161 lines
6.3 KiB
Python
161 lines
6.3 KiB
Python
"""Examples of using pyrender for viewing and offscreen rendering.
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"""
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import os
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os.environ["PYOPENGL_PLATFORM"] = "osmesa"
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#os.environ["MUJOCO_GL"] = "osmesa"
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import pyglet
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pyglet.options['shadow_window'] = False
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import numpy as np
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import trimesh
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from pyrender import PerspectiveCamera,\
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DirectionalLight, SpotLight, PointLight,\
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MetallicRoughnessMaterial,\
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Primitive, Mesh, Node, Scene,\
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Viewer, OffscreenRenderer, RenderFlags
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#==============================================================================
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# Mesh creation
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#==============================================================================
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#------------------------------------------------------------------------------
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# Creating textured meshes from trimeshes
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#------------------------------------------------------------------------------
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# Fuze trimesh
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fuze_trimesh = trimesh.load('./models/fuze.obj')
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fuze_mesh = Mesh.from_trimesh(fuze_trimesh)
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# Drill trimesh
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drill_trimesh = trimesh.load('./models/drill.obj')
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drill_mesh = Mesh.from_trimesh(drill_trimesh)
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drill_pose = np.eye(4)
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drill_pose[0,3] = 0.1
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drill_pose[2,3] = -np.min(drill_trimesh.vertices[:,2])
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# Wood trimesh
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wood_trimesh = trimesh.load('./models/wood.obj')
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wood_mesh = Mesh.from_trimesh(wood_trimesh)
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# Water bottle trimesh
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bottle_gltf = trimesh.load('./models/WaterBottle.glb')
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bottle_trimesh = bottle_gltf.geometry[list(bottle_gltf.geometry.keys())[0]]
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bottle_mesh = Mesh.from_trimesh(bottle_trimesh)
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bottle_pose = np.array([
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[1.0, 0.0, 0.0, 0.1],
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[0.0, 0.0, -1.0, -0.16],
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[0.0, 1.0, 0.0, 0.13],
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[0.0, 0.0, 0.0, 1.0],
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])
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#------------------------------------------------------------------------------
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# Creating meshes with per-vertex colors
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#------------------------------------------------------------------------------
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boxv_trimesh = trimesh.creation.box(extents=0.1*np.ones(3))
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boxv_vertex_colors = np.random.uniform(size=(boxv_trimesh.vertices.shape))
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boxv_trimesh.visual.vertex_colors = boxv_vertex_colors
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boxv_mesh = Mesh.from_trimesh(boxv_trimesh, smooth=False)
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#------------------------------------------------------------------------------
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# Creating meshes with per-face colors
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#------------------------------------------------------------------------------
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boxf_trimesh = trimesh.creation.box(extents=0.1*np.ones(3))
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boxf_face_colors = np.random.uniform(size=boxf_trimesh.faces.shape)
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boxf_trimesh.visual.face_colors = boxf_face_colors
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boxf_mesh = Mesh.from_trimesh(boxf_trimesh, smooth=False)
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#------------------------------------------------------------------------------
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# Creating meshes from point clouds
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#------------------------------------------------------------------------------
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points = trimesh.creation.icosphere(radius=0.05).vertices
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point_colors = np.random.uniform(size=points.shape)
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points_mesh = Mesh.from_points(points, colors=point_colors)
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#==============================================================================
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# Light creation
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#==============================================================================
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direc_l = DirectionalLight(color=np.ones(3), intensity=1.0)
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spot_l = SpotLight(color=np.ones(3), intensity=10.0,
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innerConeAngle=np.pi/16, outerConeAngle=np.pi/6)
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point_l = PointLight(color=np.ones(3), intensity=10.0)
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#==============================================================================
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# Camera creation
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#==============================================================================
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cam = PerspectiveCamera(yfov=(np.pi / 3.0))
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cam_pose = np.array([
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[0.0, -np.sqrt(2)/2, np.sqrt(2)/2, 0.5],
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[1.0, 0.0, 0.0, 0.0],
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[0.0, np.sqrt(2)/2, np.sqrt(2)/2, 0.4],
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[0.0, 0.0, 0.0, 1.0]
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])
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#==============================================================================
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# Scene creation
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#==============================================================================
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scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0]))
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#==============================================================================
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# Adding objects to the scene
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#==============================================================================
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#------------------------------------------------------------------------------
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# By manually creating nodes
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#------------------------------------------------------------------------------
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fuze_node = Node(mesh=fuze_mesh, translation=np.array([0.1, 0.15, -np.min(fuze_trimesh.vertices[:,2])]))
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scene.add_node(fuze_node)
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boxv_node = Node(mesh=boxv_mesh, translation=np.array([-0.1, 0.10, 0.05]))
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scene.add_node(boxv_node)
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boxf_node = Node(mesh=boxf_mesh, translation=np.array([-0.1, -0.10, 0.05]))
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scene.add_node(boxf_node)
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#------------------------------------------------------------------------------
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# By using the add() utility function
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#------------------------------------------------------------------------------
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drill_node = scene.add(drill_mesh, pose=drill_pose)
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bottle_node = scene.add(bottle_mesh, pose=bottle_pose)
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wood_node = scene.add(wood_mesh)
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direc_l_node = scene.add(direc_l, pose=cam_pose)
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spot_l_node = scene.add(spot_l, pose=cam_pose)
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#==============================================================================
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# Using the viewer with a default camera
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#==============================================================================
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# v = Viewer(scene, shadows=True)
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#==============================================================================
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# Using the viewer with a pre-specified camera
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#==============================================================================
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cam_node = scene.add(cam, pose=cam_pose)
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# v = Viewer(scene, central_node=drill_node)
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#==============================================================================
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# Rendering offscreen from that camera
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#==============================================================================
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r = OffscreenRenderer(viewport_width=640*2, viewport_height=480*2)
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color, depth = r.render(scene)
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import matplotlib.pyplot as plt
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plt.figure()
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plt.imshow(color)
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plt.show()
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#==============================================================================
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# Segmask rendering
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#==============================================================================
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# nm = {node: 20*(i + 1) for i, node in enumerate(scene.mesh_nodes)}
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# seg = r.render(scene, RenderFlags.SEG, nm)[0]
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# plt.figure()
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# plt.imshow(seg)
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# plt.show()
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#
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# r.delete()
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