def render_segmentation_images(self):
"""Renders segmentation masks (modal and amodal) for each object in the state.
"""
full_depth = self.observation
modal_data = np.zeros((full_depth.shape[0], full_depth.shape[1], len(self.obj_keys)), dtype=np.uint8)
amodal_data = np.zeros((full_depth.shape[0], full_depth.shape[1], len(self.obj_keys)), dtype=np.uint8)
renderer = OffscreenRenderer(self.camera.width, self.camera.height)
flags = RenderFlags.DEPTH_ONLY
# Hide all meshes
obj_mesh_nodes = [next(iter(self._scene.get_nodes(name=k))) for k in self.obj_keys]
for mn in self._scene.mesh_nodes:
mn.mesh.is_visible = False
for i, node in enumerate(obj_mesh_nodes):
node.mesh.is_visible = True
depth = renderer.render(self._scene, flags=flags)
amodal_mask = depth > 0.0
modal_mask = np.logical_and(
(np.abs(depth - full_depth) < 1e-6), full_depth > 0.0
)
amodal_data[amodal_mask,i] = np.iinfo(np.uint8).max
modal_data[modal_mask,i] = np.iinfo(np.uint8).max
node.mesh.is_visible = False
renderer.delete()
# Show all meshes
for mn in self._scene.mesh_nodes:
mn.mesh.is_visible = True
return amodal_data, modal_data
def render_camera_image(self, color=True):
"""Render the camera image for the current scene."""
renderer = OffscreenRenderer(self.camera.width, self.camera.height)
flags = RenderFlags.NONE if color else RenderFlags.DEPTH_ONLY
image = renderer.render(self._scene, flags=flags)
renderer.delete()
return image
def render_big_gallery(results_dir,
nb=30,
pts_colors=[0.5, 0.5, 0.5],
draw_text=False):
'''
pts_colors: [0,0,0]
return np array of a big image
'''
cam = PerspectiveCamera(yfov=(YFOV))
cam_pose = CAM_POSE
point_l = PointLight(color=np.ones(3), intensity=POINT_LIGHT_INTENSITY)
scene = Scene(bg_color=np.array([1, 1, 1, 0]))
# cam and light
_ = scene.add(cam, pose=cam_pose)
_ = scene.add(point_l, pose=cam_pose)
input_ply_filenames = get_all_filnames(results_dir, nb)
r = OffscreenRenderer(viewport_width=640 * 2,
viewport_height=480 * 2,
point_size=POINT_SIZE)
pc_pose = PC_POSE
images = []
for _, input_pf in enumerate(input_ply_filenames):
input_pc = read_ply_xyz(input_pf)
colors = np.array(pts_colors)
colors = np.tile(colors, (input_pc.shape[0], 1))
input_pc_node = add_point_cloud_mesh_to_scene(input_pc, scene, pc_pose,
colors)
renderred_color, _ = r.render(scene)
scene.remove_node(input_pc_node)
if draw_text:
im_here = Image.fromarray(renderred_color)
d = ImageDraw.Draw(im_here)
fnt = ImageFont.truetype(
font='/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf',
size=100)
d.text((0, 0),
input_pf.split('/')[-1],
fill=(0, 0, 0, 255),
font=fnt)
renderred_color = np.array(im_here)
images.append(renderred_color)
big_gallery = np.concatenate(images, axis=0)
r.delete()
return big_gallery
def main():
# 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)
rad_step = math.pi / 18
total_frames = int(math.pi * 2 / rad_step)
camera_distance = 2
fig = plt.figure(figsize=(3, 3))
ims = []
for num_cubes in range(1, 8):
scene = build_scene(num_cubes, color_candidates)[0]
camera = OrthographicCamera(xmag=0.9, ymag=0.9)
camera_node = Node(camera=camera)
scene.add_node(camera_node)
current_rad = 0
for _ in range(total_frames):
camera_position = np.array(
(math.sin(current_rad), math.sin(math.pi / 6),
math.cos(current_rad)))
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]
im = plt.imshow(image, interpolation="none", animated=True)
ims.append([im])
current_rad += rad_step
renderer.delete()
ani = animation.ArtistAnimation(fig,
ims,
interval=1 / 24,
blit=True,
repeat_delay=0)
ani.save("shepard_metzler.gif", writer="imagemagick")
def __init__(self, path_OBJ, viewport_size=(128, 128), y_fov=3.14159 / 4.0,
distance=[0.3, 0.5], light=[0.5, 30], top_only=False,
roll=None, shift=None):
self.distance, self.roll, self.shift = distance, roll, shift
self.light_intensity, self.top_only = light, top_only
self._build_scene(path_OBJ, viewport_size, light, y_fov)
self.renderer = OffscreenRenderer(viewport_size[0], viewport_size[1])
self.flags_RGBA = RenderFlags.RGBA
self.flags_FLAT = RenderFlags.RGBA | RenderFlags.FLAT
self.epsilon = 0.01
def render_big_gallery_overlay(dir_1,
dir_2,
pts_color_1=[0.5, 0.5, 0.5],
pts_color_2=[0.5, 0.5, 0.5],
nb=30):
'''
return np array of a big image
'''
cam = PerspectiveCamera(yfov=(YFOV))
cam_pose = CAM_POSE
point_l = PointLight(color=np.ones(3), intensity=POINT_LIGHT_INTENSITY)
scene = Scene(bg_color=np.array([1, 1, 1, 0]))
# cam and light
_ = scene.add(cam, pose=cam_pose)
_ = scene.add(point_l, pose=cam_pose)
input_ply_filenames_1 = get_all_filnames(dir_1, nb)
input_ply_filenames_2 = get_all_filnames(dir_2, nb)
r = OffscreenRenderer(viewport_width=640 * 2,
viewport_height=480 * 2,
point_size=POINT_SIZE)
pc_pose = PC_POSE
images = []
for idx, input_pf in enumerate(input_ply_filenames_1):
input_pc_1 = read_ply_xyz(input_pf)
input_pc_2 = read_ply_xyz(input_ply_filenames_2[idx])
color_1 = np.array(pts_color_1)
color_1 = np.tile(color_1, (input_pc_1.shape[0], 1))
color_2 = np.array(pts_color_2)
color_2 = np.tile(color_2, (input_pc_2.shape[0], 1))
input_pc_node_1 = add_point_cloud_mesh_to_scene(
input_pc_1, scene, pc_pose, color_1)
input_pc_node_2 = add_point_cloud_mesh_to_scene(
input_pc_2, scene, pc_pose, color_2)
renderred_color, _ = r.render(scene)
scene.remove_node(input_pc_node_1)
scene.remove_node(input_pc_node_2)
images.append(renderred_color)
big_gallery = np.concatenate(images, axis=0)
r.delete()
return big_gallery
def __init__(self, path_OBJ, camera_pose, min_corner, max_corner,
symmetric_transforms, viewport_size=(128, 128),
y_fov=3.14159 / 4.0, light_intensity=[0.5, 30]):
self.light_intensity = light_intensity
self.symmetric_transforms = symmetric_transforms
self.min_corner, self.max_corner = min_corner, max_corner
self.scene = Scene(bg_color=[0, 0, 0, 0])
self.light = self._build_light(light_intensity, camera_pose)
self.camera = self._build_camera(y_fov, viewport_size, camera_pose)
self.pixel_mesh = self.scene.add(color_object(path_OBJ))
self.mesh = self.scene.add(
Mesh.from_trimesh(trimesh.load(path_OBJ), smooth=True))
self.renderer = OffscreenRenderer(viewport_size[0], viewport_size[1])
self.flags_RGBA = RenderFlags.RGBA
self.flags_FLAT = RenderFlags.RGBA | RenderFlags.FLAT
def render_sensor(
point_set,
render_sensor_path="/Users/macbookpro15/Documents/mujoco_hand_exps/data/sensor_render"
):
"""
pointset: it is collectiono of sensor points for all timesteps
"""
# first take one of the point, subtract the center from it which
# I know is the 0-th position out of the 220 points
# form the mesh from this
if not os.path.exists(render_sensor_path):
os.makedirs(render_sensor_path)
time_steps = len(point_set)
for t in range(time_steps):
sensor = trimesh.load_mesh(
f'../data/mesh_dir/mesh_{t}_out/mc_mesh_out.ply')
sensor_mesh = Mesh.from_trimesh(sensor)
# Light for the scene
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)
point_l = PointLight(color=np.ones(3), intensity=10.0)
# add camera to the scene
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]])
# create the scene
scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0]))
point_mesh_node = scene.add(sensor_mesh)
direc_l_node = scene.add(direc_l, pose=cam_pose)
spot_l_node = scene.add(spot_l, pose=cam_pose)
cam_node = scene.add(cam, pose=cam_pose)
print('rendering the scene offline')
r = OffscreenRenderer(viewport_width=640, viewport_height=480)
color, depth = r.render(scene)
r.delete()
plt.figure()
plt.imshow(color)
plt.savefig(f'{render_sensor_path}/img_{t}.jpg')
def __init__(self,
filepath,
viewport_size=(128, 128),
y_fov=3.14159 / 4.0,
distance=0.3,
light=5.0,
top_only=True,
scale=10.0,
roll=None,
shift=None):
self._build_scene(filepath, viewport_size, light, y_fov)
self.distance, self.roll = distance, roll
self.top_only, self.shift, self.scale = top_only, shift, scale
self.renderer = OffscreenRenderer(*viewport_size)
self.RGBA = RenderFlags.RGBA
self.epsilon = 0.01
def render_mesh(mesh, h=256, w=256):
"""https://pyrender.readthedocs.io/en/latest/examples/quickstart.html"""
mesh = pyrender.Mesh.from_trimesh(mesh.trimesh())
scene = Scene()
scene.add(mesh)
# z-axis away from the scene, x-axis right, y-axis up
pose = np.eye(4)
pose[2, 3] = 250
# add camera
camera = PerspectiveCamera(yfov=np.pi / 3.0, aspectRatio=1.0)
scene.add(camera, pose=pose)
# add light
# light = DirectionalLight(color=np.ones(3), intensity=5.0)
light = PointLight(color=[1.0, 1.0, 1.0], intensity=2.0)
scene.add(light, pose=pose)
r = OffscreenRenderer(h, w)
color, depth = r.render(scene)
return color
def __init__(self,
filepath,
viewport_size=(128, 128),
y_fov=3.14159 / 4.,
distance=0.30,
top_only=False,
light=5.0,
theta_steps=10,
phi_steps=10):
self.scene = Scene(bg_color=[0, 0, 0])
self.camera = self.scene.add(
PerspectiveCamera(y_fov, aspectRatio=np.divide(*viewport_size)))
self.mesh = self.scene.add(
Mesh.from_trimesh(trimesh.load(filepath), smooth=True))
self.world_origin = self.mesh.mesh.centroid
self.light = self.scene.add(DirectionalLight([1.0, 1.0, 1.0], light))
self.distance = distance
# 0.1 values are to avoid gimbal lock
theta_max = np.pi / 2.0 if top_only else np.pi
self.thetas = np.linspace(0.1, theta_max - 0.1, theta_steps)
self.phis = np.linspace(0.1, 2 * np.pi - 0.1, phi_steps)
self.renderer = OffscreenRenderer(*viewport_size)
self.RGBA = RenderFlags.RGBA
def __init__(self, args):
super(self.__class__, self).__init__()
self.save_params_path = args.save_model_params if args.save_model_params is not None\
else args.fit_result
# Result retrieve
with open(args.fit_result, 'rb') as f:
fitting_results = pickle.load(f, encoding='latin1')
self.cam_rot = fitting_results['camera_rotation'][0]
self.cam_trans = fitting_results['camera_translation'][0]
# Background image setup
self.base_img = load_image(
args.image_path) if args.image_path else None
if self.base_img is not None:
self.canvas_size = np.array(self.base_img.shape[:2][::-1],
dtype=np.float32)
if self.canvas_size[1] > MAX_CANVAS_HEIGHT:
self.canvas_size *= (MAX_CANVAS_HEIGHT /
float(self.canvas_size[1]))
if self.canvas_size[0] > MAX_CANVAS_WIDTH:
self.canvas_size *= (MAX_CANVAS_WIDTH /
float(self.canvas_size[0]))
self.canvas_size = tuple(self.canvas_size.astype(int))
else:
self.canvas_size = None
# Model setup
self.model = self._init_model(fitting_results, args.gender)
# Scene setup
self.scene = Scene(bg_color=[1.0, 1.0, 1.0])
self.material = MetallicRoughnessMaterial(metallicFactor=0.0,
alphaMode='BLEND',
baseColorFactor=(5.0, 5.0,
5.0, 1.0))
im_size = self.canvas_size if self.canvas_size is not None else (
MAX_CANVAS_WIDTH, MAX_CANVAS_HEIGHT)
# self.camera = PerspectiveCamera(yfov=np.pi/3.0,
# aspectRatio=float(self.canvas_size[0])/self.canvas_size[1])
self.camera = IntrinsicsCamera(fx=5000.,
fy=5000.,
cx=im_size[0] / 2,
cy=im_size[1] / 2)
# self.camera = CustomIntrinsicsCamera(fx=5000., fy=5000.,
# cx=im_size[0]/2, cy=im_size[1]/2)
self.camera_params = {
't': self.cam_trans,
'rt': cv2.Rodrigues(self.cam_rot)[0],
'c': np.array(im_size).astype(float) / 2,
'f': np.array((im_size[0], ) * 2) * 1.0,
'k': np.zeros(5),
'frustum': {
'near': self.camera.znear,
'far': self.camera.zfar,
'width': im_size[0],
'height': im_size[1]
}
}
camera_pos = np.eye(4)
# print(self.cam_trans)
# print(self.camera.get_projection_matrix(im_size[0], im_size[1]))
# print(self.camera.cx, self.camera.cy)
camera_pos[:3, :3] = self.cam_rot
self.cam_trans[0] *= -1
camera_pos[:3, 3] = self.cam_trans
slight = SpotLight(color=[1.0, 1.0, 1.0], intensity=10.0)
slight_pos = np.eye(4)
slight_pos[:3, 3] = np.array([0, 0, 5])
self.scene.add(self.camera, pose=camera_pos)
self.scene.add(slight, pose=slight_pos)
self.renderer = OffscreenRenderer(viewport_width=im_size[0],
viewport_height=im_size[1],
point_size=1.0)
# Rest setup
self.setupUi(self)
self._moving = False
self._rotating = False
self._mouse_begin_pos = None
self._loaded_gender = None
self._update_canvas = False
self.camera_widget = Ui_CameraWidget(self.camera,
self.camera_params['frustum'],
self.draw, self.camera_params)
self._bind_actions()
self._update_canvas = True
spot_l_node = scene.add(spot_l, pose=cam_pose)
# ==============================================================================
# Using the viewer with a default camera
# ==============================================================================
# needs a screen
# v = Viewer(scene, shadows=True)
# ==============================================================================
# Using the viewer with a pre-specified camera
# ==============================================================================
# needs a screen
# cam_node = scene.add(cam, pose=cam_pose)
# v = Viewer(scene, central_node=drill_node)
# ==============================================================================
# Rendering offscreen from that camera
# ==============================================================================
cam_node = scene.add(cam, pose=cam_pose)
r = OffscreenRenderer(viewport_width=640 * 2, viewport_height=480 * 2)
color, depth = r.render(scene)
r.delete()
import matplotlib.pyplot as plt
plt.figure(figsize=(20, 20))
plt.imshow(color)
plt.show()
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
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
# 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,
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 = 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 = 4.5
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()
# cam_pose = perturb_rotation(cam_pose, xy_angle_perturb_level, z_angle_perturb_level)
# cam_pose = adjust_zyx_angles(cam_pose, [-1.244, 0.316, -0.025])
cam = get_pyrender_cam((fx, fy, cx, cy), cam_pose, scene)
print('fx, fy, cx, cy: {}, {}, {}, {}'.format(fx, fy, cx, cy))
K = np.array([[fx, 0., cx], [0., fy, cy], [0., 0., 1.]])
np.savetxt(os.path.join(out_dir, 'left_K.txt'), K, delimiter=',')
R, tvec = from_pyrender_pose(cam_pose)
R, tvec = opengl_to_opencv(R, tvec)
np.savetxt(os.path.join(out_dir, 'left_Rt.txt'),
np.hstack((R, tvec)),
delimiter=',')
cam_node = scene.add(cam, pose=cam_pose)
flags = RenderFlags.VERTEX_NORMALS | RenderFlags.SHADOWS_DIRECTIONAL
r = OffscreenRenderer(viewport_width=img_width, viewport_height=img_height)
color, depth = r.render(scene, flags=flags)
# color, depth = r.render(scene)
r.delete()
scene.remove_node(cam_node) # remove camera from the scene
imageio.imwrite(os.path.join(out_dir, 'color_left.png'), color)
h5f = h5py.File(os.path.join(out_dir, 'depth_left.h5'), 'w')
h5f.create_dataset('data', data=depth)
h5f.close()
min_val, max_val = np.percentile(depth[depth > 0], (1, 99))
depth_tmp = np.clip(depth, min_val, max_val)
depth_tmp = (depth_tmp - min_val) / (max_val - min_val)
imageio.imwrite(os.path.join(out_dir, 'depth_left.png'),
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
# point_l_node = scene.add(point_l_cam, pose=new_campose)
#==============================================================================
# Use viewer to display scene
#==============================================================================
# View the scene
view_render_flags = {'cull_faces': False, 'vertex_normals': False}
v = Viewer(scene, render_flags=view_render_flags, viewport_size=(IMAGE_WIDTH, IMAGE_HEIGHT))
#==============================================================================
# Prepare for dataset generation
#==============================================================================
flags = RenderFlags.SKIP_CULL_FACES
r = OffscreenRenderer(viewport_width=IMAGE_WIDTH, viewport_height=IMAGE_HEIGHT)
# color, _ = r.render(scene, flags=flags)
# Generate dataset ?
choice = input("Generate dataset? [y/n]: ")
accepted_inputs = ['y','n']
while (not (choice in accepted_inputs)):
choice = input("Generate dataset? [y/n]: ")
iterations = 5
mode = CameraPose.NONE
csvfile = './outputs/flowers_dataset.csv'
csvMode = 'w' # 'a' => append / 'w' => write (overwrites existing csv file)
meshes = [(flower_mesh, 'flower'), (stem_mesh, 'stem'), (center_mesh, 'center')]
skip_default_view = False
salt = '001'
def main():
# Load MNIST images
mnist_images = load_mnist_images()
renderer = OffscreenRenderer(viewport_width=args.image_size,
viewport_height=args.image_size)
plt.tight_layout()
fig = plt.figure(figsize=(6, 3))
axis_perspective = fig.add_subplot(1, 2, 1)
axis_orthogonal = fig.add_subplot(1, 2, 2)
ims = []
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 = 5
perspective_camera = PerspectiveCamera(yfov=math.pi / 4)
perspective_camera_node = Node(camera=perspective_camera,
translation=np.array([0, 1, 1]))
orthographic_camera = OrthographicCamera(xmag=3, ymag=3)
orthographic_camera_node = Node(camera=orthographic_camera)
rad_step = math.pi / 36
total_frames = int(math.pi * 2 / rad_step)
current_rad = 0
for _ in range(total_frames):
scene.add_node(perspective_camera_node)
# Perspective camera
camera_xz = camera_distance * np.array(
(math.sin(current_rad), math.cos(current_rad)))
# Compute yaw and pitch
camera_direction = np.array([camera_xz[0], 0, camera_xz[1]])
yaw, pitch = compute_yaw_and_pitch(camera_direction)
perspective_camera_node.rotation = genearte_camera_quaternion(
yaw, pitch)
camera_position = np.array([camera_xz[0], 1, camera_xz[1]])
perspective_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]
im1 = axis_perspective.imshow(image,
interpolation="none",
animated=True)
scene.remove_node(perspective_camera_node)
# Orthographic camera
scene.add_node(orthographic_camera_node)
camera_direction = camera_distance * np.array(
(math.sin(current_rad), math.sin(
math.pi / 6), math.cos(current_rad)))
yaw, pitch = compute_yaw_and_pitch(camera_direction)
orthographic_camera_node.rotation = genearte_camera_quaternion(
yaw, pitch)
orthographic_camera_node.translation = np.array(
[camera_direction[0], 4, camera_direction[2]])
image = renderer.render(scene, flags=flags)[0]
im2 = axis_orthogonal.imshow(image,
interpolation="none",
animated=True)
ims.append([im1, im2])
plt.pause(1e-8)
current_rad += rad_step
scene.remove_node(orthographic_camera_node)
ani = animation.ArtistAnimation(fig,
ims,
interval=1 / 24,
blit=True,
repeat_delay=0)
filename = "mnist_dice"
if args.discrete_position:
filename += "_discrete_position"
if args.rotate_dice:
filename += "_rotate_dice"
if args.fix_light_position:
filename += "_fix_light_position"
filename += ".gif"
ani.save(filename, writer="imagemagick")
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)))
floor_textures = [
"../textures/lg_floor_d.tga",
"../textures/lg_style_01_floor_blue_d.tga",
"../textures/lg_style_01_floor_orange_bright_d.tga",
]
wall_textures = [
"../textures/lg_style_01_wall_cerise_d.tga",
"../textures/lg_style_01_wall_green_bright_d.tga",
"../textures/lg_style_01_wall_red_bright_d.tga",
"../textures/lg_style_02_wall_yellow_d.tga",
"../textures/lg_style_03_wall_orange_bright_d.tga",
]
objects = [
pyrender.objects.Capsule,
pyrender.objects.Cylinder,
pyrender.objects.Icosahedron,
pyrender.objects.Box,
pyrender.objects.Sphere,
]
renderer = OffscreenRenderer(viewport_width=args.image_size,
viewport_height=args.image_size)
plt.tight_layout()
fig = plt.figure(figsize=(6, 3))
axis_perspective = fig.add_subplot(1, 2, 1)
axis_orthogonal = fig.add_subplot(1, 2, 2)
ims = []
scene = build_scene(floor_textures,
wall_textures,
fix_light_position=args.fix_light_position)
place_objects(scene,
colors,
objects,
min_num_objects=args.num_objects,
max_num_objects=args.num_objects,
discrete_position=args.discrete_position,
rotate_object=args.rotate_object)
camera_distance = 5
perspective_camera = PerspectiveCamera(yfov=math.pi / 4)
perspective_camera_node = Node(camera=perspective_camera,
translation=np.array([0, 1, 1]))
orthographic_camera = OrthographicCamera(xmag=3, ymag=3)
orthographic_camera_node = Node(camera=orthographic_camera)
rad_step = math.pi / 36
total_frames = int(math.pi * 2 / rad_step)
current_rad = 0
for _ in range(total_frames):
scene.add_node(perspective_camera_node)
# Perspective camera
camera_xz = camera_distance * np.array(
(math.sin(current_rad), math.cos(current_rad)))
# Compute yaw and pitch
camera_direction = np.array([camera_xz[0], 0, camera_xz[1]])
yaw, pitch = compute_yaw_and_pitch(camera_direction)
perspective_camera_node.rotation = genearte_camera_quaternion(
yaw, pitch)
camera_position = np.array([camera_xz[0], 1, camera_xz[1]])
perspective_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]
im1 = axis_perspective.imshow(image,
interpolation="none",
animated=True)
scene.remove_node(perspective_camera_node)
# Orthographic camera
scene.add_node(orthographic_camera_node)
camera_direction = camera_distance * np.array(
(math.sin(current_rad), math.sin(
math.pi / 6), math.cos(current_rad)))
yaw, pitch = compute_yaw_and_pitch(camera_direction)
orthographic_camera_node.rotation = genearte_camera_quaternion(
yaw, pitch)
orthographic_camera_node.translation = np.array(
[camera_direction[0], 4, camera_direction[2]])
image = renderer.render(scene, flags=flags)[0]
im2 = axis_orthogonal.imshow(image,
interpolation="none",
animated=True)
ims.append([im1, im2])
plt.pause(1e-8)
current_rad += rad_step
scene.remove_node(orthographic_camera_node)
ani = animation.ArtistAnimation(fig,
ims,
interval=1 / 24,
blit=True,
repeat_delay=0)
filename = "rooms"
if args.discrete_position:
filename += "_discrete_position"
if args.rotate_object:
filename += "_rotate_object"
if args.fix_light_position:
filename += "_fix_light_position"
filename += ".gif"
ani.save(filename, writer="imagemagick")
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()
#==============================================================================
# Attempt to convert 3D to 2D position
#==============================================================================
# View the scene
view_render_flags = {'cull_faces': False}
v = Viewer(scene, render_flags=view_render_flags)
#==============================================================================
# Rendering offscreen from that camera
#==============================================================================
dimensions = 600
# dimensions = 1280
r = OffscreenRenderer(viewport_width=dimensions, viewport_height=dimensions)
# Generate dataset ?
question_string = "Generate chess board dataset? (select no because it's already there) [y/n]: "
choice = input(question_string)
accepted_inputs = ['y', 'n']
while (not (choice in accepted_inputs)):
choice = input(question_string)
# Parameters
# alpha = 0
# beta = np.pi/8
iterations = 20
# distance = 0.7
# force_height = 0.0
mode = CameraPose.SIDE
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()
if inside(e):
if not inside(s):
outputList.append(computeIntersection())
outputList.append(e)
elif inside(s):
outputList.append(computeIntersection())
s = e
cp1 = cp2
return (outputList)
# View the scene
view_render_flags = {'cull_faces': False}
v = Viewer(scene,
viewport_size=(width, height),
render_flags=view_render_flags)
r = OffscreenRenderer(viewport_width=width, viewport_height=height)
color, depth = r.render(scene, flags=RenderFlags.SKIP_CULL_FACES)
# color = cvtColor(color, COLOR_RGB2BGR)
def draw_point(img, imgpts):
for point in imgpts:
img = circle(img, tuple(point), 4, (255, 0, 0), 2)
return img
# draw the computed (x,y) coords on the image
color = draw_point(color, points)
plt.imshow(color)
plt.show()
# spot_l = SpotLight(color=np.ones(3), intensity=10.0, innerConeAngle=np.pi/16, outerConeAngle=np.pi/6)
point_l = PointLight(color=np.ones(3), intensity=10.0)
# Camera creation
cam = PerspectiveCamera(yfov=(np.pi / 3.0))
# Scene creation
scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0]))
# Adding objects to the scene
cam_node = scene.add(cam)
direc_l_node = scene.add(direc_l, parent_node=cam_node)
# spot_l_node = scene.add(spot_l, parent_node=cam_node)
point_l_node = scene.add(point_l, parent_node=cam_node)
r = OffscreenRenderer(viewport_width=g_single_viewport_size[0], viewport_height=g_single_viewport_size[1])
# Start logging flag
write_log("Start logging at %s" % time.strftime("%Y-%m-%d %H:%M:%S", time.localtime()))
write_log("Dataset path: %s" % os.path.abspath(g_dataset_dir))
write_log("Logging path: %s" % os.path.abspath(g_log_filename))
write_log("Dataset kind: %s" % g_dataset_kind)
for meshes, save_paths in traverse_dataset(g_dataset_dir, g_dataset_kind):
for filename, component_list in g_vis_list.items():
write_log("Start rendering image: %s" % filename)
image_mat = None
for components in component_list:
def main():
try:
os.makedirs(args.output_directory)
except:
pass
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))
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,
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)):
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 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
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()