| import os |
| import sys |
|
|
| import mitsuba as mi |
| import numpy as np |
| import open3d as o3d |
|
|
| _ROOT = os.path.dirname(os.path.abspath(__file__)) |
| if _ROOT not in sys.path: |
| sys.path.insert(0, _ROOT) |
|
|
| from lib_render import center_normalize |
| from mi_objects import MiFloor, MiScene, MiSensor, MiSoftlight, MiSphere |
|
|
| def load_ply(path, MAX_PTS=4096): |
| pcd = o3d.io.read_point_cloud(path) |
| xyz = np.asarray(pcd.points) |
| rgb = np.asarray(pcd.colors) if pcd.has_colors() else np.full_like(xyz, 0.0) |
| if len(xyz) > MAX_PTS: |
| idx = np.random.choice(len(xyz), MAX_PTS, replace=True) |
| xyz, rgb = xyz[idx], rgb[idx] |
| return xyz, rgb |
|
|
|
|
|
|
| if __name__ == '__main__': |
| mi.set_variant("scalar_rgb") |
|
|
| INPUT_DIR = "vis_results/pcd" |
| OUTPUT_DIR = "vis_results/rd_img" |
| SPHERE_RADIUS = 0.005 |
| MAX_POINTS = 25000 |
| SAVE_XML = False |
|
|
| os.makedirs(OUTPUT_DIR, exist_ok=True) |
|
|
| for file_name in os.listdir(INPUT_DIR): |
| if not file_name.endswith('.ply'): |
| continue |
|
|
| print(f"Rendering {file_name}...") |
| file_path = os.path.join(INPUT_DIR, file_name) |
| output_img_path = os.path.join(OUTPUT_DIR, file_name.replace('.ply', '.png')) |
|
|
| points, colors = load_ply(file_path, MAX_POINTS) |
| points = center_normalize(points) |
| points[:, 2] += SPHERE_RADIUS / 2 |
|
|
| scene = MiScene() |
| scene.add("sensor", MiSensor( |
| origin=[2, 2, 2], |
| target=[0, 0, 0], |
| fov=25, |
| sample_count=256, |
| film_width=2000, |
| film_height=2000, |
| )) |
| scene.add("floor", MiFloor(width=10, height=10, color=[1, 1, 1])) |
| scene.add("soft_light", MiSoftlight(origin=[-4, 4, 20], target=[0, 0, 0], intensity=6)) |
|
|
| for i, (pt, clr) in enumerate(zip(points, colors)): |
| scene.add(f"sphere{i}", MiSphere(pt.tolist(), SPHERE_RADIUS, clr.tolist())) |
|
|
| if SAVE_XML: |
| xml_path = os.path.join(OUTPUT_DIR, file_name.replace('.ply', '.xml')) |
| mi.xml.dict_to_xml(scene.dict(), xml_path) |
| else: |
| scene_mi = mi.load_dict(scene.dict()) |
| image = mi.render(scene_mi, spp=256) |
| mi.util.write_bitmap(output_img_path, image) |
|
|
| print("Rendering completed.") |
|
|
