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import numpy as np |
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import trimesh |
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from pyrender import (OffscreenRenderer, PerspectiveCamera, DirectionalLight, |
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SpotLight, Mesh, Node, Scene) |
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def test_offscreen_renderer(tmpdir): |
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fuze_trimesh = trimesh.load('examples/models/fuze.obj') |
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fuze_mesh = Mesh.from_trimesh(fuze_trimesh) |
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drill_trimesh = trimesh.load('examples/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 = trimesh.load('examples/models/wood.obj') |
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wood_mesh = Mesh.from_trimesh(wood_trimesh) |
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bottle_gltf = trimesh.load('examples/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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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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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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poses = np.tile(np.eye(4), (2,1,1)) |
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poses[0,:3,3] = np.array([-0.1, -0.10, 0.05]) |
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poses[1,:3,3] = np.array([-0.15, -0.10, 0.05]) |
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boxf_mesh = Mesh.from_trimesh(boxf_trimesh, poses=poses, smooth=False) |
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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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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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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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scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02])) |
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fuze_node = Node(mesh=fuze_mesh, translation=np.array([ |
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0.1, 0.15, -np.min(fuze_trimesh.vertices[:,2]) |
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])) |
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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) |
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scene.add_node(boxf_node) |
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_ = scene.add(drill_mesh, pose=drill_pose) |
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_ = scene.add(bottle_mesh, pose=bottle_pose) |
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_ = scene.add(wood_mesh) |
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_ = scene.add(direc_l, pose=cam_pose) |
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_ = scene.add(spot_l, pose=cam_pose) |
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_ = scene.add(points_mesh) |
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_ = scene.add(cam, pose=cam_pose) |
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r = OffscreenRenderer(viewport_width=640, viewport_height=480) |
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color, depth = r.render(scene) |
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assert color.shape == (480, 640, 3) |
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assert depth.shape == (480, 640) |
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assert np.max(depth.data) > 0.05 |
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assert np.count_nonzero(depth.data) > (0.2 * depth.size) |
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r.delete() |
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