commit ac4077ef520a4c98c49fd22fc0f1cf7cf6f17679 Author: yutent Date: Sun Sep 17 22:17:07 2023 +0800 add docker compose diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ed8ebf5 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +__pycache__ \ No newline at end of file diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..be9e7e9 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,20 @@ +FROM debian:bookworm + +RUN rm /etc/apt/sources.list.d/debian.sources +RUN echo "deb http://mirrors.ustc.edu.cn/debian/ bookworm main contrib non-free non-free-firmware" > /etc/apt/sources.list +RUN echo "deb http://mirrors.ustc.edu.cn/debian-security bookworm-security main contrib non-free non-free-firmware" >> /etc/apt/sources.list +RUN echo "deb http://mirrors.ustc.edu.cn/debian/ bookworm-updates main contrib non-free non-free-firmware" >> /etc/apt/sources.list + + +RUN apt update +RUN apt install -y python3-full python3-opengl libosmesa6 + +# 创建虚拟python环境, 要用pip安装依赖, py3之后, 要求在虚拟环境中才能使用pip +RUN mkdir /opt/py +RUN python3 -m venv /opt/py +RUN /opt/py/bin/pip install numpy trimesh pyglet pyrender matplotlib +# 要升级pyopengl到3.1.4或以上 +# 否则会报错 ImportError: cannot import name 'OSMesaCreateContextAttribs' from 'OpenGL.osmesa' +RUN /opt/py/bin/pip install --upgrade pyopengl + +ENV PYOPENGL_PLATFORM=osmesa diff --git a/docker-compose.yml b/docker-compose.yml new file mode 100644 index 0000000..ac5c9e7 --- /dev/null +++ b/docker-compose.yml @@ -0,0 +1,12 @@ +version: "3" +services: + osmesa: + build: . + stdin_open: true + tty: true + volumes: + - .:/app + working_dir: /app + command: /opt/py/bin/python example.py + + diff --git a/duck.py b/duck.py new file mode 100644 index 0000000..9a94bad --- /dev/null +++ b/duck.py @@ -0,0 +1,13 @@ +from pyrender import Mesh, Scene, Viewer +from io import BytesIO +import numpy as np +import trimesh +import requests + +duck_source = "https://github.com/KhronosGroup/glTF-Sample-Models/raw/master/2.0/Duck/glTF-Binary/Duck.glb" + +duck = trimesh.load(BytesIO(requests.get(duck_source).content), file_type='glb') +duckmesh = Mesh.from_trimesh(list(duck.geometry.values())[0]) +scene = Scene(ambient_light=np.array([1.0, 1.0, 1.0, 1.0])) +scene.add(duckmesh) +Viewer(scene) diff --git a/example.py b/example.py new file mode 100644 index 0000000..72a1d73 --- /dev/null +++ b/example.py @@ -0,0 +1,160 @@ +"""Examples of using pyrender for viewing and offscreen rendering. +""" +import os +os.environ["PYOPENGL_PLATFORM"] = "osmesa" +#os.environ["MUJOCO_GL"] = "osmesa" + +import pyglet +pyglet.options['shadow_window'] = False +import numpy as np +import trimesh + +from pyrender import PerspectiveCamera,\ + DirectionalLight, SpotLight, PointLight,\ + MetallicRoughnessMaterial,\ + Primitive, Mesh, Node, Scene,\ + Viewer, OffscreenRenderer, RenderFlags + +#============================================================================== +# Mesh creation +#============================================================================== + +#------------------------------------------------------------------------------ +# Creating textured meshes from trimeshes +#------------------------------------------------------------------------------ + +# Fuze trimesh +fuze_trimesh = trimesh.load('./models/fuze.obj') +fuze_mesh = Mesh.from_trimesh(fuze_trimesh) + +# Drill trimesh +drill_trimesh = trimesh.load('./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('./models/wood.obj') +wood_mesh = Mesh.from_trimesh(wood_trimesh) + +# Water bottle trimesh +bottle_gltf = trimesh.load('./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], +]) + +#------------------------------------------------------------------------------ +# Creating meshes with per-vertex colors +#------------------------------------------------------------------------------ +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) + +#------------------------------------------------------------------------------ +# 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 +#============================================================================== + +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 creation +#============================================================================== + +scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0])) + +#============================================================================== +# Adding objects to the scene +#============================================================================== + +#------------------------------------------------------------------------------ +# By manually creating nodes +#------------------------------------------------------------------------------ +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, translation=np.array([-0.1, -0.10, 0.05])) +scene.add_node(boxf_node) + +#------------------------------------------------------------------------------ +# By using the add() utility function +#------------------------------------------------------------------------------ +drill_node = scene.add(drill_mesh, pose=drill_pose) +bottle_node = scene.add(bottle_mesh, pose=bottle_pose) +wood_node = scene.add(wood_mesh) +direc_l_node = scene.add(direc_l, pose=cam_pose) +spot_l_node = scene.add(spot_l, pose=cam_pose) + +#============================================================================== +# 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) + +import matplotlib.pyplot as plt +plt.figure() +plt.imshow(color) +plt.show() + +#============================================================================== +# Segmask rendering +#============================================================================== + +# nm = {node: 20*(i + 1) for i, node in enumerate(scene.mesh_nodes)} +# seg = r.render(scene, RenderFlags.SEG, nm)[0] +# plt.figure() +# plt.imshow(seg) +# plt.show() +# +# r.delete() + diff --git a/models/WaterBottle.glb b/models/WaterBottle.glb new file 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463/616/463 433/396/433 393/618/393 +f 75/648/75 428/263/428 436/552/436 +f 76/558/76 414/305/414 498/265/498 +f 192/529/192 140/312/140 303/603/303 +f 425/556/425 280/534/280 179/419/179 +f 416/519/416 500/541/500 124/589/124 +f 393/618/393 192/529/192 460/538/460 +f 483/153/483 104/152/104 287/562/287 +f 431/269/431 123/606/123 499/179/499 +f 124/589/124 396/657/396 148/223/148 +f 280/534/280 167/414/167 179/419/179 +f 76/558/76 498/265/498 456/267/456 +# 1000 faces, 664 coords texture + +# End of File \ No newline at end of file diff --git a/models/fuze.obj.mtl b/models/fuze.obj.mtl new file mode 100644 index 0000000..350d2a9 --- /dev/null +++ b/models/fuze.obj.mtl @@ -0,0 +1,14 @@ +# +# Wavefront material file +# Converted by Meshlab Group +# + +newmtl material_0 +Ka 0.200000 0.200000 0.200000 +Kd 1.000000 1.000000 1.000000 +Ks 1.000000 1.000000 1.000000 +Tr 1.000000 +illum 2 +Ns 0.000000 +map_Kd fuze_uv.jpg + diff --git a/models/fuze_uv.jpg b/models/fuze_uv.jpg new file mode 100644 index 0000000..ba7c25d Binary files /dev/null and b/models/fuze_uv.jpg differ diff --git a/models/wood.obj b/models/wood.obj new file mode 100644 index 0000000..23583e5 --- /dev/null +++ b/models/wood.obj @@ -0,0 +1,18 @@ +mtllib ./wood.obj.mtl + +v -0.300000 -0.300000 0.000000 +v 0.300000 -0.300000 0.000000 +v -0.300000 0.300000 0.000000 +v 0.300000 0.300000 0.000000 +vn 0.000000 0.000000 1.000000 +vn 0.000000 0.000000 1.000000 +vn 0.000000 0.000000 1.000000 +vn 0.000000 0.000000 1.000000 +vt 0.000000 0.000000 +vt 1.000000 0.000000 +vt 0.000000 1.000000 +vt 1.000000 1.000000 + +usemtl material_0 +f 1/1/1 2/2/2 4/4/4 +f 1/1/1 4/4/4 3/3/3 diff --git a/models/wood.obj.mtl b/models/wood.obj.mtl new file mode 100644 index 0000000..a09e767 --- /dev/null +++ b/models/wood.obj.mtl @@ -0,0 +1,2 @@ +newmtl material_0 +map_Kd wood_uv.png diff --git a/models/wood_uv.png b/models/wood_uv.png new file mode 100644 index 0000000..c785f41 Binary files /dev/null and b/models/wood_uv.png differ