def main(filename, radius=0.05):
ti.init(ti.gpu)
pos = np.load(filename).astype(np.float32)
scene = tina.Scene((1024, 768))
pars = tina.SimpleParticles(maxpars=len(pos))
scene.add_object(pars)
gui = ti.GUI('particles', scene.res, fast_gui=True)
pars.set_particles(pos)
pars.set_particle_radii(np.ones(len(pos), dtype=np.float32) * radius)
while gui.running:
scene.input(gui)
scene.render()
gui.set_image(scene.img)
gui.show()
v[p] = new_v
x[p] += dt * v[p]
J[p] *= 1 + dt * new_C.trace()
C[p] = new_C
@ti.kernel
def init():
for i in range(n_particles):
x[i] = ti.Vector([ti.random() for i in range(dim)]) * 0.4 + 0.15
v[i] *= 0
J[i] = 1
scene = tina.Scene(maxpars=n_particles)
pars = tina.SimpleParticles(n_particles, radius=0.01)
scene.add_object(pars)
gui = ti.GUI('pars_mpm3d', scene.res)
scene.init_control(gui, center=[0.5, 0.5, 0.5], radius=1.5)
scene.lighting.clear_lights()
scene.lighting.add_light([-0.4, 1.5, 1.8], color=[0.8, 0.8, 0.8])
scene.lighting.set_ambient_light([0.22, 0.22, 0.22])
init()
while gui.running:
scene.input(gui)
if gui.is_pressed('r'):
init()
for s in range(steps):
f"Res [{RES_X}x{RES_Y}] GPU {args.cuda} RVIZ {disp_in_rviz} size of map {args.map_size} grid {args.voxel_size} "
)
if args.record:
ti.core.start_recording('./export/TaichiSLAM.yml')
ti.init(arch=ti.cc)
else:
if args.cuda:
ti.init(arch=ti.cuda)
else:
ti.init(arch=ti.cpu, debug=True)
gui = ti.GUI('TaichiSLAM', (RES_X, RES_Y))
level = 1
scene = tina.Scene(RES_X, RES_Y, bgcolor=(0.1, 0.1, 0.1))
pars1 = tina.SimpleParticles(maxpars=args.max_disp_particles)
pars2 = tina.SimpleParticles(maxpars=args.max_disp_particles)
material1 = tina.Lamp()
material2 = tina.Lamp()
scene.add_object(pars1, material1)
scene.add_object(pars2, material2)
if args.method == "octo":
mapping = Octomap(texture_enabled=args.texture_enabled,
max_disp_particles=args.max_disp_particles,
min_occupy_thres=args.occupy_thres,
map_scale=args.map_size,
voxel_size=args.voxel_size,
K=args.K)
elif args.method == "esdf":
mapping = DenseESDF(texture_enabled=args.texture_enabled,
max_disp_particles=args.max_disp_particles,
import taichi as ti
import numpy as np
import tina
ti.init(ti.gpu)
scene = tina.Scene()
pars = tina.SimpleParticles()
material = tina.Classic()
scene.add_object(pars, material)
gui = ti.GUI('particles')
pos = np.random.rand(1024, 3).astype(np.float32) * 2 - 1
pars.set_particles(pos)
radius = np.random.rand(1024).astype(np.float32) * 0.1 + 0.1
pars.set_particle_radii(radius)
color = np.random.rand(1024, 3).astype(np.float32) * 0.8 + 0.2
pars.set_particle_colors(color)
while gui.running:
scene.input(gui)
scene.render()
gui.set_image(scene.img)
gui.show()