def __init__(self,
scene,
suncgDatasetRoot,
size=(512, 512),
mode='offscreen',
zNear=0.1,
zFar=1000.0,
fov=40.0,
cameraTransform=None):
# Off-screen buffers are not supported in OSX
if sys.platform == 'darwin':
mode = 'onscreen'
super(Panda3dSemanticsRenderer, self).__init__()
self.__dict__.update(scene=scene,
suncgDatasetRoot=suncgDatasetRoot,
size=size,
mode=mode,
zNear=zNear,
zFar=zFar,
fov=fov,
cameraTransform=cameraTransform)
self.categoryMapping = ModelCategoryMapping(
os.path.join(self.suncgDatasetRoot, 'metadata',
'ModelCategoryMapping.csv'))
self.cameraMask = BitMask32.bit(1)
self.graphicsEngine = GraphicsEngine.getGlobalPtr()
self.loader = Loader.getGlobalPtr()
self.graphicsEngine.setDefaultLoader(self.loader)
self._initModels()
selection = GraphicsPipeSelection.getGlobalPtr()
self.pipe = selection.makeDefaultPipe()
logger.debug('Using %s' % (self.pipe.getInterfaceName()))
# Attach a camera to every agent in the scene
self.cameras = []
for agentNp in self.scene.scene.findAllMatches('**/agents/agent*'):
camera = agentNp.attachNewNode(ModelNode('camera-semantics'))
if self.cameraTransform is not None:
camera.setTransform(cameraTransform)
camera.node().setPreserveTransform(ModelNode.PTLocal)
self.cameras.append(camera)
# Reparent node below the existing physic node (if any)
physicsNp = agentNp.find('**/physics')
if not physicsNp.isEmpty():
camera.reparentTo(physicsNp)
self.rgbBuffers = dict()
self.rgbTextures = dict()
self._initRgbCapture()
self.scene.worlds['render-semantics'] = self
def __init__(self, base):
self.base = base
self.loader = PandaLoader.getGlobalPtr()
self.hook = "async_loader_%s" % (Loader.loaderIndex)
Loader.loaderIndex += 1
self.accept(self.hook, self.__gotAsyncObject)
def __init__(self, base):
self.base = base
self.loader = PandaLoader.getGlobalPtr()
self.hook = "async_loader_%s" % (Loader.loaderIndex)
Loader.loaderIndex += 1
self.accept(self.hook, self.__gotAsyncObject)
def loadModel(modelPath):
loader = Loader.getGlobalPtr()
loaderOptions = LoaderOptions()
node = loader.loadSync(Filename(modelPath), loaderOptions)
if node is not None:
nodePath = NodePath(node)
nodePath.setTag('model-filename', os.path.abspath(modelPath))
else:
raise IOError('Could not load model file: %s' % (modelPath))
return nodePath
def __init__(self, base):
self.base = base
self.loader = PandaLoader.getGlobalPtr()
self._requests = {}
self.hook = "async_loader_%s" % (Loader.loaderIndex)
Loader.loaderIndex += 1
self.accept(self.hook, self.__gotAsyncObject)
self._loadPythonFileTypes()
def __init__(self):
DirectObject.__init__(self)
self.loader = Loader.getGlobalPtr()
self.modelPool = {}
self.requests = {}
self.asyncRequestDoneEvent = self.getUniqueName() + '-asyncRequestDone'
self.accept(self.asyncRequestDoneEvent, self.__handleAsyncRequestDone)
def __init__(self):
DirectObject.__init__(self)
self.loader = Loader.getGlobalPtr()
self.modelPool = {}
self.requests = {}
self.asyncRequestDoneEvent = self.getUniqueName() + '-asyncRequestDone'
self.accept(self.asyncRequestDoneEvent, self.__handleAsyncRequestDone)
def loadModel(modelPath):
loader = Loader.getGlobalPtr()
# NOTE: disable disk and RAM caching to avoid filling memory when loading multiple scenes
loaderOptions = LoaderOptions(LoaderOptions.LF_no_cache)
node = loader.loadSync(Filename(modelPath), loaderOptions)
if node is not None:
nodePath = NodePath(node)
nodePath.setTag('model-filename', os.path.abspath(modelPath))
else:
raise IOError('Could not load model file: %s' % (modelPath))
return nodePath
def __init__(self, base):
self.base = base
self.loader = PandaLoader.getGlobalPtr()
self._requests = {}
self.hook = "async_loader_%s" % (Loader.loaderIndex)
Loader.loaderIndex += 1
self.accept(self.hook, self.__gotAsyncObject)
if ConfigVariableBool('loader-support-entry-points', True):
self._loadPythonFileTypes()
class Loader(object):
## TODO:
#
# Make Loader than can load models and textures:
#
# PandaLoader.loadAsync
# TexturePool.loadTexture
panda_loader = PandaLoader.getGlobalPtr()
texture_loader = TexturePool
load_model = panda_loader.loadSync
load_texture = texture_loader.loadTexture
loadSync = load_model
loadModel = load_model
def __init__(self, scene, size=(512, 512), shadowing=False, mode='offscreen', zNear=0.1, zFar=1000.0, fov=40.0,
depth=True, modelLightsInfo=None, cameraTransform=None):
# Off-screen buffers are not supported in OSX
if sys.platform == 'darwin':
mode = 'onscreen'
super(Panda3dRenderer, self).__init__()
self.__dict__.update(scene=scene, size=size, mode=mode, zNear=zNear, zFar=zFar, fov=fov,
depth=depth, shadowing=shadowing, modelLightsInfo=modelLightsInfo,
cameraTransform=cameraTransform)
self.cameraMask = BitMask32.bit(0)
self.graphicsEngine = GraphicsEngine.getGlobalPtr()
self.loader = Loader.getGlobalPtr()
self.graphicsEngine.setDefaultLoader(self.loader)
# Change some scene attributes for rendering
self.scene.scene.setAttrib(RescaleNormalAttrib.makeDefault())
self.scene.scene.setTwoSided(0)
self._initModels()
selection = GraphicsPipeSelection.getGlobalPtr()
self.pipe = selection.makeDefaultPipe()
logger.debug('Using %s' % (self.pipe.getInterfaceName()))
# Attach a camera to every agent in the scene
self.cameras = []
for agentNp in self.scene.scene.findAllMatches('**/agents/agent*'):
camera = agentNp.attachNewNode(ModelNode('camera-rgbd'))
if self.cameraTransform is not None:
camera.setTransform(cameraTransform)
camera.node().setPreserveTransform(ModelNode.PTLocal)
self.cameras.append(camera)
self.rgbBuffers = dict()
self.rgbTextures = dict()
self.depthBuffers = dict()
self.depthTextures = dict()
self._initRgbCapture()
if self.depth:
self._initDepthCapture()
self._addDefaultLighting()
self.scene.worlds['render'] = self
from panda3d.core import Loader, NodePath, CharacterJoint, PartBundle, AnimBundle, AnimGroup, PartGroup, AnimChannelACMatrixSwitchType
from panda3d.core import GeomVertexReader, InternalName, TransformBlend, TransformBlendTable, Vec3, Vec2, GeomVertexArrayFormat
from panda3d.core import TransformState, Mat4, Filename, AnimBundleNode, JointVertexTransform
import math
import os
loader = Loader.getGlobalPtr()
def loadModel(path):
return NodePath(loader.loadSync(path))
unknown = 0
def getUnknownName():
global unknown
name = "unknown{0}".format(unknown)
unknown += 1
return name
def boneFrameString(boneId, pos, rot):
return "{0} {1:.6f} {2:.6f} {3:.6f} {4:.6f} {5:.6f} {6:.6f}\n".format(
boneId, pos[0], pos[1], pos[2], rot[0], rot[1], rot[2])
FLT_EPSILON = 1e-5
