LION/utils/render_voxel_cubes.py

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2023-03-13 20:42:12 +00:00
# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# NVIDIA CORPORATION & AFFILIATES and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION & AFFILIATES is strictly prohibited.
import os
import numpy as np
import open3d as o3d
import sys
import torch
import point_cloud_utils as pcu
from PIL import Image
sys.path.append('.')
import torch
from utils._render_mitsuba_cubes import render_cubes2png
# from script.paper.vis_mesh.render_mitsuba import reformat_ply
def reformat_ply(input, output, r=0, is_point_flow_data=0,
ascii=False, write_normal=False, fixed_trimesh=1):
m = open3d.io.read_triangle_mesh(input)
pcl = np.asarray(m.vertices)
if not is_point_flow_data:
pcl[:,0] *= -1
pcl = pcl[:, [2,1,0]]
pcl = standardize_bbox(pcl)
pcl = pcl[:, [2, 0, 1]]
pcl[:,0] *= -1
pcl[:,2] += 0.0125
offset = - 0.475 - pcl[:,2].min()
pcl[:,2] += offset
m.vertices = open3d.utility.Vector3dVector(pcl)
R = m.get_rotation_matrix_from_xyz((0, 0, - r * np.pi / 2))
mesh_r = copy.deepcopy(m)
mesh_r.rotate(R, center=(0, 0, 0))
## o3d.visualization.draw_geometries([mesh_r])
open3d.io.write_triangle_mesh(output, mesh_r, write_ascii=ascii, write_vertex_normals=False)
if fixed_trimesh:
mesh = trimesh.load_mesh(output) ## '../models/featuretype.STL')
trimesh.repair.fix_inversion(mesh)
trimesh.repair.fix_normals(mesh)
mesh.export(output)
logger.info(f'load {input}, write as {output}; ascii={ascii}, write_normal: {write_normal}')
return output
def get_vpts(cubes):
import kaolin
v,f = kaolin.ops.conversions.voxelgrids_to_cubic_meshes(cubes) ##voxelgrids_to_trianglemeshes(voxel_volume)
v = [vi.cpu() for vi in v]
f = [fi.cpu() for fi in f]
return v, f
def create_dir(output_path):
if not os.path.exists(output_path):
os.makedirs(output_path)
def convert_cube_2_mesh(voxel_size, center_list, output_path, overwrite=0, colorm=[93,64,211], rotate=None, config={}):
scale = 0.5 * (center_list.max() - center_list.min())
pcl = center_list
mins = np.amin(pcl, axis=0).reshape(1,pcl.shape[-1]) ##np.amin(pcl, axis=1)[:, None, :], axis=0)[None, None, :]
maxs = np.amax(pcl, axis=0).reshape(1,pcl.shape[-1]) ##np.amin(pcl, axis=1)[:, None, :], axis=0)[None, None, :]
center = ( mins + maxs ) / 2.
scale = np.amax(maxs-mins)
center_list = (center_list - center) / scale ## (center_list.max() - center_list.min())
center_list = center_list[:,[2,0,1]]
center_list[:,0] *= -1 #center_list
offset = - 0.475 - center_list[:,2].min()
center_list[:,2] += offset
if rotate is not None:
pts = torch.from_numpy(center_list)
pcl = o3d.geometry.PointCloud()
pcl.points = o3d.utility.Vector3dVector(pts.cpu())
R = pcl.get_rotation_matrix_from_xyz((0, 0, - rotate * np.pi / 2))
center = np.array([0, 0, 0]).reshape(-1,3)
pts = np.matmul(pts.numpy() - center, R.T) + center
center_list = pts
output_name = output_path
print('center_list: ', center_list.shape)
if not os.path.exists(os.path.dirname(output_name)):
os.makedirs(os.path.dirname(output_name))
if os.path.exists(output_name) and not overwrite:
print(f'find rendered output: {output_name}, skip')
return
out = render_cubes2png(pcl=center_list, filename=output_name,
vs_size=0.9*voxel_size/scale, colorm=colorm, **config)
print(' save as: ', out)
#img = Image.open(out)
#img.show()
print('output_path: ', output_path)
return out
def create_unit_cube():
voxelgrid = torch.tensor([1], device='cuda', dtype=torch.uint8).view(1,1,1,1)
v, f = get_vpts(voxelgrid)
v = v[0]
f = f[0]
v = v - 0.5 # [-0.5, 0.5]
print('v: ', v)
print('f: ', v)
output_name = './script/paper/vis_voxel_exp/unit_cube.ply'
print('save output as: ', output_name)
pcu.save_mesh_vf(output_name, v.numpy(), f.numpy())
reformat_ply(output_name, output_name, r=0)
def write_small_cube():
mesh_compare = './script/paper/vis_voxel_exp/unit_cube2.ply'
m = o3d.io.read_triangle_mesh(mesh_compare)
pcl = np.asarray(m.vertices) * 0.5
m.vertices = o3d.utility.Vector3dVector(pcl) ##.float()) ## torch.from_numpy(pcl))
o3d.io.write_triangle_mesh(mesh_compare.replace('.ply', 'w1.ply'),
m, write_ascii=True, write_vertex_normals=True)
# write_small_cube()
if __name__ == '__main__':
input_path = '/home/xzeng/plots/voxel_exp/voxel_cube/raw'
index = "3 328 91 83 74 73 64 63 54 51 48 45 41 30 22"
convert_cube_2_mesh(input_path, index)
# create_unit_cube()