def save(
self,
data: Pointclouds,
path: Union[str, Path],
path_manager: PathManager,
binary: Optional[bool],
decimal_places: Optional[int] = None,
**kwargs,
) -> bool:
if not endswith(path, self.known_suffixes):
return False
points = data.points_list()[0]
features = data.features_list()[0]
with _open_file(path, path_manager, "wb") as f:
_save_ply(
f=f,
verts=points,
verts_colors=features,
verts_normals=torch.FloatTensor([]),
faces=None,
ascii=binary is False,
decimal_places=decimal_places,
)
return True
def read(
self,
path: PathOrStr,
include_textures: bool,
device,
path_manager: PathManager,
**kwargs,
) -> Optional[Meshes]:
if not endswith(path, self.known_suffixes):
return None
with _open_file(path, path_manager, "rb") as f:
data = _load_off_stream(f)
verts = torch.from_numpy(data["verts"]).to(device)
if "faces" in data:
faces = torch.from_numpy(data["faces"]).to(dtype=torch.int64,
device=device)
else:
faces = torch.zeros((0, 3), dtype=torch.int64, device=device)
textures = None
if "verts_colors" in data:
if "faces_colors" in data:
msg = "Faces colors ignored because vertex colors provided too."
warnings.warn(msg)
verts_colors = torch.from_numpy(data["verts_colors"]).to(device)
textures = TexturesVertex([verts_colors])
elif "faces_colors" in data:
faces_colors = torch.from_numpy(data["faces_colors"]).to(device)
textures = TexturesAtlas([faces_colors[:, None, None, :]])
mesh = Meshes(verts=[verts.to(device)],
faces=[faces.to(device)],
textures=textures)
return mesh
def save_obj(
f,
verts,
faces,
decimal_places: Optional[int] = None,
path_manager: Optional[PathManager] = None,
):
"""
Save a mesh to an .obj file.
Args:
f: File (or path) to which the mesh should be written.
verts: FloatTensor of shape (V, 3) giving vertex coordinates.
faces: LongTensor of shape (F, 3) giving faces.
decimal_places: Number of decimal places for saving.
path_manager: Optional PathManager for interpreting f if
it is a str.
"""
if len(verts) and not (verts.dim() == 2 and verts.size(1) == 3):
message = "Argument 'verts' should either be empty or of shape (num_verts, 3)."
raise ValueError(message)
if len(faces) and not (faces.dim() == 2 and faces.size(1) == 3):
message = "Argument 'faces' should either be empty or of shape (num_faces, 3)."
raise ValueError(message)
if path_manager is None:
path_manager = PathManager()
with _open_file(f, path_manager, "w") as f:
return _save(f, verts, faces, decimal_places)
def save_ply(
f,
verts: torch.Tensor,
faces: Optional[torch.LongTensor] = None,
verts_normals: Optional[torch.Tensor] = None,
ascii: bool = False,
decimal_places: Optional[int] = None,
path_manager: Optional[PathManager] = None,
) -> None:
"""
Save a mesh to a .ply file.
Args:
f: File (or path) to which the mesh should be written.
verts: FloatTensor of shape (V, 3) giving vertex coordinates.
faces: LongTensor of shape (F, 3) giving faces.
verts_normals: FloatTensor of shape (V, 3) giving vertex normals.
ascii: (bool) whether to use the ascii ply format.
decimal_places: Number of decimal places for saving if ascii=True.
path_manager: PathManager for interpreting f if it is a str.
"""
if len(verts) and not (verts.dim() == 2 and verts.size(1) == 3):
message = "Argument 'verts' should either be empty or of shape (num_verts, 3)."
raise ValueError(message)
if (
faces is not None
and len(faces)
and not (faces.dim() == 2 and faces.size(1) == 3)
):
message = "Argument 'faces' should either be empty or of shape (num_faces, 3)."
raise ValueError(message)
if (
verts_normals is not None
and len(verts_normals)
and not (
verts_normals.dim() == 2
and verts_normals.size(1) == 3
and verts_normals.size(0) == verts.size(0)
)
):
message = "Argument 'verts_normals' should either be empty or of shape (num_verts, 3)."
raise ValueError(message)
if path_manager is None:
path_manager = PathManager()
with _open_file(f, path_manager, "wb") as f:
_save_ply(
f,
verts=verts,
faces=faces,
verts_normals=verts_normals,
verts_colors=None,
ascii=ascii,
decimal_places=decimal_places,
)
def _save_off(
file,
*,
verts: torch.Tensor,
verts_colors: Optional[torch.Tensor] = None,
faces: Optional[torch.LongTensor] = None,
faces_colors: Optional[torch.Tensor] = None,
decimal_places: Optional[int] = None,
path_manager: PathManager,
) -> None:
"""
Save a mesh to an ascii .off file.
Args:
file: File (or path) to which the mesh should be written.
verts: FloatTensor of shape (V, 3) giving vertex coordinates.
verts_colors: FloatTensor of shape (V, C) giving vertex colors where C is 3 or 4.
faces: LongTensor of shape (F, 3) giving faces.
faces_colors: FloatTensor of shape (V, C) giving face colors where C is 3 or 4.
decimal_places: Number of decimal places for saving.
"""
if len(verts) and not (verts.dim() == 2 and verts.size(1) == 3):
message = "Argument 'verts' should either be empty or of shape (num_verts, 3)."
raise ValueError(message)
if verts_colors is not None and 0 == len(verts_colors):
verts_colors = None
if faces_colors is not None and 0 == len(faces_colors):
faces_colors = None
if faces is not None and 0 == len(faces):
faces = None
if verts_colors is not None:
if not (verts_colors.dim() == 2 and verts_colors.size(1) in [3, 4]):
message = "verts_colors should have shape (num_faces, C)."
raise ValueError(message)
if verts_colors.shape[0] != verts.shape[0]:
message = "verts_colors should have the same length as verts."
raise ValueError(message)
if faces is not None and not (faces.dim() == 2 and faces.size(1) == 3):
message = "Argument 'faces' if present should have shape (num_faces, 3)."
raise ValueError(message)
if faces_colors is not None and faces is None:
message = "Cannot have face colors without faces"
raise ValueError(message)
if faces_colors is not None:
if not (faces_colors.dim() == 2 and faces_colors.size(1) in [3, 4]):
message = "faces_colors should have shape (num_faces, C)."
raise ValueError(message)
if faces_colors.shape[0] != cast(torch.LongTensor, faces).shape[0]:
message = "faces_colors should have the same length as faces."
raise ValueError(message)
with _open_file(file, path_manager, "wb") as f:
_write_off_data(f, verts, verts_colors, faces, faces_colors,
decimal_places)
def save_ply(
f,
verts: torch.Tensor,
faces: Optional[torch.LongTensor] = None,
verts_normals: Optional[torch.Tensor] = None,
ascii: bool = False,
decimal_places: Optional[int] = None,
) -> None:
"""
Save a mesh to a .ply file.
Args:
f: File (or path) to which the mesh should be written.
verts: FloatTensor of shape (V, 3) giving vertex coordinates.
faces: LongTensor of shape (F, 3) giving faces.
verts_normals: FloatTensor of shape (V, 3) giving vertex normals.
ascii: (bool) whether to use the ascii ply format.
decimal_places: Number of decimal places for saving if ascii=True.
"""
verts_normals = (
torch.tensor([], dtype=torch.float32, device=verts.device)
if verts_normals is None
else verts_normals
)
faces = torch.LongTensor([]) if faces is None else faces
if len(verts) and not (verts.dim() == 2 and verts.size(1) == 3):
message = "Argument 'verts' should either be empty or of shape (num_verts, 3)."
raise ValueError(message)
if len(faces) and not (faces.dim() == 2 and faces.size(1) == 3):
message = "Argument 'faces' should either be empty or of shape (num_faces, 3)."
raise ValueError(message)
if len(verts_normals) and not (
verts_normals.dim() == 2
and verts_normals.size(1) == 3
and verts_normals.size(0) == verts.size(0)
):
message = "Argument 'verts_normals' should either be empty or of shape (num_verts, 3)."
raise ValueError(message)
with _open_file(f, "wb") as f:
_save_ply(f, verts, faces, verts_normals, ascii, decimal_places)
def save(
self,
data: Meshes,
path: Union[str, Path],
path_manager: PathManager,
binary: Optional[bool],
decimal_places: Optional[int] = None,
**kwargs,
) -> bool:
if not endswith(path, self.known_suffixes):
return False
verts = data.verts_list()[0]
faces = data.faces_list()[0]
if data.has_verts_normals():
verts_normals = data.verts_normals_list()[0]
else:
verts_normals = None
if isinstance(data.textures, TexturesVertex):
mesh_verts_colors = data.textures.verts_features_list()[0]
n_colors = mesh_verts_colors.shape[1]
if n_colors == 3:
verts_colors = mesh_verts_colors
else:
warnings.warn(
f"Texture will not be saved as it has {n_colors} colors, not 3."
)
verts_colors = None
else:
verts_colors = None
with _open_file(path, path_manager, "wb") as f:
_save_ply(
f=f,
verts=verts,
faces=faces,
verts_colors=verts_colors,
verts_normals=verts_normals,
ascii=binary is False,
decimal_places=decimal_places,
)
return True
def _parse_mtl(
f: str,
path_manager: PathManager,
device: Device = "cpu") -> Tuple[MaterialProperties, TextureFiles]:
material_properties = {}
texture_files = {}
material_name = ""
with _open_file(f, path_manager, "r") as f:
for line in f:
tokens = line.strip().split()
if not tokens:
continue
if tokens[0] == "newmtl":
material_name = tokens[1]
material_properties[material_name] = {}
elif tokens[0] == "map_Kd":
# Diffuse texture map
# Account for the case where filenames might have spaces
filename = line.strip()[7:]
texture_files[material_name] = filename
elif tokens[0] == "Kd":
# RGB diffuse reflectivity
kd = np.array(tokens[1:4]).astype(np.float32)
kd = torch.from_numpy(kd).to(device)
material_properties[material_name]["diffuse_color"] = kd
elif tokens[0] == "Ka":
# RGB ambient reflectivity
ka = np.array(tokens[1:4]).astype(np.float32)
ka = torch.from_numpy(ka).to(device)
material_properties[material_name]["ambient_color"] = ka
elif tokens[0] == "Ks":
# RGB specular reflectivity
ks = np.array(tokens[1:4]).astype(np.float32)
ks = torch.from_numpy(ks).to(device)
material_properties[material_name]["specular_color"] = ks
elif tokens[0] == "Ns":
# Specular exponent
ns = np.array(tokens[1:4]).astype(np.float32)
ns = torch.from_numpy(ns).to(device)
material_properties[material_name]["shininess"] = ns
return material_properties, texture_files
def _load_ply_raw(f) -> Tuple[_PlyHeader, dict]:
"""
Load the data from a .ply file.
Args:
f: A binary or text file-like object (with methods read, readline,
tell and seek), a pathlib path or a string containing a file name.
If the ply file is binary, a text stream is not supported.
It is recommended to use a binary stream.
Returns:
header: A _PlyHeader object describing the metadata in the ply file.
elements: A dictionary of element names to values. If an element is
regular, in the sense of having no lists or being one
uniformly-sized list, then the value will be a 2D numpy array.
If not, it is a list of the relevant property values.
"""
with _open_file(f, "rb") as f:
header, elements = _load_ply_raw_stream(f)
return header, elements
def load_meshes(
path: PathOrStr,
path_manager: PathManager,
include_textures: bool = True,
) -> List[Tuple[Optional[str], Meshes]]:
"""
Loads all the meshes from the default scene in the given GLB file.
and returns them separately.
Args:
path: path to read from
path_manager: PathManager object for interpreting the path
include_textures: whether to load textures
Returns:
List of (name, mesh) pairs, where the name is the optional name property
from the GLB file, or None if it is absent, and the mesh is a Meshes
object containing one mesh.
"""
with _open_file(path, path_manager, "rb") as f:
loader = _GLTFLoader(cast(BinaryIO, f))
names_meshes_list = loader.load(include_textures=include_textures)
return names_meshes_list
def load_obj(
f,
load_textures=True,
create_texture_atlas: bool = False,
texture_atlas_size: int = 4,
texture_wrap: Optional[str] = "repeat",
device="cpu",
):
"""
Load a mesh from a .obj file and optionally textures from a .mtl file.
Currently this handles verts, faces, vertex texture uv coordinates, normals,
texture images and material reflectivity values.
Note .obj files are 1-indexed. The tensors returned from this function
are 0-indexed. OBJ spec reference: http://www.martinreddy.net/gfx/3d/OBJ.spec
Example .obj file format:
::
# this is a comment
v 1.000000 -1.000000 -1.000000
v 1.000000 -1.000000 1.000000
v -1.000000 -1.000000 1.000000
v -1.000000 -1.000000 -1.000000
v 1.000000 1.000000 -1.000000
vt 0.748573 0.750412
vt 0.749279 0.501284
vt 0.999110 0.501077
vt 0.999455 0.750380
vn 0.000000 0.000000 -1.000000
vn -1.000000 -0.000000 -0.000000
vn -0.000000 -0.000000 1.000000
f 5/2/1 1/2/1 4/3/1
f 5/1/1 4/3/1 2/4/1
The first character of the line denotes the type of input:
::
- v is a vertex
- vt is the texture coordinate of one vertex
- vn is the normal of one vertex
- f is a face
Faces are interpreted as follows:
::
5/2/1 describes the first vertex of the first triange
- 5: index of vertex [1.000000 1.000000 -1.000000]
- 2: index of texture coordinate [0.749279 0.501284]
- 1: index of normal [0.000000 0.000000 -1.000000]
If there are faces with more than 3 vertices
they are subdivided into triangles. Polygonal faces are assummed to have
vertices ordered counter-clockwise so the (right-handed) normal points
out of the screen e.g. a proper rectangular face would be specified like this:
::
0_________1
| |
| |
3 ________2
The face would be split into two triangles: (0, 2, 1) and (0, 3, 2),
both of which are also oriented counter-clockwise and have normals
pointing out of the screen.
Args:
f: A file-like object (with methods read, readline, tell, and seek),
a pathlib path or a string containing a file name.
load_textures: Boolean indicating whether material files are loaded
create_texture_atlas: Bool, If True a per face texture map is created and
a tensor `texture_atlas` is also returned in `aux`.
texture_atlas_size: Int specifying the resolution of the texture map per face
when `create_texture_atlas=True`. A (texture_size, texture_size, 3)
map is created per face.
texture_wrap: string, one of ["repeat", "clamp"]. This applies when computing
the texture atlas.
If `texture_mode="repeat"`, for uv values outside the range [0, 1] the integer part
is ignored and a repeating pattern is formed.
If `texture_mode="clamp"` the values are clamped to the range [0, 1].
If None, then there is no transformation of the texture values.
device: string or torch.device on which to return the new tensors.
Returns:
6-element tuple containing
- **verts**: FloatTensor of shape (V, 3).
- **faces**: NamedTuple with fields:
- verts_idx: LongTensor of vertex indices, shape (F, 3).
- normals_idx: (optional) LongTensor of normal indices, shape (F, 3).
- textures_idx: (optional) LongTensor of texture indices, shape (F, 3).
This can be used to index into verts_uvs.
- materials_idx: (optional) List of indices indicating which
material the texture is derived from for each face.
If there is no material for a face, the index is -1.
This can be used to retrieve the corresponding values
in material_colors/texture_images after they have been
converted to tensors or Materials/Textures data
structures - see textures.py and materials.py for
more info.
- **aux**: NamedTuple with fields:
- normals: FloatTensor of shape (N, 3)
- verts_uvs: FloatTensor of shape (T, 2), giving the uv coordinate per
vertex. If a vertex is shared between two faces, it can have
a different uv value for each instance. Therefore it is
possible that the number of verts_uvs is greater than
num verts i.e. T > V.
vertex.
- material_colors: if `load_textures=True` and the material has associated
properties this will be a dict of material names and properties of the form:
.. code-block:: python
{
material_name_1: {
"ambient_color": tensor of shape (1, 3),
"diffuse_color": tensor of shape (1, 3),
"specular_color": tensor of shape (1, 3),
"shininess": tensor of shape (1)
},
material_name_2: {},
...
}
If a material does not have any properties it will have an
empty dict. If `load_textures=False`, `material_colors` will None.
- texture_images: if `load_textures=True` and the material has a texture map,
this will be a dict of the form:
.. code-block:: python
{
material_name_1: (H, W, 3) image,
...
}
If `load_textures=False`, `texture_images` will None.
- texture_atlas: if `load_textures=True` and `create_texture_atlas=True`,
this will be a FloatTensor of the form: (F, texture_size, textures_size, 3)
If the material does not have a texture map, then all faces
will have a uniform white texture. Otherwise `texture_atlas` will be
None.
"""
data_dir = "./"
if isinstance(f, (str, bytes, os.PathLike)):
# pyre-fixme[6]: Expected `_PathLike[Variable[typing.AnyStr <: [str,
# bytes]]]` for 1st param but got `Union[_PathLike[typing.Any], bytes, str]`.
data_dir = os.path.dirname(f)
with _open_file(f, "r") as f:
return _load_obj(
f,
data_dir,
load_textures=load_textures,
create_texture_atlas=create_texture_atlas,
texture_atlas_size=texture_atlas_size,
texture_wrap=texture_wrap,
device=device,
)
def load_mtl(f_mtl, material_names: List, data_dir: str, device="cpu"):
"""
Load texture images and material reflectivity values for ambient, diffuse
and specular light (Ka, Kd, Ks, Ns).
Args:
f_mtl: a file like object of the material information.
material_names: a list of the material names found in the .obj file.
data_dir: the directory where the material texture files are located.
Returns:
material_colors: dict of properties for each material. If a material
does not have any properties it will have an emtpy dict.
{
material_name_1: {
"ambient_color": tensor of shape (1, 3),
"diffuse_color": tensor of shape (1, 3),
"specular_color": tensor of shape (1, 3),
"shininess": tensor of shape (1)
},
material_name_2: {},
...
}
texture_images: dict of material names and texture images
{
material_name_1: (H, W, 3) image,
...
}
"""
texture_files = {}
material_colors = {}
material_properties = {}
texture_images = {}
material_name = ""
f_mtl, new_f = _open_file(f_mtl)
lines = [line.strip() for line in f_mtl]
for line in lines:
if len(line.split()) != 0:
if line.split()[0] == "newmtl":
material_name = line.split()[1]
material_colors[material_name] = {}
if line.split()[0] == "map_Kd":
# Texture map.
texture_files[material_name] = line.split()[1]
if line.split()[0] == "Kd":
# RGB diffuse reflectivity
kd = np.array(list(line.split()[1:4])).astype(np.float32)
kd = torch.from_numpy(kd).to(device)
material_colors[material_name]["diffuse_color"] = kd
if line.split()[0] == "Ka":
# RGB ambient reflectivity
ka = np.array(list(line.split()[1:4])).astype(np.float32)
ka = torch.from_numpy(ka).to(device)
material_colors[material_name]["ambient_color"] = ka
if line.split()[0] == "Ks":
# RGB specular reflectivity
ks = np.array(list(line.split()[1:4])).astype(np.float32)
ks = torch.from_numpy(ks).to(device)
material_colors[material_name]["specular_color"] = ks
if line.split()[0] == "Ns":
# Specular exponent
ns = np.array(list(line.split()[1:4])).astype(np.float32)
ns = torch.from_numpy(ns).to(device)
material_colors[material_name]["shininess"] = ns
if new_f:
f_mtl.close()
# Only keep the materials referenced in the obj.
for name in material_names:
if name in texture_files:
# Load the texture image.
filename = texture_files[name]
filename_texture = os.path.join(data_dir, filename)
if os.path.isfile(filename_texture):
image = _read_image(filename_texture, format="RGB") / 255.0
image = torch.from_numpy(image)
texture_images[name] = image
else:
msg = f"Texture file does not exist: {filename_texture}"
warnings.warn(msg)
if name in material_colors:
material_properties[name] = material_colors[name]
return material_properties, texture_images
def save_obj(
f: PathOrStr,
verts,
faces,
decimal_places: Optional[int] = None,
path_manager: Optional[PathManager] = None,
*,
verts_uvs: Optional[torch.Tensor] = None,
faces_uvs: Optional[torch.Tensor] = None,
texture_map: Optional[torch.Tensor] = None,
) -> None:
"""
Save a mesh to an .obj file.
Args:
f: File (str or path) to which the mesh should be written.
verts: FloatTensor of shape (V, 3) giving vertex coordinates.
faces: LongTensor of shape (F, 3) giving faces.
decimal_places: Number of decimal places for saving.
path_manager: Optional PathManager for interpreting f if
it is a str.
verts_uvs: FloatTensor of shape (V, 2) giving the uv coordinate per vertex.
faces_uvs: LongTensor of shape (F, 3) giving the index into verts_uvs for
each vertex in the face.
texture_map: FloatTensor of shape (H, W, 3) representing the texture map
for the mesh which will be saved as an image. The values are expected
to be in the range [0, 1],
"""
if len(verts) and (verts.dim() != 2 or verts.size(1) != 3):
message = "'verts' should either be empty or of shape (num_verts, 3)."
raise ValueError(message)
if len(faces) and (faces.dim() != 2 or faces.size(1) != 3):
message = "'faces' should either be empty or of shape (num_faces, 3)."
raise ValueError(message)
if faces_uvs is not None and (faces_uvs.dim() != 2 or faces_uvs.size(1) != 3):
message = "'faces_uvs' should either be empty or of shape (num_faces, 3)."
raise ValueError(message)
if verts_uvs is not None and (verts_uvs.dim() != 2 or verts_uvs.size(1) != 2):
message = "'verts_uvs' should either be empty or of shape (num_verts, 2)."
raise ValueError(message)
if texture_map is not None and (texture_map.dim() != 3 or texture_map.size(2) != 3):
message = "'texture_map' should either be empty or of shape (H, W, 3)."
raise ValueError(message)
if path_manager is None:
path_manager = PathManager()
save_texture = all([t is not None for t in [faces_uvs, verts_uvs, texture_map]])
output_path = Path(f)
# Save the .obj file
with _open_file(f, path_manager, "w") as f:
if save_texture:
# Add the header required for the texture info to be loaded correctly
obj_header = "\nmtllib {0}.mtl\nusemtl mesh\n\n".format(output_path.stem)
f.write(obj_header)
_save(
f,
verts,
faces,
decimal_places,
verts_uvs=verts_uvs,
faces_uvs=faces_uvs,
save_texture=save_texture,
)
# Save the .mtl and .png files associated with the texture
if save_texture:
image_path = output_path.with_suffix(".png")
mtl_path = output_path.with_suffix(".mtl")
if isinstance(f, str):
# Back to str for iopath interpretation.
image_path = str(image_path)
mtl_path = str(mtl_path)
# Save texture map to output folder
# pyre-fixme[16] # undefined attribute cpu
texture_map = texture_map.detach().cpu() * 255.0
image = Image.fromarray(texture_map.numpy().astype(np.uint8))
with _open_file(image_path, path_manager, "wb") as im_f:
image.save(im_f)
# Create .mtl file with the material name and texture map filename
# TODO: enable material properties to also be saved.
with _open_file(mtl_path, path_manager, "w") as f_mtl:
lines = f"newmtl mesh\n" f"map_Kd {output_path.stem}.png\n"
f_mtl.write(lines)