def main():
try:
os.makedirs(args.output_directory)
except:
pass
# Colors
colors = []
for n in range(args.num_colors):
hue = n / args.num_colors
saturation = 1
lightness = 1
red, green, blue = colorsys.hsv_to_rgb(hue, saturation, lightness)
colors.append(np.array((red, green, blue, 1)))
renderer = OffscreenRenderer(viewport_width=args.image_size,
viewport_height=args.image_size)
archiver = Archiver(
directory=args.output_directory,
total_scenes=args.total_scenes,
num_scenes_per_file=min(args.num_scenes_per_file, args.total_scenes),
image_size=(args.image_size, args.image_size),
num_observations_per_scene=args.num_observations_per_scene,
initial_file_number=args.initial_file_number)
for scene_index in tqdm(range(args.total_scenes)):
scene = build_scene(floor_textures,
wall_textures,
fix_light_position=args.fix_light_position)
place_objects(scene,
colors,
objects,
max_num_objects=args.max_num_objects,
discrete_position=args.discrete_position,
rotate_object=args.rotate_object)
camera_distance = 3
camera = PerspectiveCamera(yfov=math.pi / 4)
camera_node = Node(camera=camera, translation=np.array([0, 1, 1]))
scene.add_node(camera_node)
scene_data = SceneData((args.image_size, args.image_size),
args.num_observations_per_scene)
for observation_index in range(args.num_observations_per_scene):
# Sample camera position
rand_position_xz = np.random.uniform(-3, 3, size=2)
rand_lookat_xz = np.random.uniform(-6, 6, size=2)
camera_position = np.array(
[rand_position_xz[0], 1, rand_position_xz[1]])
# Compute yaw and pitch
camera_direction = rand_position_xz - rand_lookat_xz
camera_direction = np.array(
[camera_direction[0], 0, camera_direction[1]])
yaw, pitch = compute_yaw_and_pitch(camera_direction)
camera_node.rotation = genearte_camera_quaternion(yaw, pitch)
camera_node.translation = camera_position
# Rendering
flags = RenderFlags.SHADOWS_DIRECTIONAL
if args.anti_aliasing:
flags |= RenderFlags.ANTI_ALIASING
image = renderer.render(scene, flags=flags)[0]
scene_data.add(image, camera_position, math.cos(yaw),
math.sin(yaw), math.cos(pitch), math.sin(pitch))
if args.visualize:
plt.clf()
plt.imshow(image)
plt.pause(1e-10)
archiver.add(scene_data)
renderer.delete()
while True:
r += delta_r
frame += 1
t += 50
if t % 1000 == 0:
delta_r *= -1
s = parametric_surface.doughnut(R, r, [50, 20])
doughnut_trimesh = trimesh.Trimesh(
vertices=s.flat_vertices,
faces=s.flat_triangular_mesh_indices,
)
# for facet in doughnut_trimesh.facets:
# doughnut_trimesh.visual.face_colors[facet] = trimesh.visual.random_color()
mesh = pyrender.Mesh.from_trimesh(doughnut_trimesh, smooth=False)
mesh_node = Node(mesh=mesh, translation=np.array([0.0, 0.0, 0.0]))
scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0]),
bg_color=[0.0, 0.0, 0.0])
cam_node = scene.add(cam, pose=cam_pose)
scene.add_node(mesh_node)
# v = Viewer(scene)
color, depth = off_screen_renderer.render(scene)
cv2.imshow('f', color)
cv2.waitKey(1)
end_time = time.time()
print(frame / (end_time - start_time))
off_screen_renderer.delete()
def render_camera_image(self):
""" Render the camera image for the current scene. """
renderer = OffscreenRenderer(self.camera.width, self.camera.height)
image = renderer.render(self._scene, flags=RenderFlags.DEPTH_ONLY)
renderer.delete()
return image
#==============================================================================
# Using the viewer with a default camera
#==============================================================================
# v = Viewer(scene, shadows=True)
#==============================================================================
# Using the viewer with a pre-specified camera
#==============================================================================
cam_node = scene.add(cam, pose=cam_pose)
# v = Viewer(scene, central_node=drill_node)
#==============================================================================
# Rendering offscreen from that camera
#==============================================================================
r = OffscreenRenderer(viewport_width=640*2, viewport_height=480*2)
color, depth = r.render(scene)
r.delete()
#import matplotlib.pyplot as plt
#plt.figure()
#plt.imshow(color)
#plt.show()
import imageio
imageio.imwrite('test_rgb.png', color)
min_val, max_val = np.percentile(depth[depth>0], (1, 99))
imageio.imwrite('test_depth.png', np.uint8((depth - min_val)/(max_val - min_val)*255.0))
def test_offscreen_renderer(tmpdir):
# Fuze trimesh
fuze_trimesh = trimesh.load('examples/models/fuze.obj')
fuze_mesh = Mesh.from_trimesh(fuze_trimesh)
# Drill trimesh
drill_trimesh = trimesh.load('examples/models/drill.obj')
drill_mesh = Mesh.from_trimesh(drill_trimesh)
drill_pose = np.eye(4)
drill_pose[0, 3] = 0.1
drill_pose[2, 3] = -np.min(drill_trimesh.vertices[:, 2])
# Wood trimesh
wood_trimesh = trimesh.load('examples/models/wood.obj')
wood_mesh = Mesh.from_trimesh(wood_trimesh)
# Water bottle trimesh
bottle_gltf = trimesh.load('examples/models/WaterBottle.glb')
bottle_trimesh = bottle_gltf.geometry[list(bottle_gltf.geometry.keys())[0]]
bottle_mesh = Mesh.from_trimesh(bottle_trimesh)
bottle_pose = np.array([
[1.0, 0.0, 0.0, 0.1],
[0.0, 0.0, -1.0, -0.16],
[0.0, 1.0, 0.0, 0.13],
[0.0, 0.0, 0.0, 1.0],
])
boxv_trimesh = trimesh.creation.box(extents=0.1 * np.ones(3))
boxv_vertex_colors = np.random.uniform(size=(boxv_trimesh.vertices.shape))
boxv_trimesh.visual.vertex_colors = boxv_vertex_colors
boxv_mesh = Mesh.from_trimesh(boxv_trimesh, smooth=False)
boxf_trimesh = trimesh.creation.box(extents=0.1 * np.ones(3))
boxf_face_colors = np.random.uniform(size=boxf_trimesh.faces.shape)
boxf_trimesh.visual.face_colors = boxf_face_colors
# Instanced
poses = np.tile(np.eye(4), (2, 1, 1))
poses[0, :3, 3] = np.array([-0.1, -0.10, 0.05])
poses[1, :3, 3] = np.array([-0.15, -0.10, 0.05])
boxf_mesh = Mesh.from_trimesh(boxf_trimesh, poses=poses, smooth=False)
points = trimesh.creation.icosphere(radius=0.05).vertices
point_colors = np.random.uniform(size=points.shape)
points_mesh = Mesh.from_points(points, colors=point_colors)
direc_l = DirectionalLight(color=np.ones(3), intensity=1.0)
spot_l = SpotLight(color=np.ones(3),
intensity=10.0,
innerConeAngle=np.pi / 16,
outerConeAngle=np.pi / 6)
cam = PerspectiveCamera(yfov=(np.pi / 3.0))
cam_pose = np.array([[0.0, -np.sqrt(2) / 2,
np.sqrt(2) / 2, 0.5], [1.0, 0.0, 0.0, 0.0],
[0.0, np.sqrt(2) / 2,
np.sqrt(2) / 2, 0.4], [0.0, 0.0, 0.0, 1.0]])
scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02]))
fuze_node = Node(mesh=fuze_mesh,
translation=np.array(
[0.1, 0.15, -np.min(fuze_trimesh.vertices[:, 2])]))
scene.add_node(fuze_node)
boxv_node = Node(mesh=boxv_mesh, translation=np.array([-0.1, 0.10, 0.05]))
scene.add_node(boxv_node)
boxf_node = Node(mesh=boxf_mesh)
scene.add_node(boxf_node)
_ = scene.add(drill_mesh, pose=drill_pose)
_ = scene.add(bottle_mesh, pose=bottle_pose)
_ = scene.add(wood_mesh)
_ = scene.add(direc_l, pose=cam_pose)
_ = scene.add(spot_l, pose=cam_pose)
_ = scene.add(points_mesh)
_ = scene.add(cam, pose=cam_pose)
r = OffscreenRenderer(viewport_width=640, viewport_height=480)
color, depth = r.render(scene)
assert color.shape == (480, 640, 3)
assert depth.shape == (480, 640)
assert np.max(depth.data) > 0.05
assert np.count_nonzero(depth.data) > (0.2 * depth.size)
r.delete()
def dump_rendered_scene(input_path, output_path, cam_pose, width, height,
focal):
#==============================================================================
# Mesh creation
#==============================================================================
#------------------------------------------------------------------------------
# Creating textured meshes from trimeshes
#------------------------------------------------------------------------------
object_trimesh = trimesh.load(input_path)
# https://trimsh.org/trimesh.html#trimesh.PointCloud.bounds
print("Object extents ", object_trimesh.bounds)
print("Input path ", input_path)
#==============================================================================
# Camera creation
#==============================================================================
cam_angle = focal
cam = PerspectiveCamera(yfov=cam_angle)
# cam_pose = np.array([
# [0.0, -np.sqrt(2)/2, np.sqrt(2)/2, 0.5],
# [1.0, 0.0, 0.0, 0.0],
# [0.0, np.sqrt(2)/2, np.sqrt(2)/2, 0.4],
# [0.0, 0.0, 0.0, 1.0]
# ])
#==============================================================================
# Scene creation
#==============================================================================
# scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0]))
scene = Scene.from_trimesh_scene(object_trimesh,
bg_color=np.array([0.0, 0.0, 0.0, 1.0]),
ambient_light=np.array(
[1.0, 1.0, 1.0, 1.0]))
#==============================================================================
# Rendering offscreen from that camera
#==============================================================================
cam_node = scene.add(cam, pose=cam_pose)
r = OffscreenRenderer(viewport_width=width, viewport_height=height)
flags = RenderFlags.RGBA
# color, depth = r.render(scene, flags=flags)
color, depth = r.render(scene)
r.delete()
depth_value = depth.copy()
img_output = color.copy()
# depth_value[depth_value <= 0.0001] = 1.5
check_output = np.sum(color, axis=-1)
print(color.shape, depth_value.shape, np.min(color), np.max(color),
np.min(depth_value), np.max(depth_value), check_output.shape)
print(color[check_output == 0].shape)
# for i in range(width):
# for j in range(height):
# if(np.sum(color[j,i,:])==0):
# img_output[j,i,0] = 255 - img_output[j,i,0]
# img_output[j,i,1] = 255 - img_output[j,i,1]
# img_output[j,i,2] = 255 - img_output[j,i,2]
# import matplotlib.pyplot as plt
# plt.figure(figsize=(20,20))
# plt.imshow(color)
img = Image.fromarray(img_output, 'RGB')
img.save(output_path)
return cam_angle
def main():
try:
os.makedirs(args.output_directory)
except:
pass
# Load MNIST images
mnist_images = load_mnist_images()
renderer = OffscreenRenderer(viewport_width=args.image_size,
viewport_height=args.image_size)
archiver = Archiver(
directory=args.output_directory,
total_scenes=args.total_scenes,
num_scenes_per_file=min(args.num_scenes_per_file, args.total_scenes),
image_size=(args.image_size, args.image_size),
num_observations_per_scene=args.num_observations_per_scene,
initial_file_number=args.initial_file_number)
for scene_index in tqdm(range(args.total_scenes)):
scene = build_scene(floor_textures,
wall_textures,
fix_light_position=args.fix_light_position)
place_dice(scene,
mnist_images,
discrete_position=args.discrete_position,
rotate_dice=args.rotate_dice)
camera_distance = 4
camera = PerspectiveCamera(yfov=math.pi / 4)
camera_node = Node(camera=camera, translation=np.array([0, 1, 1]))
scene.add_node(camera_node)
scene_data = SceneData((args.image_size, args.image_size),
args.num_observations_per_scene)
for observation_index in range(args.num_observations_per_scene):
rand_position_xz = np.random.normal(size=2)
rand_position_xz = camera_distance * rand_position_xz / np.linalg.norm(
rand_position_xz)
# Compute yaw and pitch
camera_direction = np.array(
[rand_position_xz[0], 0, rand_position_xz[1]])
yaw, pitch = compute_yaw_and_pitch(camera_direction)
camera_node.rotation = genearte_camera_quaternion(yaw, pitch)
camera_position = np.array(
[rand_position_xz[0], 1, rand_position_xz[1]])
camera_node.translation = camera_position
# Rendering
flags = RenderFlags.SHADOWS_DIRECTIONAL
if args.anti_aliasing:
flags |= RenderFlags.ANTI_ALIASING
image = renderer.render(scene, flags=flags)[0]
scene_data.add(image, camera_position, math.cos(yaw),
math.sin(yaw), math.cos(pitch), math.sin(pitch))
if args.visualize:
plt.clf()
plt.imshow(image)
plt.pause(1e-10)
archiver.add(scene_data)
renderer.delete()
def main():
try:
os.makedirs(args.output_directory)
except:
pass
# Initialize colors
color_candidates = []
for n in range(args.num_colors):
hue = n / args.num_colors
saturation = 1
lightness = 1
red, green, blue = colorsys.hsv_to_rgb(hue, saturation, lightness)
color_candidates.append((red, green, blue))
scene, cube_nodes = build_scene(args.num_cubes, color_candidates)
camera = OrthographicCamera(xmag=0.9, ymag=0.9)
camera_node = Node(camera=camera)
scene.add_node(camera_node)
renderer = OffscreenRenderer(viewport_width=args.image_size,
viewport_height=args.image_size)
archiver = Archiver(
directory=args.output_directory,
total_scenes=args.total_scenes,
num_scenes_per_file=min(args.num_scenes_per_file, args.total_scenes),
image_size=(args.image_size, args.image_size),
num_observations_per_scene=args.num_observations_per_scene,
initial_file_number=args.initial_file_number)
for scene_index in tqdm(range(args.total_scenes)):
camera_distance = 2
scene_data = SceneData((args.image_size, args.image_size),
args.num_observations_per_scene)
for observation_index in range(args.num_observations_per_scene):
# Generate random point on a sphere
camera_position = np.random.normal(size=3)
camera_position = camera_distance * camera_position / np.linalg.norm(
camera_position)
# Compute yaw and pitch
yaw, pitch = compute_yaw_and_pitch(camera_position)
camera_node.rotation = genearte_camera_quaternion(yaw, pitch)
camera_node.translation = camera_position
# Rendering
flags = RenderFlags.SHADOWS_DIRECTIONAL
if args.anti_aliasing:
flags |= RenderFlags.ANTI_ALIASING
image = renderer.render(scene, flags=flags)[0]
scene_data.add(image, camera_position, math.cos(yaw),
math.sin(yaw), math.cos(pitch), math.sin(pitch))
if args.visualize:
plt.clf()
plt.imshow(image)
plt.pause(1e-10)
archiver.add(scene_data)
# Change cube color and position
update_cube_color_and_position(cube_nodes, color_candidates)
# Transfer changes to the vertex buffer on gpu
udpate_vertex_buffer(cube_nodes)
renderer.delete()
def main():
# Colors
colors = []
for n in range(args.num_colors):
hue = n / args.num_colors
saturation = 1
lightness = 1
red, green, blue = colorsys.hsv_to_rgb(hue, saturation, lightness)
colors.append(np.array((red, green, blue, 1)))
renderer = OffscreenRenderer(viewport_width=args.image_size,
viewport_height=args.image_size)
os.makedirs(args.output_directory, exist_ok=True)
with ShardedRecordWriter(args.output_directory + '/{:04d}.tfrecords',
args.num_scenes_per_file) as writer:
for scene_index in tqdm(range(args.total_scenes)):
full_scene, normals_scene, masks_scene = build_scene(
floor_textures,
wall_textures,
fix_light_position=args.fix_light_position)
object_nodes, object_mask_nodes = place_objects(
full_scene,
masks_scene,
colors,
objects,
max_num_objects=args.max_num_objects,
min_num_objects=args.min_num_objects,
discrete_position=args.discrete_position,
rotate_object=args.rotate_object)
object_velocities = np.random.uniform(
-1., 1., [len(object_nodes), 3]) * [1., 0., 1.]
camera_distance = np.random.uniform(3., 4.8)
camera = PerspectiveCamera(yfov=math.pi / 4)
camera_node = Node(camera=camera, translation=np.array([0, 1, 1]))
full_scene.add_node(camera_node)
normals_scene.add_node(camera_node)
masks_scene.add_node(camera_node)
initial_yaw = np.random.uniform(-np.pi, np.pi)
delta_yaw = np.random.normal(
0.3, 0.05) * (np.random.randint(2) * 2 - 1.)
pitch = 0. # np.random.normal(0., 0.1) - 0.03
all_frames = []
all_depths = []
all_masks = []
all_normals = []
all_bboxes = []
all_camera_positions = []
all_camera_yaws = []
all_camera_pitches = []
all_camera_matrices = []
for observation_index in range(args.num_observations_per_scene):
yaw = initial_yaw + delta_yaw * observation_index
camera_xz = camera_distance * np.array(
(math.sin(yaw), math.cos(yaw)))
camera_node.rotation = genearte_camera_quaternion(yaw, pitch)
camera_position = np.array([camera_xz[0], 1, camera_xz[1]])
camera_node.translation = camera_position
# Image and depths (latter are linear float32 depths in world space, with zero for sky)
flags = RenderFlags.NONE if args.no_shadows else RenderFlags.SHADOWS_DIRECTIONAL
if args.anti_aliasing:
flags |= RenderFlags.ANTI_ALIASING
image, depths = renderer.render(full_scene, flags=flags)
# Background (wall/floor) normals in view space
normals_world = renderer.render(normals_scene,
flags=RenderFlags.NONE)[0]
normals_world = np.where(
np.sum(normals_world, axis=2, keepdims=True) == 0, 0.,
(normals_world.astype(np.float32) / 255. - 0.5) *
2) # this has zeros for the sky
normals_view = np.einsum(
'ij,yxj->yxi', np.linalg.inv(camera_node.matrix[:3, :3]),
normals_world)
# Instance segmentation masks
masks_image = renderer.render(masks_scene,
flags=RenderFlags.NONE)[0]
# Instance 3D bboxes in view space (axis-aligned)
def get_mesh_node_bbox(node):
object_to_view_matrix = np.dot(
np.linalg.inv(camera_node.matrix),
full_scene.get_pose(node))
assert len(node.mesh.primitives) == 1
vertices_object = np.concatenate([
node.mesh.primitives[0].positions,
np.ones_like(node.mesh.primitives[0].positions[:, :1])
],
axis=1)
vertices_view = np.einsum('ij,vj->vi',
object_to_view_matrix,
vertices_object)[:, :3]
return np.min(vertices_view, axis=0), np.max(vertices_view,
axis=0)
object_bboxes_view = [
get_mesh_node_bbox(object_parent.children[0])
for object_parent in object_nodes
]
all_frames.append(
cv2.imencode('.jpg', image[..., ::-1])[1].tostring())
all_masks.append(
cv2.imencode('.png', masks_image[..., ::-1])[1].tostring())
all_depths.append(depths)
all_normals.append(normals_view)
all_bboxes.append(object_bboxes_view)
all_camera_positions.append(camera_position)
all_camera_yaws.append(yaw)
all_camera_pitches.append(pitch)
all_camera_matrices.append(camera_node.matrix)
if args.visualize:
plt.clf()
plt.imshow(image)
plt.pause(1e-10)
if args.moving_objects:
for object_node, object_velocity in zip(
object_nodes, object_velocities):
new_translation = object_node.translation + object_velocity
new_translation = np.clip(new_translation, -3., 3.)
object_node.translation = new_translation
all_bboxes = np.asarray(
all_bboxes) # :: frame, obj, min/max, x/y/z
all_bboxes = np.concatenate([
all_bboxes,
np.zeros([
all_bboxes.shape[0],
args.max_num_objects - all_bboxes.shape[1], 2, 3
])
],
axis=1)
example = tf.train.Example(features=tf.train.Features(
feature={
'frames':
tf.train.Feature(bytes_list=tf.train.BytesList(
value=all_frames)),
'masks':
tf.train.Feature(bytes_list=tf.train.BytesList(
value=all_masks)),
'depths':
float32_feature(all_depths),
'normals':
float32_feature(all_normals),
'bboxes':
float32_feature(all_bboxes),
'camera_positions':
float32_feature(all_camera_positions),
'camera_yaws':
float32_feature(all_camera_yaws),
'camera_pitches':
float32_feature(all_camera_pitches),
'camera_matrices':
float32_feature(all_camera_matrices),
}))
writer.write(example.SerializeToString())
renderer.delete()
def main():
try:
os.makedirs(args.output_directory)
except:
pass
assert args.max_num_cubes <= 10
probabilities = np.array(combinations[:args.max_num_cubes]) / np.sum(
np.array(combinations[:args.max_num_cubes]))
last_file_number = args.initial_file_number + args.total_scenes // args.num_scenes_per_file - 1
initial_file_number = args.initial_file_number
if os.path.isdir(args.output_directory):
files = os.listdir(args.output_directory)
for name in files:
number = int(name.replace(".h5", ""))
if number > last_file_number:
continue
if number < args.initial_file_number:
continue
if number < initial_file_number:
continue
initial_file_number = number + 1
total_scenes_to_render = args.total_scenes - args.num_scenes_per_file * (
initial_file_number - args.initial_file_number)
assert args.num_scenes_per_file <= total_scenes_to_render
# Initialize colors
color_candidates = []
for n in range(args.num_colors):
hue = n / args.num_colors
saturation = 1
lightness = 1
red, green, blue = colorsys.hsv_to_rgb(hue, saturation, lightness)
color_candidates.append((red, green, blue))
renderer = OffscreenRenderer(viewport_width=args.image_size,
viewport_height=args.image_size)
archiver = Archiver(
directory=args.output_directory,
num_scenes_per_file=args.num_scenes_per_file,
image_size=(args.image_size, args.image_size),
num_observations_per_scene=args.num_observations_per_scene,
initial_file_number=initial_file_number)
for scene_index in tqdm(range(total_scenes_to_render)):
scene, cube_nodes = build_scene(args.max_num_cubes, color_candidates,
probabilities)
camera = OrthographicCamera(xmag=0.9, ymag=0.9)
camera_node = Node(camera=camera)
scene.add_node(camera_node)
camera_distance = 2
scene_data = SceneData((args.image_size, args.image_size),
args.num_observations_per_scene)
for observation_index in range(args.num_observations_per_scene):
# Generate random point on a sphere
camera_position = np.random.normal(size=3)
camera_position = camera_distance * camera_position / np.linalg.norm(
camera_position)
# Compute yaw and pitch
yaw, pitch = compute_yaw_and_pitch(camera_position)
camera_node.rotation = genearte_camera_quaternion(yaw, pitch)
camera_node.translation = camera_position
# Rendering
flags = RenderFlags.SHADOWS_DIRECTIONAL
if args.anti_aliasing:
flags |= RenderFlags.ANTI_ALIASING
image = renderer.render(scene, flags=flags)[0]
scene_data.add(image, camera_position, math.cos(yaw),
math.sin(yaw), math.cos(pitch), math.sin(pitch))
if args.visualize:
plt.clf()
plt.imshow(image)
plt.pause(1e-10)
archiver.add(scene_data)
renderer.delete()
