def __init__(self,
env,
img_path='images/',
width=500,
height=500,
spp=256,
use_noise=False,
debug_mode=False,
video_mode=False,
video_path='videos/',
video_name='robosuite_video_0.mp4',
video_fps=60,
verbose=1,
vision_modalities=None):
"""
Initializes the nvisii wrapper. Wrapping any MuJoCo environment in this
wrapper will use the NVISII wrapper for rendering.
Args:
env (MujocoEnv instance): The environment to wrap.
img_path (string): Path to images.
width (int, optional): Width of the rendered image. Defaults to 500.
height (int, optional): Height of the rendered image. Defaults to 500.
spp (int, optional): Sample-per-pixel for each image. Larger spp will result
in higher quality images but will take more time to render
each image. Higher quality images typically use an spp of
around 512.
use_noise (bool, optional): Use noise or denoise. Deafults to false.
debug_mode (bool, optional): Use debug mode for nvisii. Deafults to false.
video_mode (bool, optional): By deafult, the NVISII wrapper saves the results as
images. If video_mode is set to true, a video is
produced and will be stored in the directory defined
by video_path. Defaults to false.
video_path (string, optional): Path to store the video. Required if video_mode is
set to true. Defaults to 'videos/'.
video_name (string, optional): Name for the file for the video. Defaults to
'robosuite_video_0.mp4'.
video_fps (int, optional): Frames per second for video. Defaults to 60.
verbose (int, optional): If verbose is set to 1, the wrapper will print the image
number for each image rendered. If verbose is set to 0,
nothing will be printed. Defaults to 1.
vision_modalities (string, optional): Options to render image with different ground truths
for NVISII. Options include "normal", "texture_coordinates",
"position", "depth".
"""
super().__init__(env, renderer_type="nvisii")
self.env = env
self.img_path = img_path
self.width = width
self.height = height
self.spp = spp
self.use_noise = use_noise
self.video_mode = video_mode
self.video_path = video_path
self.video_name = video_name
self.video_fps = video_fps
self.verbose = verbose
self.vision_modalities = vision_modalities
self.img_cntr = 0
env._setup_references()
# enable interactive mode when debugging
if debug_mode:
nvisii.initialize_interactive()
else:
nvisii.initialize(headless=True)
self.segmentation_type = self.env.camera_segmentations
# add denoiser to nvisii if not using noise
if not use_noise:
nvisii.configure_denoiser()
nvisii.enable_denoiser()
nvisii.configure_denoiser(True, True, False)
if not os.path.exists(img_path):
os.makedirs(img_path)
if video_mode:
if not os.path.exists(video_path):
os.makedirs(video_path)
self.video = cv2.VideoWriter(video_path + video_name,
cv2.VideoWriter_fourcc(*'MP4V'),
video_fps, (self.width, self.height))
print(f'video mode enabled')
if vision_modalities is None and self.segmentation_type[0] == None:
nvisii.sample_pixel_area(x_sample_interval=(0.0, 1.0),
y_sample_interval=(0.0, 1.0))
else:
nvisii.sample_pixel_area(x_sample_interval=(0.5, 0.5),
y_sample_interval=(0.5, 0.5))
self._init_nvisii_components()
import nvisii
opt = lambda: None
opt.nb_objects = 50
opt.spp = 256
opt.width = 500
opt.height = 500
opt.out = "04_load_obj_file.png"
# # # # # # # # # # # # # # # # # # # # # # # # #
nvisii.initialize(headless=True, verbose=True)
nvisii.enable_denoiser()
camera = nvisii.entity.create(name="camera",
transform=nvisii.transform.create("camera"),
camera=nvisii.camera.create(
name="camera",
aspect=float(opt.width) / float(opt.height)))
camera.get_transform().look_at(
at=(0, 0.1, 0.1),
up=(0, 0, 1),
eye=(1, 0.7, 0.2),
)
nvisii.set_camera_entity(camera)
nvisii.set_dome_light_sky(sun_position=(10, 10, 1), saturation=2)
nvisii.set_dome_light_exposure(1)
# # # # # # # # # # # # # # # # # # # # # # # # #
import pybullet as p
import time
import math
import time
import nvisii as nv
nv.initialize(window_on_top=True)
camera = nv.entity.create(name="camera",
camera=nv.camera.create("camera"),
transform=nv.transform.create("camera"))
nv.set_camera_entity(camera)
nv.enable_denoiser()
nv.disable_dome_light_sampling()
nv.set_dome_light_color((0, 0, 0))
light = nv.entity.create(name="light",
transform=nv.transform.create("light"),
mesh=nv.mesh.create_plane("light", flip_z=True),
light=nv.light.create("light"))
light.get_transform().set_position((0, 0, 1.5))
light.get_transform().set_scale((.25, .25, .25))
light.get_light().set_temperature(4500)
light.get_light().set_exposure(2)
# Enable nvisii interactions
camera.get_transform().look_at(eye=(-2., 2., .4), at=(0, 0, .4), up=(0, 0, 1))
cursor = nv.vec4()
speed_camera = .20
rot = nv.vec2(0, 0)
