add docker compose

.gitignore

@@ -0,0 +1 @@
+__pycache__

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

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
+
+

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)

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()
+

models/drill.obj.mtl

@@ -0,0 +1,4 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd drill_uv.png 
+

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
+

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

models/wood.obj.mtl

@@ -0,0 +1,2 @@
+newmtl material_0
+map_Kd wood_uv.png