera_angle_x':self.camera_angle,'frames':frames_data_dump},
fp, indent=4, )
# Change to true for visualization
if True:
import matplotlib.pyplot as plt
if i<3:
plt.figure()
plt.imshow(color)
plt.figure()
plt.show()
def render_skeleton(self, joints, camera_translation, image):
material = pyrender.MetallicRoughnessMaterial(
metallicFactor=0.2,
alphaMode='OPAQUE',
baseColorFactor=(0.8, 0.3, 0.3, 1.0))
camera_translation[0] *= -1.
scene = pyrender.Scene()
# print(joints.shape)
sm = trimesh.creation.uv_sphere(radius=0.01)
sm.visual.vertex_colors = [0.9, 0.1, 0.1, 1.0]
tfs = np.tile(np.eye(4), (len(joints), 1, 1))
tfs[:, :3, 3] = joints
tfs[:, 1, 1] = -1
tfs[:, 2, 2] = -1
rot = trimesh.transformations.rotation_matrix(np.radians(180),
[1, 0, 0])
# print(rot)
joints_pcl = pyrender.Mesh.from_trimesh(sm,
poses=tfs,
material=material)
scene.add(joints_pcl, 'joints')
# p = trimesh.load_path([[joints[29,:], joints[30,:]]])
bones = pyrender.Mesh.from_points([[joints[29, :], joints[30, :]]])
scene.add(bones, 'bones')
camera_pose = np.eye(4)
camera_pose[:3, 3] = camera_translation
camera = pyrender.IntrinsicsCamera(fx=self.focal_length,
fy=self.focal_length,
cx=self.camera_center[0],
cy=self.camera_center[1])
scene.add(camera, pose=camera_pose)
light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=1)
light_pose = np.eye(4)
light_pose[:3, 3] = np.array([0, -1, 1])
scene.add(light, pose=light_pose)
light_pose[:3, 3] = np.array([0, 1, 1])
scene.add(light, pose=light_pose)
light_pose[:3, 3] = np.array([1, 1, 2])
scene.add(light, pose=light_pose)
# pyrender.Viewer(scene)
color, rend_depth = self.renderer.render(
scene, flags=pyrender.RenderFlags.RGBA)
color = color.astype(np.float32) / 255.0
valid_mask = (rend_depth > 0)[:, :, None]
output_img = (color[:, :, :3] * valid_mask + (1 - valid_mask) * image)
return output_img
def get_intrinsics():
return pyrender.IntrinsicsCamera(
fx=FOCAL,
fy=FOCAL,
cx=IMAGE_SIZE/2,
cy=IMAGE_SIZE/2,
znear=Z_NEAR,
zfar=Z_FAR)
def cameraFromIntrinsics(rs_intrinsics):
"""Returns Pyrender Camera.
Makes a Pyrender camera from realsense intrinsics
"""
return pyrender.IntrinsicsCamera(cx=rs_intrinsics.ppx,
cy=rs_intrinsics.ppy,
fx=rs_intrinsics.fx,
fy=rs_intrinsics.fy)
def __init__(self, name, device='cuda:0'):
"""Constructor.
Args:
name: Sequence name.
device: A torch.device string argument. The specified device is used only
for certain data loading computations, but not storing the loaded data.
Currently the loaded data is always stored as numpy arrays on cpu.
"""
assert device in ('cuda', 'cpu') or device.split(':')[0] == 'cuda'
self._name = name
self._device = torch.device(device)
self._loader = SequenceLoader(self._name,
device=device,
preload=False,
app='renderer')
# Create pyrender cameras.
self._cameras = []
for c in range(self._loader.num_cameras):
K = self._loader.K[c].cpu().numpy()
fx = K[0][0].item()
fy = K[1][1].item()
cx = K[0][2].item()
cy = K[1][2].item()
cam = pyrender.IntrinsicsCamera(fx, fy, cx, cy)
self._cameras.append(cam)
# Create meshes for YCB objects.
self._mesh_y = []
for o in range(self._loader.num_ycb):
obj_file = self._loader.ycb_group_layer.obj_file[o]
mesh = trimesh.load(obj_file)
mesh = pyrender.Mesh.from_trimesh(mesh)
self._mesh_y.append(mesh)
# Create spheres for MANO joints.
self._mesh_j = []
for o in range(self._loader.num_mano):
mesh = trimesh.creation.uv_sphere(radius=0.005)
mesh.visual.vertex_colors = [1.0, 0.0, 0.0]
self._mesh_j.append(mesh)
self._faces = self._loader.mano_group_layer.f.cpu().numpy()
w = self._loader.dimensions[0]
h = self._loader.dimensions[1]
self._r = pyrender.OffscreenRenderer(viewport_width=w,
viewport_height=h)
self._render_dir = [
os.path.join(os.path.dirname(__file__), "..", "data", "render",
self._name, self._loader.serials[c])
for c in range(self._loader.num_cameras)
]
for d in self._render_dir:
os.makedirs(d, exist_ok=True)
def render_depth_map_mesh(
self,
K,
R,
t,
height,
width,
znear=0.05,
zfar=1500,
):
scene = pyrender.Scene()
mesh = pyrender.Mesh(
primitives=[
pyrender.Primitive(
positions=self.verts,
normals=self.normals,
color_0=self.colors,
indices=self.faces,
mode=pyrender.GLTF.TRIANGLES,
)
],
is_visible=True,
)
mesh_node = pyrender.Node(mesh=mesh, matrix=np.eye(4))
scene.add_node(mesh_node)
cam = pyrender.IntrinsicsCamera(
fx=K[0, 0],
fy=K[1, 1],
cx=K[0, 2],
cy=K[1, 2],
znear=znear,
zfar=zfar,
)
T = np.eye(4)
T[:3, :3] = R.T
T[:3, 3] = (-R.T @ t.reshape(3, 1)).ravel()
cv2gl = np.array([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0],
[0, 0, 0, 1]])
T = T @ cv2gl
cam_node = pyrender.Node(camera=cam, matrix=T)
scene.add_node(cam_node)
light = pyrender.DirectionalLight(color=np.ones(3), intensity=3)
light_node = pyrender.Node(light=light, matrix=np.eye(4))
scene.add_node(light_node, parent_node=cam_node)
render = pyrender.OffscreenRenderer(self.width, self.height)
color, depth = render.render(scene)
# if self.vis:
# depth[depth <= 0] = np.NaN
# depth = co.plt.image_colorcode(depth)
# imwrite(dm_path.with_suffix(".jpg"), depth)
return depth
def __call__(self, vertices, camera_translation, image):
material = pyrender.MetallicRoughnessMaterial(
metallicFactor=0.2,
alphaMode='OPAQUE',
baseColorFactor=(0.8, 0.3, 0.3, 1.0))
camera_translation[0] *= -1.
mesh = trimesh.Trimesh(vertices, self.faces)
rot = trimesh.transformations.rotation_matrix(np.radians(180),
[1, 0, 0])
mesh.apply_transform(rot)
#rot1 = np.eye(4)
#rot1[:3,:3] = camera_rotation.T
#mesh.apply_transform(rot1)
mesh = pyrender.Mesh.from_trimesh(mesh, material=material)
scene = pyrender.Scene(ambient_light=(0.5, 0.5, 0.5))
scene.add(mesh, 'mesh')
camera_pose = np.eye(4)
camera_pose[:3, 3] = camera_translation
#camera_pose[:3,:3] = camera_rotation
#print(camera_pose)
camera = pyrender.IntrinsicsCamera(fx=self.focal_length,
fy=self.focal_length,
cx=self.camera_center[0],
cy=self.camera_center[1])
#camera = pyrender.PerspectiveCamera(yfov=np.pi / 3.0, aspectRatio=1.0)
scene.add(camera, pose=camera_pose)
#light = pyrender.SpotLight(color=np.ones(3), intensity=3.0,
# innerConeAngle=np.pi/16.0,
# outerConeAngle=np.pi/6.0)
#scene.add(light, pose=camera_pose)
light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=1)
#scene.add(light, pose=camera_pose)
light_pose = np.eye(4)
#light_pose[:3,:3] = camera_rotation
light_pose[:3, 3] = np.array([0, -1, 1])
scene.add(light, pose=light_pose)
light_pose[:3, 3] = np.array([0, 1, 1])
scene.add(light, pose=light_pose)
light_pose[:3, 3] = np.array([1, 1, 2])
scene.add(light, pose=light_pose)
color, rend_depth = self.renderer.render(
scene, flags=pyrender.RenderFlags.RGBA)
color = color.astype(np.float32) / 255.0
valid_mask = (rend_depth > 0)[:, :, None]
output_img = (color[:, :, :3] * valid_mask + (1 - valid_mask) * image)
return output_img
def __call__(self, height, width, intrinsics, pose, mesh):
self.renderer.viewport_height = height
self.renderer.viewport_width = width
self.scene.clear()
self.scene.add(mesh)
cam = pyrender.IntrinsicsCamera(cx=intrinsics[0, 2], cy=intrinsics[1, 2],
fx=intrinsics[0, 0], fy=intrinsics[1, 1])
self.scene.add(cam, pose=self.fix_pose(pose))
return self.renderer.render(self.scene)#, self.render_flags)
def __init__(self, z=0, x=0, y=0, width=1024, light_color=None, f=None):
if light_color is None:
light_color = np.array([1.0, 1.0, 1.0])
if f is None:
f = np.array([4754.97941935 / 2, 4754.97941935 / 2])
self.mesh = None
frustum = {"near": 0.01, "far": 100.0, "height": 1024, "width": width}
camera_params = {
"c": np.array([x, y]),
"k": np.array([-0.19816071, 0.92822711, 0, 0, 0]),
"f": f,
}
intensity = 1.5
self.rgb_per_v = None
self.scene = pyrender.Scene(ambient_light=[0.2, 0.2, 0.2],
bg_color=[255, 255, 255])
camera = pyrender.IntrinsicsCamera(
fx=camera_params["f"][0],
fy=camera_params["f"][1],
cx=camera_params["c"][0],
cy=camera_params["c"][1],
znear=frustum["near"],
zfar=frustum["far"],
)
camera_pose = np.eye(4)
camera_pose[:3, 3] = np.array([0, 0, 1.0 - z])
self.scene.add(camera, pose=camera_pose)
angle = np.pi / 6.0
pos = [0, 0, 1]
light = pyrender.PointLight(color=light_color, intensity=intensity)
light_pose = np.eye(4)
light_pose[:3, 3] = pos
self.scene.add(light, pose=light_pose.copy())
light_pose[:3, 3] = cv2.Rodrigues(np.array([angle, 0, 0]))[0].dot(pos)
self.scene.add(light, pose=light_pose.copy())
light_pose[:3, 3] = cv2.Rodrigues(np.array([-angle, 0, 0]))[0].dot(pos)
self.scene.add(light, pose=light_pose.copy())
light_pose[:3, 3] = cv2.Rodrigues(np.array([0, -angle, 0]))[0].dot(pos)
self.scene.add(light, pose=light_pose.copy())
light_pose[:3, 3] = cv2.Rodrigues(np.array([0, angle, 0]))[0].dot(pos)
self.scene.add(light, pose=light_pose.copy())
self.r = pyrender.OffscreenRenderer(viewport_width=frustum["width"],
viewport_height=frustum["height"])
def __call__(self,
verts,
cam_trans,
img=None,
angle=None,
axis=None,
mesh_filename=None,
color=[0.8, 0.3, 0.3],
return_mask=False):
mesh = trimesh.Trimesh(verts, self.faces, process=False)
Rx = trimesh.transformations.rotation_matrix(np.radians(180),
[1, 0, 0])
mesh.apply_transform(Rx)
cam_trans[0] *= -1.
if angle and axis:
# Apply given mesh rotation to the mesh - useful for rendering from different views
R = trimesh.transformations.rotation_matrix(
math.radians(angle), axis)
mesh.apply_transform(R)
material = pyrender.MetallicRoughnessMaterial(
metallicFactor=0.2,
alphaMode='OPAQUE',
baseColorFactor=(color[0], color[1], color[2], 1.0))
mesh = pyrender.Mesh.from_trimesh(mesh, material=material)
mesh_node = self.scene.add(mesh, 'mesh')
camera_pose = np.eye(4)
camera_pose[:3, 3] = cam_trans
camera = pyrender.IntrinsicsCamera(fx=config.FOCAL_LENGTH,
fy=config.FOCAL_LENGTH,
cx=self.camera_center[0],
cy=self.camera_center[1])
cam_node = self.scene.add(camera, pose=camera_pose)
rgb, rend_depth = self.renderer.render(self.scene,
flags=RenderFlags.RGBA)
valid_mask = (rend_depth > 0)
if return_mask:
return valid_mask
else:
if img is None:
img = np.zeros((self.img_res, self.img_res, 3))
valid_mask = valid_mask[:, :, None]
output_img = rgb[:, :, :-1] * valid_mask + (1 - valid_mask) * img
image = output_img.astype(np.uint8)
self.scene.remove_node(mesh_node)
self.scene.remove_node(cam_node)
return image
def update_camera(self, intrinsics):
for node in self.scene.get_nodes():
if node.name == 'camera':
self.scene.remove_node(node)
pc = pyrender.IntrinsicsCamera(fx=intrinsics[0, 0],
fy=intrinsics[1, 1],
cx=intrinsics[0, 2],
cy=intrinsics[1, 2],
zfar=1000)
camera_pose = np.eye(4)
self.scene.add(pc, pose=camera_pose, name='camera')
def __init__(self, object_name_or_mesh, K, camera_name, mesh_scale=1.0):
"""
object_name_or_mesh: either object name string (for objects),
or {'vertices': ..., 'faces': ...} (for hand mesh)
K: 3x3 intrinsics matrix
mesh_scale: scale factor applied to the mesh (1.0 for hand, 1e-3 for object)
"""
self.K = K
self.camera_name = camera_name
if camera_name == 'kinect2_middle':
self.flip_fn = lambda x: cv2.flip(cv2.flip(x, 0), 1)
self.out_imsize = (960, 540)
elif camera_name == 'kinect2_left':
self.flip_fn = lambda x: cv2.flip(cv2.transpose(x), 1)
self.out_imsize = (540, 960)
elif camera_name == 'kinect2_right':
self.flip_fn = lambda x: cv2.flip(cv2.transpose(x), 0)
self.out_imsize = (540, 960)
else:
raise NotImplementedError
# mesh
if isinstance(object_name_or_mesh, str):
filename = osp.join('data', 'object_models',
'{:s}.ply'.format(object_name_or_mesh))
mesh_t = trimesh.load_mesh(filename)
elif isinstance(object_name_or_mesh, dict):
mesh_t = trimesh.Trimesh(vertices=object_name_or_mesh['vertices'],
faces=object_name_or_mesh['faces'])
else:
raise NotImplementedError
mesh_t.apply_transform(np.diag([mesh_scale, mesh_scale, mesh_scale,
1]))
self.oX = mesh_t.vertices
mesh = pyrender.Mesh.from_trimesh(mesh_t)
self.scene = pyrender.Scene()
self.scene.add(mesh, pose=np.eye(4))
# camera
camera = pyrender.IntrinsicsCamera(K[0, 0],
K[1, 1],
K[0, 2],
K[1, 2],
znear=0.1,
zfar=2.0)
self.camera_node = pyrender.Node(camera=camera, matrix=np.eye(4))
self.scene.add_node(self.camera_node)
self.cTopengl = np.eye(4)
self.cTopengl[:3, :3] = txe.euler2mat(np.pi, 0, 0)
# renderer object
self.renderer = pyrender.OffscreenRenderer(960, 540)
def render_glcam(
model_in, # model name or trimesh
K=None,
Rt=None,
scale=1.0,
rend_size=(512, 512),
light_trans=np.array([[0], [100], [0]]),
flat_shading=False):
# Mesh creation
if isinstance(model_in, str) is True:
mesh = trimesh.load(model_in, process=False)
else:
mesh = model_in.copy()
pr_mesh = pyrender.Mesh.from_trimesh(mesh)
# Scene creation
scene = pyrender.Scene()
# Adding objects to the scene
face_node = scene.add(pr_mesh)
# Caculate fx fy cx cy from K
fx, fy = K[0][0] * scale, K[1][1] * scale
cx, cy = K[0][2] * scale, K[1][2] * scale
# Camera Creation
cam = pyrender.IntrinsicsCamera(fx, fy, cx, cy, znear=0.1, zfar=100000)
cam_pose = np.eye(4)
cam_pose[:3, :3] = Rt[:3, :3].T
cam_pose[:3, 3] = -Rt[:3, :3].T.dot(Rt[:, 3])
scene.add(cam, pose=cam_pose)
# Set up the light
light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=10.0)
light_pose = cam_pose.copy()
light_pose[0:3, :] += light_trans
scene.add(light, pose=light_pose)
# Rendering offscreen from that camera
r = pyrender.OffscreenRenderer(viewport_width=rend_size[1],
viewport_height=rend_size[0],
point_size=1.0)
if flat_shading is True:
color, depth = r.render(scene,
flags=pyrender.constants.RenderFlags.FLAT)
else:
color, depth = r.render(scene)
# rgb to bgr for cv2
color = color[:, :, [2, 1, 0]]
return depth, color
def render_smpl(vertices, faces, image, intrinsics, pose, transl,
alpha=1.0, filename='render_sample.png'):
img_size = image.shape[-2]
material = pyrender.MetallicRoughnessMaterial(
metallicFactor=0.2,
alphaMode='OPAQUE',
baseColorFactor=(0.8, 0.3, 0.3, 1.0))
# Generate SMPL vertices mesh
mesh = trimesh.Trimesh(vertices, faces)
# Default rotation of SMPL body model
rot = trimesh.transformations.rotation_matrix(np.radians(180), [1, 0, 0])
mesh.apply_transform(rot)
mesh = pyrender.Mesh.from_trimesh(mesh, material=material)
scene = pyrender.Scene(ambient_light=(0.5, 0.5, 0.5))
scene.add(mesh, 'mesh')
camera_pose = np.eye(4)
camera_pose[:3, :3] = pose
camera_pose[:3, 3] = transl
camera = pyrender.IntrinsicsCamera(fx=intrinsics[0, 0], fy=intrinsics[1, 1],
cx=intrinsics[0, 2], cy=intrinsics[1, 2])
scene.add(camera, pose=camera_pose)
# Light information
light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=1)
light_pose = np.eye(4)
light_pose[:3, 3] = np.array([0, -1, 1])
scene.add(light, pose=light_pose)
light_pose[:3, 3] = np.array([0, 1, 1])
scene.add(light, pose=light_pose)
light_pose[:3, 3] = np.array([1, 1, 2])
scene.add(light, pose=light_pose)
renderer = pyrender.OffscreenRenderer(
viewport_width=img_size, viewport_height=img_size, point_size=1.0)
color, rend_depth = renderer.render(scene, flags=pyrender.RenderFlags.RGBA)
valid_mask = (rend_depth > 0)[:,:,None]
color = color.astype(np.float32) / 255.0
valid_mask = (rend_depth > 0)[:,:,None]
output_img = color[:, :, :3] * valid_mask + (1 - valid_mask) * image / 255.0
cv2.imwrite(filename, 255 * output_img)
def depth_map(fx, fy, cx, cy):
"""The function generates depth maps for each model. Each model will have number_positions depth maps.
:param fx: Focal length in X-Axis
:param fy: Focal length in Y-Axis
:param cx: Centre of the image in x-coordinates
:param cy: Centre of the image in y-coordinates
"""
rootdir = "/home/aditya/Documents/Sem_3/TDCV/project_2/tracking/ballet_vicon/mesh/"
path, dirs, files = next(os.walk(rootdir))
files = sorted(files)
#for i in range(len(files)):
for i in range(1):
if files[i].endswith('.off'):
files[i] = files[i][:-4]
#parent_dir_depth_map = "/home/aditya/PycharmProjects/OpenCV-python/Project_2/Depth_maps"
parent_dir_depth_map = "/home/aditya/PycharmProjects/OpenCV-python/Project_2"
directory = files[i]
path = os.path.join(parent_dir_depth_map, directory)
os.mkdir(path) #Creates directories in the parent directory Depth_maps
print("\nCreating directory ", files[i])
ballet_vicon_trimesh = trimesh.load(rootdir + files[i] + ".off")
mesh = pyrender.Mesh.from_trimesh(ballet_vicon_trimesh)
extrinsic_matrix = cam.camera_extrinsics(rootdir + files[i] + ".off")
camera = pyrender.IntrinsicsCamera(fx, fy, cx, cy)
for j in range(np.shape(extrinsic_matrix)[0]):
scene = pyrender.Scene()
scene.add(mesh)
scene.add(camera, pose=extrinsic_matrix[j])
r = pyrender.OffscreenRenderer(1080, 1080)
color, depth = r.render(scene)
print(depth)
fig = plt.figure()
#plt.plot()
plt.axis('off')
plt.imshow(depth, cmap=plt.cm.gray_r)
plt.imshow(color)
fig.savefig(parent_dir_depth_map + "/" + files[i] + "/figure_" +
str(j))
fig.savefig(parent_dir_depth_map + "/" + files[i] + "/cfig_" +
str(j))
plt.close()
np.savez_compressed(
"/home/aditya/PycharmProjects/OpenCV-python/Project_2/TDCV-Project-2/trial1.npz",
depth=depth)
def insert_camera(self, cam_param):
focal, princpt, cam_no = cam_param['focal'], cam_param[
'princpt'], cam_param['cam_no']
camera = pyrender.IntrinsicsCamera(fx=focal[0],
fy=focal[1],
cx=princpt[0],
cy=princpt[1])
self.scene.add(camera, 'cam_{}'.format(cam_no),
np.linalg.inv(cam_param['extrinsics']))
# light
light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=.8)
self.scene.add(light, 'light_{}'.format(cam_no),
np.linalg.inv(cam_param['extrinsics']))
def __call__(self, vertices, camera_translation, image, angle=180, rot_axis=[1, 0, 0]):
material = pyrender.MetallicRoughnessMaterial(
metallicFactor=0.2,
alphaMode='OPAQUE',
baseColorFactor=(0.8, 0.3, 0.3, 1.0))
camera_translation[0] *= -1.
mesh = trimesh.Trimesh(vertices, self.faces)
if angle != 180:
rot = trimesh.transformations.rotation_matrix(
np.radians(180), [1, 0, 0])
mesh.apply_transform(rot)
rot = trimesh.transformations.rotation_matrix(
np.radians(90), [0, 1, 0])
mesh.apply_transform(rot)
else:
rot = trimesh.transformations.rotation_matrix(
np.radians(angle), rot_axis)
mesh.apply_transform(rot)
mesh = pyrender.Mesh.from_trimesh(mesh, material=material)
scene = pyrender.Scene(ambient_light=(0.5, 0.5, 0.5))
scene.add(mesh, 'mesh')
camera_pose = np.eye(4)
camera_pose[:3, 3] = camera_translation
camera = pyrender.IntrinsicsCamera(fx=self.focal_length, fy=self.focal_length,
cx=self.camera_center[0], cy=self.camera_center[1])
scene.add(camera, pose=camera_pose)
light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=1)
light_pose = np.eye(4)
light_pose[:3, 3] = np.array([0, -1, 1])
scene.add(light, pose=light_pose)
light_pose[:3, 3] = np.array([0, 1, 1])
scene.add(light, pose=light_pose)
light_pose[:3, 3] = np.array([1, 1, 2])
scene.add(light, pose=light_pose)
color, rend_depth = self.renderer.render(scene, flags=pyrender.RenderFlags.RGBA)
color = color.astype(np.float32) / 255.0
valid_mask = (rend_depth > 0)[:,:,None]
output_img = (color[:, :, :3] * valid_mask +
(1 - valid_mask) * image)
return output_img
def __call__(self,
vertices,
camera_pose,
image,
color=(0.8, 0.3, 0.3, 1.0)):
material = pyrender.MetallicRoughnessMaterial(metallicFactor=0.2,
alphaMode='OPAQUE',
baseColorFactor=color)
mesh = trimesh.Trimesh(vertices, self.faces)
# Rotate mesh 180 deg around x (pyrender coordinate frame)
rot = trimesh.transformations.rotation_matrix(np.radians(180),
[1, 0, 0])
mesh.apply_transform(rot)
mesh = pyrender.Mesh.from_trimesh(mesh, material=material)
# Rotate trafo 180 deg around x (pyrender coordinate frame)
Rx = np.array(
[[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]],
dtype=float)
camera_pose = np.dot(camera_pose, Rx)
scene = pyrender.Scene(ambient_light=(0.5, 0.5, 0.5))
scene.add(mesh, 'mesh')
camera = pyrender.IntrinsicsCamera(fx=self.focal_length[0],
fy=self.focal_length[1],
cx=self.camera_center[0],
cy=self.camera_center[1])
scene.add(camera, pose=camera_pose)
light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=1)
light_pose = np.eye(4)
light_pose[:3, 3] = np.array([0, -1, 1])
scene.add(light, pose=light_pose)
light_pose[:3, 3] = np.array([0, 1, 1])
scene.add(light, pose=light_pose)
light_pose[:3, 3] = np.array([1, 1, 2])
scene.add(light, pose=light_pose)
color, rend_depth = self.renderer.render(
scene, flags=pyrender.RenderFlags.RGBA)
valid_mask = (rend_depth > 0)[:, :, None]
output_img = (color[:, :, :3] * valid_mask +
(1 - valid_mask) * image).astype(np.uint8)
return output_img
def __init__(self, image_name, camera_spec):
self.image_name = image_name
self.width = camera_spec[0]
self.height = camera_spec[1]
self.K = np.array([[camera_spec[2], 0.0, camera_spec[4]],
[0.0, camera_spec[3], camera_spec[5]],
[0.0, 0.0, 1.0]])
quat = Quaternion(camera_spec[6], camera_spec[7], camera_spec[8],
camera_spec[9])
self.R = quat.rotation_matrix
self.t = np.array([camera_spec[10], camera_spec[11],
camera_spec[12]]).transpose()
# Convert pose from Y-Down to Y-Up ("OpenGL") coordinates.
X180 = np.array([[1, 0, 0], [0, -1, 0], [0, 0, -1]])
self.R = np.dot(X180, self.R)
self.t = np.dot(X180, self.t)
self.pose = np.concatenate(
(np.concatenate((self.R, np.expand_dims(self.t, axis=1)),
axis=1), np.array([[0, 0, 0, 1]])),
axis=0)
# OpenGL expects us to provide a camera-to-world transform, so
# invert the pose.
self.pose = np.linalg.inv(self.pose)
# Save the "standard" y-down pose as well.
self.ydown_pose = np.concatenate(
(np.concatenate((self.R, np.expand_dims(self.t, axis=1)),
axis=1), np.array([[0, 0, 0, 1]])),
axis=0)
# Compute a reasonable zNear and zFar, based on the projection
# of the camera location on the (negative) viewing direction,
# assuming that the scene is located near the origin.
camera_pos = -np.dot(np.transpose(self.R), self.t)
view_dir = np.dot(np.transpose(self.R), np.array([[0.0], [0.0],
[-1.0]]))
scene_distance = -np.dot(np.transpose(camera_pos), view_dir)
znear = max(scene_distance - 1e5, 1.0)
zfar = scene_distance + 1e5
self.pyrender_camera = pyrender.IntrinsicsCamera(fx=camera_spec[2],
fy=camera_spec[3],
cx=camera_spec[4],
cy=camera_spec[5],
znear=znear,
zfar=zfar,
name=image_name)
def __init__(self, options):
"""Constructor."""
# RGB frames path
self.rgb_path = os.path.join('datasets', 'ycb-video', options.video_id,
'rgb')
# Estimates path
self.estimates_path = os.path.join('results', options.algorithm, 'nrt',
options.mask_set, 'validation',
options.object, options.video_id,
'object-tracking_estimate.txt')
# Mesh path
object_mesh_path = os.path.join('models', 'YCB_models', 'models',
options.object, 'textured')
if options.mesh_type == 'low-quality':
object_mesh_path += '_simple'
object_mesh_path += '.obj'
# Mesh
trimesh_mesh = trimesh.load(object_mesh_path)
mesh = pyrender.Mesh.from_trimesh(trimesh_mesh)
# Scene
self.scene = pyrender.Scene(bg_color=[0.0, 0.0, 0.0])
# Camera
fx = 1066.8
fy = 1067.5
cx = 312.99
cy = 241.31
width = 640
height = 480
camera_transform = Quaternion(axis=[1.0, 0.0, 0.0],
angle=numpy.pi).transformation_matrix
self.camera = pyrender.IntrinsicsCamera(fx=fx, fy=fy, cx=cx, cy=cy)
self.scene.add(self.camera, pose=camera_transform)
# Light
self.light = pyrender.PointLight(intensity=20.0)
self.scene.add(self.light)
# Object node
self.mesh_node = pyrender.Node(mesh=mesh, matrix=numpy.eye(4))
self.scene.add_node(self.mesh_node)
# Renderer
self.renderer = pyrender.OffscreenRenderer(width, height)
def __init__(self, focal_length=5000, center=None, img_w=None, img_h=None):
self.renderer = pyrender.OffscreenRenderer(viewport_width=img_w,
viewport_height=img_h,
point_size=1.0)
self.focal_length = focal_length
self.camera_center = center
self.camera = pyrender.IntrinsicsCamera(fx=self.focal_length,
fy=self.focal_length,
cx=self.camera_center[0],
cy=self.camera_center[1],
zfar=1000)
self.camera_pose = np.eye(4)
self.camera_pose[:3, :3] = np.eye(3)
