add rendering pointcloud and voxel ode

This commit is contained in:
xzeng 2023-03-13 16:42:12 -04:00
parent 5d1e63102a
commit bff091bfa2
4 changed files with 940 additions and 0 deletions

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</p> </p>
## Update ## Update
* add pointclouds rendering code used for paper figure, see `utils/render_mitsuba_pc.py`
* When opening an issue, please add @ZENGXH so that I can reponse faster! * When opening an issue, please add @ZENGXH so that I can reponse faster!
## Install ## Install

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# 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 numpy as np
import sys, os, subprocess
import mitsuba as mi
import OpenEXR
import Imath
from PIL import Image
from plyfile import PlyData, PlyElement
import torch
import time
from PIL import Image, ImageChops
random_str = hex(int(time.time() + 12345))[2:]
def trim(im):
bg = Image.new(im.mode, im.size, im.getpixel((0,0))) ##border)
diff = ImageChops.difference(im, bg)
bbox = diff.getbbox()
if bbox:
return im.crop(bbox)
else:
return im
PATH_TO_MITSUBA2 = "/home/xzeng/code/mitsuba2/build/dist/mitsuba" ## Codes/mitsuba2/build/dist/mitsuba" # mitsuba exectuable
xml_head_segment = \
"""
<scene version="0.6.0">
<integrator type="path">
<integer name="maxDepth" value="-1"/>
</integrator>
<sensor type="perspective">
<float name="farClip" value="100"/>
<float name="nearClip" value="0.1"/>
<transform name="toWorld">
<lookat origin="{},{},{}" target="0,0,0" up="0,0,1"/>
</transform>
<float name="fov" value="25"/>
<sampler type="ldsampler">
<integer name="sampleCount" value="{}"/>
</sampler>
<film type="hdrfilm">
<integer name="width" value="{}"/>
<integer name="height" value="{}"/>
<rfilter type="gaussian"/>
</film>
</sensor>
<bsdf type="roughplastic" id="surfaceMaterial">
<string name="distribution" value="ggx"/>
<float name="alpha" value="0.05"/>
<float name="intIOR" value="1.46"/>
<rgb name="diffuseReflectance" value="1,1,1"/> <!-- default 0.5 -->
</bsdf>
"""
xml_head = \
"""
<scene version="0.6.0">
<integrator type="path">
<integer name="maxDepth" value="-1"/>
</integrator>
<sensor type="perspective">
<float name="farClip" value="100"/>
<float name="nearClip" value="0.1"/>
<transform name="toWorld">
<lookat origin="3,3,3" target="0,0,0" up="0,0,1"/>
</transform>
<float name="fov" value="25"/>
<sampler type="ldsampler">
<integer name="sampleCount" value="256"/>
</sampler>
<film type="hdrfilm">
<integer name="width" value="800"/>
<integer name="height" value="600"/>
<rfilter type="gaussian"/>
</film>
</sensor>
<bsdf type="roughplastic" id="surfaceMaterial">
<string name="distribution" value="ggx"/>
<float name="alpha" value="0.05"/>
<float name="intIOR" value="1.46"/>
<rgb name="diffuseReflectance" value="1,1,1"/> <!-- default 0.5 -->
</bsdf>
<bsdf type="roughdielectric" id="trans">
<float name="int_ior" value="1.31"/>
<float name="ext_ior" value="1.6"/>
</bsdf>
<bsdf type="roughplastic" id="trans2">
<string name="distribution" value="ggx"/>
<float name="alpha" value="0.05"/>
<float name="intIOR" value="1.46"/>
<rgb name="diffuseReflectance" value="0.6,0.3,0.2"/> <!-- default 0.5 -->
</bsdf>
<bsdf type="roughdielectric" id="trans3">
<float name="int_ior" value="1.51"/>
<float name="ext_ior" value="1.0"/>
<rgb name="specular_reflectance" value="0.6,0.3,0.2"/>
</bsdf>
"""
# I also use a smaller point size
xml_ball_segment = \
"""
<shape type="sphere">
<float name="radius" value="0.025"/>
<transform name="toWorld">
<translate x="{}" y="{}" z="{}"/>
</transform>
<bsdf type="diffuse">
<rgb name="reflectance" value="{},{},{}"/>
</bsdf>
</shape>
"""
xml_cube_segment = \
"""
<shape type="ply" >
<string name="filename" value="./script/paper/vis_voxel_exp/unit_cube2w1.ply"/>
<transform name="toWorld">
<scale x="{}" y="{}" z="{}"/>
<translate x="{}" y="{}" z="{}"/>
</transform>
<bsdf type="roughplastic" >
<string name="distribution" value="ggx"/>
<float name="alpha" value="0.05"/>
<float name="intIOR" value="1.46"/>
<rgb name="diffuseReflectance" value="{},{},{}"/> <!-- default 0.5 -->
</bsdf>
</shape>
"""
xml_shape_segment = \
"""
<shape type="ply" id="mesh">
<string name="filename" value="{}"/>
<bsdf type="roughplastic" id="surfaceMaterialshape">
<string name="distribution" value="ggx"/>
<float name="alpha" value="0.05"/>
<float name="intIOR" value="1.46"/>
<rgb name="diffuseReflectance" value="{},{},{}"/> <!-- default 0.5 -->
</bsdf>
</shape>
"""
## <ref name="bsdf" id="trans3"/>
# <shape type="sphere">
# <float name="radius" value="0.025"/>
# <transform name="toWorld">
# <translate x="0" y="0" z="0.4"/>
#
# </transform>
# <bsdf type="diffuse">
# <rgb name="reflectance" value="0.7,0.4,0.5"/>
# </bsdf>
# </shape>
#
#
# <shape type="sphere">
# <float name="radius" value="0.025"/>
# <transform name="toWorld">
# <translate x="1" y="1" z="1"/>
#
# </transform>
# <bsdf type="diffuse">
# <rgb name="reflectance" value="0.7,0.4,0.5"/>
# </bsdf>
# </shape>
# <shape type="rectangle">
# <transform name="toWorld">
# <scale x="0.05" y="0.05" z="0.05"/>
# <translate x="1" y="1" z="0.8"/>
# </transform>
#
# <bsdf type="diffuse">
# <rgb name="reflectance" value="0.7,0.4,0.5"/>
# </bsdf>
# </shape>
# <shape type="rectangle">
# <transform name="toWorld">
# <scale x="0.05" y="0.05" z="0.05"/>
# <translate x="1" y="1.2" z="0.6"/>
# </transform>
#
# <bsdf type="diffuse">
# <rgb name="reflectance" value="0.7,0.4,0.5"/>
# </bsdf>
# </shape>
#
#
# <shape type="sphere">
# <point name="center" x="-1" y="1" z="1.5"/>
# <float name="radius" value="0.05"/>
# <emitter type="area">
# <rgb name="radiance" value="30,10,10"/>
# </emitter>
# </shape>
#
# <bsdf type="diffuse">
# <rgb name="reflectance" value="1,0,0"/>
# </bsdf>
#
# <bsdf type="diffuse">
# <rgb name="reflectance" value="{},{},{}"/>
# </bsdf>
# <bsdf type="roughplastic" id="surfaceMaterialshape">
# <string name="distribution" value="ggx"/>
# <float name="alpha" value="0.05"/>
# <float name="intIOR" value="1.46"/>
# <rgb name="diffuseReflectance" value="1,0,0.5"/> <!-- default 0.5 -->
# </bsdf>
#
xml_tail = \
"""
<shape type="rectangle">
<ref name="bsdf" id="surfaceMaterial"/>
<transform name="toWorld">
<scale x="10" y="10" z="1"/>
<translate x="0" y="0" z="-0.5"/>
</transform>
</shape>
<shape type="rectangle">
<transform name="toWorld">
<scale x="10" y="10" z="1"/>
<lookat origin="-1,1,20" target="0,0,0" up="0,0,1"/>
</transform>
<emitter type="area">
<rgb name="radiance" value="6,6,6"/>
</emitter>
</shape>
</scene>
"""
# <shape type="sphere">
# <point name="center" x="5" y="5" z="5"/>
# <float name="radius" value="1.5"/>
# <emitter type="area">
# <rgb name="radiance" value="3,3,3"/>
# </emitter>
# </shape>
## <point name="center" x="2" y="2" z="2"/>
# <shape type="rectangle">
# <transform name="toWorld">
# <scale x="10" y="10" z="1"/>
# <lookat origin="-4,4,20" target="0,0,0" up="0,0,1"/>
# </transform>
# <emitter type="area">
# <rgb name="radiance" value="6,6,6"/>
# </emitter>
# </shape>
#
def colormap(x, y, z):
vec = np.array([x, y, z])
vec = np.clip(vec, 0.001, 1.0)
norm = np.sqrt(np.sum(vec ** 2))
vec /= norm
return [vec[0], vec[1], vec[2]]
def standardize_bbox(pcl, points_per_object):
pt_indices = np.random.choice(pcl.shape[0], points_per_object, replace=False)
np.random.shuffle(pt_indices)
pcl = pcl[pt_indices] # n by 3
mins = np.amin(pcl, axis=0)
maxs = np.amax(pcl, axis=0)
center = (mins + maxs) / 2.
scale = np.amax(maxs - mins)
print("Center: {}, Scale: {}".format(center, scale))
result = ((pcl - center) / scale).astype(np.float32) # [-0.5, 0.5]
return result
# only for debugging reasons
def writeply(vertices, ply_file):
sv = np.shape(vertices)
points = []
for v in range(sv[0]):
vertex = vertices[v]
points.append("%f %f %f\n" % (vertex[0], vertex[1], vertex[2]))
print(np.shape(points))
file = open(ply_file, "w")
file.write('''ply
format ascii 1.0
element vertex %d
property float x
property float y
property float z
end_header
%s
''' % (len(vertices), "".join(points)))
file.close()
# as done in https://gist.github.com/drakeguan/6303065
def ConvertEXRToJPG(exrfile, jpgfile):
File = OpenEXR.InputFile(exrfile)
PixType = Imath.PixelType(Imath.PixelType.FLOAT)
DW = File.header()['dataWindow']
Size = (DW.max.x - DW.min.x + 1, DW.max.y - DW.min.y + 1)
rgb = [np.fromstring(File.channel(c, PixType), dtype=np.float32) for c in 'RGB']
for i in range(3):
print(rgb[i].max(), rgb[i].min())
rgb[i] = np.where(rgb[i] <= 0.0031308,
(rgb[i] * 12.92) * 255.0,
(1.055 * (rgb[i] ** (1.0 / 2.4)) - 0.055) * 255.0)
rgb8 = [Image.frombytes("F", Size, c.tostring()).convert("L") for c in rgb]
# rgb8 = [Image.fromarray(c.astype(int)) for c in rgb]
Image.merge("RGB", rgb8).save(jpgfile, "PNG")
##, quality=95)
img = Image.open(jpgfile)
img = trim(img)
img.save(jpgfile)
def render_cubes2png(pcl, filename, colorm=[24,107,239], vs_size=0.5,
sample_count=256, out_width=800, out_height=600,
lookat_1=3, lookat_2=3, lookat_3=3, trim_img=0):
xml_head = xml_head_segment.format(
lookat_1, lookat_2, lookat_3,
sample_count, out_width, out_height)
xml_segments = [xml_head]
print('color: ', colorm)
for i in range(pcl.shape[0]):
color = [c/255.0 for c in colorm]
xml_segments.append(xml_cube_segment.format(
vs_size, vs_size, vs_size,
pcl[i, 0], pcl[i, 1], pcl[i, 2],
*color))
xml_segments.append(xml_tail)
xml_content = str.join('', xml_segments)
xmlFile = '/tmp/tmp_%s.xml'%random_str # ("%s/xml/%s.xml" % (folder, filename))
exrFile = '/tmp/tmp_%s.exr'%random_str ##("%s/exr/%s.exr" % (folder, filename))
## png = ("%s/%s.png" % (folder, filename))
with open(xmlFile, 'w') as f:
f.write(xml_content)
f.close()
print('save as xmlFile: ', xmlFile)
if not os.path.exists(os.path.dirname(exrFile)):
os.makedirs(os.path.dirname(exrFile))
#subprocess.run([PATH_TO_MITSUBA2, '-o', exrFile, xmlFile])
png = filename
if not os.path.exists(os.path.dirname(png)):
os.makedirs(os.path.dirname(png))
#print(['Converting EXR to PNG ...', png])
#ConvertEXRToJPG(exrFile, png)
scene = mi.load_file(xmlFile)
image = mi.render(scene) ##, spp=256)
mi.util.write_bitmap(png, image)
if trim_img:
img = Image.open(png)
img = trim(img)
img.save(png)
return png
if __name__ == "__main__":
if (len(sys.argv) < 2):
print('filename to npy/ply is not passed as argument. terminated.')
raise ValueError
pathToFile = sys.argv[1]
main(pathToFile)

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utils/render_mitsuba_pc.py Normal file
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# 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 numpy as np
import mitsuba as mi
mi.set_variant("cuda_ad_rgb")
from loguru import logger
import sys, os, subprocess
import copy
import OpenEXR
import Imath
from PIL import Image
## from plyfile import PlyData, PlyElement
import torch
import open3d as o3d
from PIL import Image, ImageChops
import time
random_str = hex(int(time.time() + 12345))[2:]
PATH_TO_MITSUBA2 = "/home/xzeng/code/mitsuba2/build/dist/mitsuba" ## Codes/mitsuba2/build/dist/mitsuba" # mitsuba exectuable
# replaced by command line arguments
def standardize_bbox_based_on(pcl, eps):
pcl = pcl.numpy()[:, [0,2,1]]
eps = eps.numpy()[:, [0,2,1]]
pcl, center, scale = standardize_bbox(pcl, return_center_scale=1)
eps = (eps - center) / scale if eps is not None else None
offset = - 0.475 - pcl[:,2].min()
eps[:,2] += offset
return torch.from_numpy(eps)
# PATH_TO_NPY = 'pcl_ex.npy' # the tensor to load
def rotate_pts(pts, r, axis=1, do_transform=0, is_point_flow_data=1, eps=None):
assert(len(pts.shape) == 2), f'require N,3 tensor, get: {pts.shape}'
## logger.info('rotating pts: {}, get eps: {} ', pts.shape, eps is not None )
is_tensor = torch.is_tensor(pts)
if not is_tensor:
pts = torch.from_numpy(pts)
if eps is not None and not torch.is_tensor(eps):
eps = torch.from_numpy(eps)
if do_transform:
pcl = pts.cpu().numpy()
eps = eps.cpu().numpy() if eps is not None else None
if not is_point_flow_data:
pcl[:,0] *= -1
pcl = pcl[:, [2,1,0]]
if eps is not None:
eps[:,0] *= -1
eps = eps[:, [2,1,0]]
pcl, center, scale = standardize_bbox(pcl, return_center_scale=1)
eps = (eps - center) / scale if eps is not None else None
pcl = pcl[:, [2, 0, 1]]
pcl[:,0] *= -1
pcl[:,2] += 0.0125
if eps is not None:
eps = eps[:, [2, 0, 1]]
eps[:,0] *= -1
eps[:,2] += 0.0125
offset = - 0.475 - pcl[:,2].min()
pcl[:,2] += offset
if eps is not None:
eps[:,2] += offset
pts = torch.from_numpy(pcl)
eps = torch.from_numpy(eps) if eps is not None else None
pcl = o3d.geometry.PointCloud()
pcl.points = o3d.utility.Vector3dVector(pts.cpu())
if axis == 1:
R = pcl.get_rotation_matrix_from_xyz((0, - r * np.pi / 2, 0))
elif axis == 2:
R = pcl.get_rotation_matrix_from_xyz((0, 0, - r * np.pi / 2))
elif axis == 0:
R = pcl.get_rotation_matrix_from_xyz((- r * np.pi / 2, 0, 0))
#mesh_r = copy.deepcopy(pcl)
#mesh_r.rotate(R, center=(0, 0, 0))
#pts = np.asarray(mesh_r.points)
h_center = w_center = 0
center = np.array([h_center, w_center, 0]).reshape(-1,3)
pts = np.matmul(pts.numpy() - center, R.T) + center
eps = np.matmul(eps.numpy() - center, R.T) + center if eps is not None else eps
if is_tensor:
pts = torch.from_numpy(pts)
eps = torch.from_numpy(eps) if eps is not None and not torch.is_tensor(eps) else eps
if eps is not None:
return pts, eps
return pts
# note that sampler is changed to 'independent' and the ldrfilm is changed to hdrfilm
xml_head_segment = \
"""
<scene version="0.6.0">
<integrator type="path">
<integer name="maxDepth" value="-1"/>
</integrator>
<sensor type="perspective">
<float name="farClip" value="100"/>
<float name="nearClip" value="0.1"/>
<transform name="toWorld">
<lookat origin="{},{},{}" target="0,0,0" up="0,0,1"/>
</transform>
<float name="fov" value="25"/>
<sampler type="ldsampler">
<integer name="sampleCount" value="{}"/>
</sampler>
<film type="hdrfilm">
<integer name="width" value="{}"/>
<integer name="height" value="{}"/>
<rfilter type="gaussian"/>
</film>
</sensor>
<bsdf type="roughplastic" id="surfaceMaterial">
<string name="distribution" value="ggx"/>
<float name="alpha" value="0.05"/>
<float name="intIOR" value="1.46"/>
<rgb name="diffuseReflectance" value="1,1,1"/> <!-- default 0.5 -->
</bsdf>
"""
# I also use a smaller point size
xml_ball_segment = ['']*10
xml_ball_segment[0] = \
"""
<shape type="sphere">
<float name="radius" value="{}"/>
<transform name="toWorld">
<translate x="{}" y="{}" z="{}"/>
</transform>
<bsdf type="diffuse">
<rgb name="reflectance" value="{},{},{}"/>
</bsdf>
</shape>
"""
xml_ball_segment[1] = \
"""
<shape type="sphere">
<float name="radius" value="{}"/>
<transform name="toWorld">
<translate x="{}" y="{}" z="{}"/>
</transform>
<bsdf type="plastic" >
<float name="intIOR" value="2.0"/>
<rgb name="diffuseReflectance" value="{},{},{}"/> <!-- default 0.5 -->
</bsdf>
</shape>
"""
xml_ball_segment[2] = \
"""
<shape type="sphere">
<float name="radius" value="{}"/>
<transform name="toWorld">
<translate x="{}" y="{}" z="{}"/>
</transform>
<bsdf type="plastic" >
<float name="intIOR" value="1.9"/>
<rgb name="diffuseReflectance" value="{},{},{}"/> <!-- default 0.5 -->
</bsdf>
</shape>
"""
xml_ball_segment[3] = \
"""
<shape type="sphere">
<float name="radius" value="{}"/>
<transform name="toWorld">
<translate x="{}" y="{}" z="{}"/>
</transform>
<bsdf type="roughplastic" >
<float name="intIOR" value="1.9"/>
<string name="distribution" value="ggx"/>
<float name="alpha" value="0.2"/>
<rgb name="diffuseReflectance" value="{},{},{}"/> <!-- default 0.5 -->
</bsdf>
</shape>
"""
xml_ball_segment[4] = \
"""
<shape type="sphere">
<float name="radius" value="{}"/>
<transform name="toWorld">
<translate x="{}" y="{}" z="{}"/>
</transform>
<bsdf type="roughplastic" >
<float name="intIOR" value="1.6"/>
<string name="distribution" value="ggx"/>
<float name="alpha" value="0.2"/>
<rgb name="diffuseReflectance" value="{},{},{}"/> <!-- default 0.5 -->
</bsdf>
</shape>
"""
xml_ball_segment[5] = \
"""
<shape type="sphere">
<float name="radius" value="{}"/>
<transform name="toWorld">
<translate x="{}" y="{}" z="{}"/>
</transform>
<bsdf type="roughplastic">
<float name="intIOR" value="1.7"/>
<string name="distribution" value="ggx"/>
<float name="alpha" value="0.2"/>
<rgb name="diffuseReflectance" value="{},{},{}"/> <!-- default 0.5 -->
</bsdf>
</shape>
"""
xml_tail = \
"""
<shape type="rectangle">
<ref name="bsdf" id="surfaceMaterial"/>
<transform name="toWorld">
<scale x="10" y="10" z="1"/>
<translate x="0" y="0" z="-0.5"/>
</transform>
</shape>
<shape type="rectangle">
<transform name="toWorld">
<scale x="10" y="10" z="1"/>
<lookat origin="-1,1,20" target="0,0,0" up="0,0,1"/>
</transform>
<emitter type="area">
<rgb name="radiance" value="6,6,6"/>
</emitter>
</shape>
</scene>
"""
def trim(im):
bg = Image.new(im.mode, im.size, im.getpixel((0,0))) ##border)
diff = ImageChops.difference(im, bg)
bbox = diff.getbbox()
if bbox:
return im.crop(bbox)
else:
return im
def colormap(x, y, z):
if torch.is_tensor(x):
x = x.cpu().numpy()
vec = np.array([x, y, z])
vec = np.clip(vec, 0.001, 1.0)
norm = np.sqrt(np.sum(vec ** 2))
vec /= norm
return [vec[0], vec[1], vec[2]]
def standardize_bbox(pcl, return_center_scale=0):
#pt_indices = np.random.choice(pcl.shape[0], points_per_object, replace=False)
#np.random.shuffle(pt_indices)
#pcl = pcl[pt_indices] # n by 3
if torch.is_tensor(pcl):
pcl = pcl.numpy()
mins = np.amin(pcl, axis=0)
maxs = np.amax(pcl, axis=0)
center = (mins + maxs) / 2.
scale = np.amax(maxs - mins)
#print("Center: {}, Scale: {}".format(center, scale))
result = ((pcl - center) / scale).astype(np.float32) # [-0.5, 0.5]
if return_center_scale:
return result, center, scale
return result
# only for debugging reasons
def writeply(vertices, ply_file):
sv = np.shape(vertices)
points = []
for v in range(sv[0]):
vertex = vertices[v]
points.append("%f %f %f\n" % (vertex[0], vertex[1], vertex[2]))
print(np.shape(points))
file = open(ply_file, "w")
file.write('''ply
format ascii 1.0
element vertex %d
property float x
property float y
property float z
end_header
%s
''' % (len(vertices), "".join(points)))
file.close()
# as done in https://gist.github.com/drakeguan/6303065
def ConvertEXRToJPG(exrfile, jpgfile, trim_img):
File = OpenEXR.InputFile(exrfile)
PixType = Imath.PixelType(Imath.PixelType.FLOAT)
DW = File.header()['dataWindow']
Size = (DW.max.x - DW.min.x + 1, DW.max.y - DW.min.y + 1)
rgb = [np.fromstring(File.channel(c, PixType), dtype=np.float32) for c in 'RGB']
for i in range(3):
rgb[i] = np.where(rgb[i] <= 0.0031308,
(rgb[i] * 12.92) * 255.0,
(1.055 * (rgb[i] ** (1.0 / 2.4)) - 0.055) * 255.0)
rgb8 = [Image.frombytes("F", Size, c.tostring()).convert("L") for c in rgb]
Image.merge("RGB", rgb8).save(jpgfile, "PNG") ##JPEG", quality=95)
img = Image.open(jpgfile)
if trim_img:
img = trim(img)
img.save(jpgfile)
def pts2png(input_pts, file_name, colorm=[24,107,239],
skip_if_exists=False, is_color_list=False,
sample_count=256, out_width=1600, out_height=1200,
ball_size=0.025, do_standardize=0, same_computed_loc_color=0, material_id=0, precomputed_color=None,
output_xml_file=None,
use_loc_color=False, lookat_1=3, lookat_2=3, lookat_3=3, do_transform=1, trim_img=0):
"""
Argus:
input_pts: (B,N,3) the points to be render
file_name: list; output image name
"""
assert(len(input_pts.shape) == 3), f'expect: B,N,3; get: {input_pts.shape}'
assert(type(file_name) is list), f'require file_name as list'
xml_head = xml_head_segment.format(
lookat_1, lookat_2, lookat_3,
sample_count, out_width, out_height)
input_pts = input_pts.cpu()
# print('get shape; ', input_pts.shape)
color_list = []
for pcli in range(0, input_pts.shape[0]):
xmlFile = '/tmp/tmp_%s.xml'%random_str if output_xml_file is None else output_xml_file
# ("%s/xml/%s.xml" % (folder, filename))
exrFile = '/tmp/tmp_%s.exr'%random_str ##("%s/exr/%s.exr" % (folder, filename))
png = file_name[pcli]
if skip_if_exists and os.path.exists(png):
print(f'find png: {png}, skip ')
continue
pcl = input_pts[pcli, :, :]
if do_transform:
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
if do_standardize:
pcl = standardize_bbox(pcl)
offset = - 0.475 - pcl[:,2].min()
pcl[:,2] += offset
xml_segments = [xml_head]
for i in range(pcl.shape[0]):
if precomputed_color is not None:
color = precomputed_color[i]
elif use_loc_color and not same_computed_loc_color:
color = colormap(pcl[i, 0] + 0.5, pcl[i, 1] + 0.5, pcl[i, 2] + 0.5 - 0.0125)
elif use_loc_color and same_computed_loc_color:
if pcli == 0:
color = colormap(pcl[i, 0] + 0.5, pcl[i, 1] + 0.5, pcl[i, 2] + 0.5 - 0.0125)
color_list.append(color)
else:
color = color_list[i] # same color as first shape
elif is_color_list:
color = colorm[pcli]
color = [c/255.0 for c in color]
else:
color = [c/255.0 for c in colorm]
xml_segments.append(xml_ball_segment[material_id].format(
ball_size,
pcl[i, 0], pcl[i, 1], pcl[i, 2], *color))
## print('using color: ', color)
xml_segments.append(xml_tail)
xml_content = str.join('', xml_segments)
if not os.path.exists(os.path.dirname(xmlFile)):
os.makedirs(os.path.dirname(xmlFile))
with open(xmlFile, 'w') as f:
f.write(xml_content)
logger.info('[render_mitsuba_pc] write output at: {}', xmlFile)
f.close()
if not os.path.exists(os.path.dirname(exrFile)):
os.makedirs(os.path.dirname(exrFile))
if not os.path.exists(os.path.dirname(png)):
os.makedirs(os.path.dirname(png))
logger.info('*'*20 + f'{png}' +'*'*20)
# mitsuba2
#subprocess.run([PATH_TO_MITSUBA2, '-o', exrFile, xmlFile])
#ConvertEXRToJPG(exrFile, png, trim_img)
scene = mi.load_file(xmlFile)
image = mi.render(scene) ##, spp=256)
mi.util.write_bitmap(png, image)
if trim_img:
img = Image.open(png)
img.save(png)
return png
if __name__ == "__main__":
if (len(sys.argv) < 2):
print('filename to npy/ply is not passed as argument. terminated.')
raise ValueError
pathToFile = sys.argv[1]
main(pathToFile)

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utils/render_voxel_cubes.py Normal file
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# 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()