def add_point_cloud_mesh_to_scene(point_cloud, scene, pose, pts_colors):
'''
pts_colors: np array, Nx3
point_cloud: NX3, np array
'''
points = point_cloud
mn = Mesh.from_points(points, colors=pts_colors)
pc_node = scene.add(mn, pose=pose)
return pc_node
def _create_node_from_points(points,
name=None,
pose=None,
color=None,
material=None,
tube_radius=None,
n_divs=20):
"""Helper method that creates a pyrender.Node from an array of points"""
points = np.asanyarray(points)
if points.ndim == 1:
points = np.array([points])
if pose is None:
pose = np.eye(4)
else:
pose = pose.matrix
# Create vertex colors if needed
if color is not None:
color = np.asanyarray(color, dtype=np.float)
if color.ndim == 1 or len(color) != len(points):
color = np.repeat(color[np.newaxis, :], len(points), axis=0)
if tube_radius is not None:
poses = None
mesh = trimesh.creation.uv_sphere(tube_radius, [n_divs, n_divs])
if color is not None:
mesh.visual.vertex_colors = color[0]
poses = np.tile(np.eye(4),
(len(points), 1)).reshape(len(points), 4, 4)
poses[:, :3, 3::4] = points[:, :, None]
m = Mesh.from_trimesh(mesh, material=material, poses=poses)
else:
m = Mesh.from_points(points, colors=color)
return Node(mesh=m, name=name, matrix=pose)
def _create_node_from_points(points,
name=None,
pose=None,
color=None,
material=None,
radius=None,
n_divs=20):
"""Helper method that creates a pyrender.Node from an array of points"""
points = np.asanyarray(points)
if points.ndim == 1:
points = np.array([points])
if pose is None:
pose = np.eye(4)
else:
pose = pose.matrix
color = np.asanyarray(color,
dtype=np.float) if color is not None else None
# If color specified per point, use sprites
if color is not None and color.ndim > 1:
Visualizer3D._kwargs.update({"point_size": 1000 * radius})
m = Mesh.from_points(points, colors=color)
# otherwise, we can make pretty spheres
else:
mesh = trimesh.creation.uv_sphere(radius, [n_divs, n_divs])
if color is not None:
mesh.visual.vertex_colors = color
poses = None
poses = np.tile(np.eye(4),
(len(points), 1)).reshape(len(points), 4, 4)
poses[:, :3, 3::4] = points[:, :, None]
m = Mesh.from_trimesh(mesh, material=material, poses=poses)
return Node(mesh=m, name=name, matrix=pose)
boxv_mesh = Mesh.from_trimesh(boxv_trimesh, smooth=False)
# ------------------------------------------------------------------------------
# Creating meshes with per-face colors
# ------------------------------------------------------------------------------
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
boxf_mesh = Mesh.from_trimesh(boxf_trimesh, smooth=False)
# ------------------------------------------------------------------------------
# Creating meshes from point clouds
# ------------------------------------------------------------------------------
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)
# ==============================================================================
# Light creation
# ==============================================================================
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)
# ==============================================================================
# Camera creation
# ==============================================================================
def test_meshes():
with pytest.raises(TypeError):
x = Mesh()
with pytest.raises(TypeError):
x = Primitive()
with pytest.raises(ValueError):
x = Primitive([], mode=10)
# Basics
x = Mesh([])
assert x.name is None
assert x.is_visible
assert x.weights is None
x.name = 'str'
# From Trimesh
x = Mesh.from_trimesh(trimesh.creation.box())
assert isinstance(x, Mesh)
assert len(x.primitives) == 1
assert x.is_visible
assert np.allclose(x.bounds, np.array([
[-0.5, -0.5, -0.5],
[0.5, 0.5, 0.5]
]))
assert np.allclose(x.centroid, np.zeros(3))
assert np.allclose(x.extents, np.ones(3))
assert np.allclose(x.scale, np.sqrt(3))
assert not x.is_transparent
# Test some primitive functions
x = x.primitives[0]
with pytest.raises(ValueError):
x.normals = np.zeros(10)
with pytest.raises(ValueError):
x.tangents = np.zeros(10)
with pytest.raises(ValueError):
x.texcoord_0 = np.zeros(10)
with pytest.raises(ValueError):
x.texcoord_1 = np.zeros(10)
with pytest.raises(TypeError):
x.material = np.zeros(10)
assert x.targets is None
assert np.allclose(x.bounds, np.array([
[-0.5, -0.5, -0.5],
[0.5, 0.5, 0.5]
]))
assert np.allclose(x.centroid, np.zeros(3))
assert np.allclose(x.extents, np.ones(3))
assert np.allclose(x.scale, np.sqrt(3))
x.material.baseColorFactor = np.array([0.0, 0.0, 0.0, 0.0])
assert x.is_transparent
# From two trimeshes
x = Mesh.from_trimesh([trimesh.creation.box(),
trimesh.creation.cylinder(radius=0.1, height=2.0)],
smooth=False)
assert isinstance(x, Mesh)
assert len(x.primitives) == 2
assert x.is_visible
assert np.allclose(x.bounds, np.array([
[-0.5, -0.5, -1.0],
[0.5, 0.5, 1.0]
]))
assert np.allclose(x.centroid, np.zeros(3))
assert np.allclose(x.extents, [1.0, 1.0, 2.0])
assert np.allclose(x.scale, np.sqrt(6))
assert not x.is_transparent
# From bad data
with pytest.raises(TypeError):
x = Mesh.from_trimesh(None)
# With instancing
poses = np.tile(np.eye(4), (5,1,1))
poses[:,0,3] = np.array([0,1,2,3,4])
x = Mesh.from_trimesh(trimesh.creation.box(), poses=poses)
assert np.allclose(x.bounds, np.array([
[-0.5, -0.5, -0.5],
[4.5, 0.5, 0.5]
]))
poses = np.eye(4)
x = Mesh.from_trimesh(trimesh.creation.box(), poses=poses)
poses = np.eye(3)
with pytest.raises(ValueError):
x = Mesh.from_trimesh(trimesh.creation.box(), poses=poses)
# From textured meshes
fm = trimesh.load('tests/data/fuze.obj')
x = Mesh.from_trimesh(fm)
assert isinstance(x, Mesh)
assert len(x.primitives) == 1
assert x.is_visible
assert not x.is_transparent
assert x.primitives[0].material.baseColorTexture is not None
x = Mesh.from_trimesh(fm, smooth=False)
fm.visual = fm.visual.to_color()
fm.visual.face_colors = np.array([1.0, 0.0, 0.0, 1.0])
x = Mesh.from_trimesh(fm, smooth=False)
with pytest.raises(ValueError):
x = Mesh.from_trimesh(fm, smooth=True)
fm.visual.vertex_colors = np.array([1.0, 0.0, 0.0, 0.5])
x = Mesh.from_trimesh(fm, smooth=False)
x = Mesh.from_trimesh(fm, smooth=True)
assert x.primitives[0].color_0 is not None
assert x.is_transparent
bm = trimesh.load('tests/data/WaterBottle.glb').dump()[0]
x = Mesh.from_trimesh(bm)
assert x.primitives[0].material.baseColorTexture is not None
assert x.primitives[0].material.emissiveTexture is not None
assert x.primitives[0].material.metallicRoughnessTexture is not None
# From point cloud
x = Mesh.from_points(fm.vertices)
#==============================================================================
scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0]))
cam_node = scene.add(cam, pose=cam_pose)
scene.main_camera_node = cam_node
#==============================================================================
drill_node = scene.add(drill_mesh)
r = OffscreenRenderer(viewport_width=640, viewport_height=480)
rf = pyrender.RenderFlags.NONE
rf |= pyrender.RenderFlags.USE_RAW_DEPTH
color, raw_depth = r.render(scene, flags=rf)
r.delete()
# unproject to get point cloud
pcd = unproj(inv_mvp, raw_depth)
#==============================================================================
#------------------------------------------------------------------------------
# Creating meshes from point clouds
#------------------------------------------------------------------------------
points_mesh = Mesh.from_points(pcd, colors=np.array((0.0, 1.0, 0.0, 1.0)))
pcd_node = scene.add(points_mesh)
#==============================================================================
# Using the viewer with a pre-specified camera
#==============================================================================
v = Viewer(scene, render_flags={'point_size': 5})
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()
np.cos(theta / 180 * np.pi), 0.0], [0.0, 0.0, 0.0, 1.0]])
def location(x, y, z):
return np.array([[1.0, 0.0, 0.0, x], [0.0, 1.0, 0.0, y],
[0.0, 0.0, 1.0, z], [0.0, 0.0, 0.0, 1.0]])
if __name__ == "__main__":
scene = Scene(ambient_light=np.array([0.1, 0.1, 0.1, 1.0]))
cam = PerspectiveCamera(yfov=(np.pi / 3.0))
cam_pose = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 2.0], [0.0, 0.0, 0.0, 1.0]])
points_mesh = Mesh.from_points(np.array([[0.0, 0.0, 0.0]]))
human_node = scene.add(points_mesh)
plane_size = 0.7
plane_points = np.array([[plane_size, -0.65, plane_size],
[plane_size, -0.65, -plane_size],
[-plane_size, -0.65, plane_size],
[-plane_size, -0.65, -plane_size]])
plane_faces = np.array([[0, 1, 2], [2, 1, 3]])
plane_colors = np.ones((4, 3), dtype=np.float32) / 3.0
plane_mesh = trimesh.Trimesh(vertices=plane_points,
faces=plane_faces,
vertex_colors=plane_colors)
plane_mesh = Mesh.from_trimesh(plane_mesh, smooth=False)
plane_node = scene.add(plane_mesh)
direc_l = DirectionalLight(color=np.ones(3), intensity=3.0)
light_node1 = scene.add(direc_l,