| | import numpy as np |
| | import trimesh |
| |
|
| | from pyrender import (OffscreenRenderer, PerspectiveCamera, DirectionalLight, |
| | SpotLight, Mesh, Node, Scene) |
| |
|
| |
|
| | def test_offscreen_renderer(tmpdir): |
| |
|
| | |
| | fuze_trimesh = trimesh.load('examples/models/fuze.obj') |
| | fuze_mesh = Mesh.from_trimesh(fuze_trimesh) |
| |
|
| | |
| | drill_trimesh = trimesh.load('examples/models/drill.obj') |
| | drill_mesh = Mesh.from_trimesh(drill_trimesh) |
| | drill_pose = np.eye(4) |
| | drill_pose[0,3] = 0.1 |
| | drill_pose[2,3] = -np.min(drill_trimesh.vertices[:,2]) |
| |
|
| | |
| | wood_trimesh = trimesh.load('examples/models/wood.obj') |
| | wood_mesh = Mesh.from_trimesh(wood_trimesh) |
| |
|
| | |
| | bottle_gltf = trimesh.load('examples/models/WaterBottle.glb') |
| | bottle_trimesh = bottle_gltf.geometry[list(bottle_gltf.geometry.keys())[0]] |
| | bottle_mesh = Mesh.from_trimesh(bottle_trimesh) |
| | bottle_pose = np.array([ |
| | [1.0, 0.0, 0.0, 0.1], |
| | [0.0, 0.0, -1.0, -0.16], |
| | [0.0, 1.0, 0.0, 0.13], |
| | [0.0, 0.0, 0.0, 1.0], |
| | ]) |
| |
|
| | boxv_trimesh = trimesh.creation.box(extents=0.1 * np.ones(3)) |
| | boxv_vertex_colors = np.random.uniform(size=(boxv_trimesh.vertices.shape)) |
| | boxv_trimesh.visual.vertex_colors = boxv_vertex_colors |
| | boxv_mesh = Mesh.from_trimesh(boxv_trimesh, smooth=False) |
| | boxf_trimesh = trimesh.creation.box(extents=0.1 * np.ones(3)) |
| | boxf_face_colors = np.random.uniform(size=boxf_trimesh.faces.shape) |
| | boxf_trimesh.visual.face_colors = boxf_face_colors |
| | |
| | poses = np.tile(np.eye(4), (2,1,1)) |
| | poses[0,:3,3] = np.array([-0.1, -0.10, 0.05]) |
| | poses[1,:3,3] = np.array([-0.15, -0.10, 0.05]) |
| | boxf_mesh = Mesh.from_trimesh(boxf_trimesh, poses=poses, smooth=False) |
| |
|
| | points = trimesh.creation.icosphere(radius=0.05).vertices |
| | point_colors = np.random.uniform(size=points.shape) |
| | points_mesh = Mesh.from_points(points, colors=point_colors) |
| |
|
| | direc_l = DirectionalLight(color=np.ones(3), intensity=1.0) |
| | spot_l = SpotLight(color=np.ones(3), intensity=10.0, |
| | innerConeAngle=np.pi / 16, outerConeAngle=np.pi / 6) |
| |
|
| | cam = PerspectiveCamera(yfov=(np.pi / 3.0)) |
| | cam_pose = np.array([ |
| | [0.0, -np.sqrt(2) / 2, np.sqrt(2) / 2, 0.5], |
| | [1.0, 0.0, 0.0, 0.0], |
| | [0.0, np.sqrt(2) / 2, np.sqrt(2) / 2, 0.4], |
| | [0.0, 0.0, 0.0, 1.0] |
| | ]) |
| |
|
| | scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02])) |
| |
|
| | fuze_node = Node(mesh=fuze_mesh, translation=np.array([ |
| | 0.1, 0.15, -np.min(fuze_trimesh.vertices[:,2]) |
| | ])) |
| | scene.add_node(fuze_node) |
| | boxv_node = Node(mesh=boxv_mesh, translation=np.array([-0.1, 0.10, 0.05])) |
| | scene.add_node(boxv_node) |
| | boxf_node = Node(mesh=boxf_mesh) |
| | scene.add_node(boxf_node) |
| |
|
| | _ = scene.add(drill_mesh, pose=drill_pose) |
| | _ = scene.add(bottle_mesh, pose=bottle_pose) |
| | _ = scene.add(wood_mesh) |
| | _ = scene.add(direc_l, pose=cam_pose) |
| | _ = scene.add(spot_l, pose=cam_pose) |
| | _ = scene.add(points_mesh) |
| |
|
| | _ = scene.add(cam, pose=cam_pose) |
| |
|
| | r = OffscreenRenderer(viewport_width=640, viewport_height=480) |
| | color, depth = r.render(scene) |
| |
|
| | assert color.shape == (480, 640, 3) |
| | assert depth.shape == (480, 640) |
| | assert np.max(depth.data) > 0.05 |
| | assert np.count_nonzero(depth.data) > (0.2 * depth.size) |
| | r.delete() |
| |
|
