Delete utils3d

utils3d/.gitignore

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-# Byte-compiled / optimized / DLL files
-__pycache__/
-*.py[cod]
-*$py.class
-
-# C extensions
-*.so
-
-# Distribution / packaging
-.Python
-build/
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-pip-wheel-metadata/
-share/python-wheels/
-*.egg-info/
-.installed.cfg
-*.egg
-MANIFEST
-
-# PyInstaller
-#  Usually these files are written by a python script from a template
-#  before PyInstaller builds the exe, so as to inject date/other infos into it.
-*.manifest
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-
-# Installer logs
-pip-log.txt
-pip-delete-this-directory.txt
-
-# Unit test / coverage reports
-htmlcov/
-.tox/
-.nox/
-.coverage
-.coverage.*
-.cache
-nosetests.xml
-coverage.xml
-*.cover
-*.py,cover
-.hypothesis/
-.pytest_cache/
-
-# Translations
-*.mo
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-
-# Django stuff:
-*.log
-local_settings.py
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-
-# Flask stuff:
-instance/
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-.scrapy
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-# PyBuilder
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-# Jupyter Notebook
-.ipynb_checkpoints
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-# IPython
-profile_default/
-ipython_config.py
-
-# pyenv
-.python-version
-
-# pipenv
-#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
-#   However, in case of collaboration, if having platform-specific dependencies or dependencies
-#   having no cross-platform support, pipenv may install dependencies that don't work, or not
-#   install all needed dependencies.
-#Pipfile.lock
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-*.sage.py
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-# Environments
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-/site
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-# mypy
-.mypy_cache/
-.dmypy.json
-dmypy.json
-
-# Pyre type checker
-.pyre/

utils3d/.pre-commit-config.yaml

@@ -1,31 +0,0 @@
-repos:
-  - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.4.0
-    hooks:
-      # list of supported hooks: https://pre-commit.com/hooks.html
-      - id: trailing-whitespace
-      - id: end-of-file-fixer
-      - id: check-yaml
-      # - id: check-added-large-files
-      - id: debug-statements
-      - id: detect-private-key
-
-  # python code formatting
-  - repo: https://github.com/psf/black
-    rev: 20.8b1
-    hooks:
-      - id: black
-        args: [--line-length, "99"]
-
-  # python import sorting
-  - repo: https://github.com/PyCQA/isort
-    rev: 5.8.0
-    hooks:
-      - id: isort
-        args: ["--profile", "black", "--filter-files"]
-
-  # python code analysis
-  - repo: https://github.com/PyCQA/flake8
-    rev: 3.9.2
-    hooks:
-      - id: flake8

utils3d/LICENSE

@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2022 Zhenyu Jiang
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.

utils3d/README.md

@@ -1,36 +0,0 @@
-# utils3D
-A small library of 3D related utilities used in my research.
-
-## Installation
-
-### Install via GitHub
-
-```bash
-pip install git+https://github.com/Steve-Tod/utils3d --upgrade
-```
-
-### Install locally
-
-```bash
-git clone git@github.com:Steve-Tod/utils3d.git
-cd utils3d
-pip install -e .
-```
-
-### Optional
-
-Install pre-commit to automatically format the code when commit.
-
-```
-pip install pre-commit
-pre-commit install
-```
-
-Install extra package for:
-
-- Photo realistic rendering (`utils3d.render.nvisii`)
-
-```
-pip install -r requirements-extra.txt
-
-```

utils3d/data/Squirrel.mtl

@@ -1,12 +0,0 @@
-# Copyright 2020 Google LLC.
-#
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-newmtl material_0
-# shader_type beckmann
-map_Kd Squirrel_texture.png
-
-# Kd: Diffuse reflectivity.
-Kd 1.000000 1.000000 1.000000

utils3d/data/pointcloud_color.pcd

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utils3d/data/rgbd/transforms.json

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-{
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utils3d/examples/multiview_rgbd_fusion.py

@@ -1,68 +0,0 @@
-import argparse
-import glob
-import json
-import os
-
-import numpy as np
-from PIL import Image
-
-from utils3d.pointcloud.visualization import visualize_3d_point_cloud_o3d
-from utils3d.rgbd.io import read_rgbd
-from utils3d.rgbd.utils import tsdf_fusion
-
-
-def main():
-    parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "-i",
-        "--input",
-        type=str,
-        default="../data/rgbd",
-        help="Input rgbd path.",
-    )
-
-    parser.add_argument(
-        "-t",
-        "--transform",
-        type=str,
-        default="../data/rgbd/transforms.json",
-        help="Input transformation matrix.",
-    )
-
-    args = parser.parse_args()
-
-    rgb_path_dict = {}
-    depth_path_dict = {}
-
-    with open(args.transform) as f:
-        transform_dict = json.load(f)
-
-    rgbd_list = []
-    transform_list = []
-
-    for idx in range(10):
-        # rgb_p = f'../data/rgbd/r_{idx}.png'
-        # depth_p = f'../data/rgbd/r_{idx}_depth_0019.png'
-        rgb_p = f"/home/zhenyu/Downloads/real_music_box/imgs_1/{idx}_color.png"
-        depth_p = f"/home/zhenyu/Downloads/real_music_box/imgs_1/{idx}_depth.png"
-        rgbd_list.append(read_rgbd(rgb_p, depth_p, depth_scale=1000, depth_trunc=1))
-        transform_list.append(np.array(transform_dict["frames"][idx]["transform_matrix"]))
-    # print(np.unique(np.asanyarray(rgbd_list[0].depth)))
-    # compute intrinsics
-    camera_angle_x = transform_dict["camera_angle_x"]
-    img = Image.open(rgb_p)
-    w, h = img.size
-    fx = w / 2.0 / np.tan(camera_angle_x / 2)
-    fy = h / 2.0 / np.tan(camera_angle_x / 2) * (w / h)
-    intrinsics = {"height": h, "width": w, "fx": fx, "fy": fy, "cx": w / 2, "cy": h / 2}
-
-    # fusion
-    tsdf_vol = tsdf_fusion(rgbd_list, transform_list, intrinsics)
-    # verts, faces, norms, colors = tsdf_vol.get_mesh()
-    point_cloud = tsdf_vol.get_point_cloud()
-
-    visualize_3d_point_cloud_o3d(point_cloud[:, :3], point_cloud[:, 3:6])
-
-
-if __name__ == "__main__":
-    main()

utils3d/examples/pointcloud_io.py

@@ -1,29 +0,0 @@
-import argparse
-
-import numpy as np
-
-from utils3d.pointcloud.io import read_pointcloud, write_pointcloud
-from utils3d.pointcloud.utils import sample_pointcloud
-
-
-def main():
-    parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "-i",
-        "--input",
-        type=str,
-        default="../data/pointcloud_color.pcd",
-        help="Input point cloud path.",
-    )
-    parser.add_argument("-o", "--output", type=str, help="Output point cloud path.")
-    args = parser.parse_args()
-
-    xyz, color = read_pointcloud(args.input)
-    xyz, color = sample_pointcloud(xyz, color, 2048)
-
-    print(f"Saving point cloud of shape {xyz.shape} to {args.output}")
-    write_pointcloud(xyz, args.output, color=color)
-
-
-if __name__ == "__main__":
-    main()

utils3d/examples/render_mesh_nvisii.py

@@ -1,46 +0,0 @@
-import argparse
-
-import matplotlib.pyplot as plt
-import numpy as np
-
-from utils3d.mesh.io import read_mesh
-from utils3d.render.nvisii import NViSIIRenderer
-from utils3d.utils.utils import get_pose
-
-
-def main():
-    parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "-i",
-        "--input",
-        type=str,
-        default="../data/Squirrel_visual.obj",
-        help="Input mesh path.",
-    )
-    args = parser.parse_args()
-
-    NViSIIRenderer.init()
-    renderer = NViSIIRenderer()
-
-    mesh_pose_dict = {"mesh": (args.input, [1.0] * 3, np.eye(4))}
-
-    mesh = read_mesh(args.input)
-    center = mesh.bounds.mean(0)
-    scale = np.sqrt(((mesh.bounds[1] - mesh.bounds[0]) ** 2).sum())
-    camera_pose = get_pose(scale * 1, center=center, ax=np.pi / 3, az=np.pi / 3)
-    # camera_pose = get_pose(scale * 1, center=center, ax=0, az=np.pi)
-    light_pose = get_pose(scale * 2, center=center, ax=np.pi / 3, az=np.pi / 3)
-
-    renderer.reset(camera_pose, light_pose)
-    renderer.update_objects(mesh_pose_dict)
-    img = renderer.render()
-
-    fig, ax = plt.subplots(1, 1, dpi=150)
-    ax.imshow(img)
-    plt.show()
-
-    NViSIIRenderer.deinit()
-
-
-if __name__ == "__main__":
-    main()

utils3d/examples/render_mesh_pyrender.py

@@ -1,51 +0,0 @@
-import argparse
-
-import matplotlib.pyplot as plt
-import numpy as np
-
-from utils3d.mesh.io import read_mesh
-from utils3d.render.pyrender import PyRenderer
-from utils3d.utils.utils import get_pose
-
-
-def main():
-    parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "-i",
-        "--input",
-        type=str,
-        default="../data/Squirrel_visual.obj",
-        help="Input mesh path.",
-    )
-    args = parser.parse_args()
-
-    renderer = PyRenderer()
-
-    mesh = read_mesh(args.input)
-    center = mesh.bounds.mean(0)
-    scale = np.sqrt(((mesh.bounds[1] - mesh.bounds[0]) ** 2).sum())
-
-    surface_point_cloud = mesh.sample(2048)
-
-    camera_pose = get_pose(scale * 1, center=center, ax=np.pi / 3, az=np.pi / 3)
-    light_pose = get_pose(scale * 2, center=center, ax=np.pi / 3, az=np.pi / 3)
-    img, depth = renderer.render_mesh(mesh, camera_pose=camera_pose, light_pose=light_pose)
-
-    pc_light_pose = get_pose(scale * 4, center=center, ax=np.pi / 3, az=np.pi / 3)
-    pc_img, _ = renderer.render_pointcloud(
-        surface_point_cloud,
-        camera_pose=camera_pose,
-        light_pose=pc_light_pose,
-        radius=scale * 0.01,
-        colors=[102, 204, 102, 102],
-    )
-
-    fig, axs = plt.subplots(1, 3, dpi=150)
-    axs[0].imshow(img)
-    axs[1].imshow(pc_img)
-    axs[2].imshow(depth)
-    plt.show()
-
-
-if __name__ == "__main__":
-    main()

utils3d/examples/visualize_3d_pointcloud.py

@@ -1,39 +0,0 @@
-import argparse
-
-from utils3d.pointcloud.io import read_pointcloud
-from utils3d.pointcloud.utils import normalize_pointcloud
-from utils3d.pointcloud.visualization import (
-    visualize_3d_point_cloud_mpl,
-    visualize_3d_point_cloud_o3d,
-)
-
-
-def main():
-    parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "-t", "--tool", type=str, choices=["o3d", "mpl"], help="Which tool for visualization."
-    )
-    parser.add_argument(
-        "-i",
-        "--input",
-        type=str,
-        default="../data/pointcloud_color.pcd",
-        help="Input point cloud path.",
-    )
-    parser.add_argument("--norm", action="store_true", help="Normalize data.")
-    args = parser.parse_args()
-
-    xyz, color = read_pointcloud(args.input)
-
-    # normalize point cloud
-    if args.norm:
-        xyz, _, _ = normalize_pointcloud(xyz)
-
-    if args.tool == "o3d":
-        visualize_3d_point_cloud_o3d(xyz, color=color)
-    else:
-        visualize_3d_point_cloud_mpl(xyz, color=color)
-
-
-if __name__ == "__main__":
-    main()

utils3d/requirements-extra.txt

@@ -1 +0,0 @@
-nvisii

utils3d/requirements.txt

@@ -1 +0,0 @@
-.

utils3d/setup.cfg

@@ -1,40 +0,0 @@
-[isort]
-line_length = 99
-profile = black
-filter_files = True
-
-
-[flake8]
-max_line_length = 99
-show_source = True
-format = pylint
-ignore =
-    F401  # Module imported but unused
-    W503  # line break before binary operator
-    W504  # Line break occurred after a binary operator
-    F841  # Local variable name is assigned to but never used
-    F403  # from module import *
-    E501  # Line too long
-    E402  # module level import not at top of file
-exclude =
-    .git
-    __pycache__
-    data/*
-    tests/*
-    notebooks/*
-    logs/*
-    utils3d/utils/pyrender.py # have to change environ first
-
-
-[tool:pytest]
-python_files = tests/*
-log_cli = True
-markers =
-    slow
-addopts =
-    --durations=0
-    --strict-markers
-    --doctest-modules
-filterwarnings =
-    ignore::DeprecationWarning
-    ignore::UserWarning

utils3d/setup.py

@@ -1,23 +0,0 @@
-from setuptools import find_packages, setup
-
-setup(
-    name="utils3d",  # change "src" folder name to your project name
-    version="0.0.0",
-    description="some 3D related utilities",
-    author="Zhenyu Jiang",
-    author_email="stevetod98@gmail.com",
-    url="https://github.com/Steve-Tod/utils3d",  # replace with your own github project link
-    install_requires=[
-        "numpy",
-        "matplotlib",
-        "pillow",
-        "trimesh",
-        "open3d",
-        "scipy",
-        "pyrender",
-        "pytest",
-        "numba",
-        "scikit-image",
-    ],
-    packages=find_packages(),
-)

utils3d/tests/unit/test_io.py

@@ -1,34 +0,0 @@
-import os
-import tempfile
-
-import pytest
-import trimesh
-
-from utils3d.mesh.io import read_mesh, write_mesh
-from utils3d.pointcloud.io import read_pointcloud, write_pointcloud
-from utils3d.pointcloud.utils import sample_pointcloud
-
-
-@pytest.mark.parametrize("num_point", [1, 2048])
-def test_pointcloud_io(num_point):
-    xyz, color = read_pointcloud("data/pointcloud_color.pcd")
-    xyz, color = sample_pointcloud(xyz, color, 2048)
-    with tempfile.TemporaryDirectory() as tmpdirname:
-        output = os.path.join(tmpdirname, "tmp.npy")
-        write_pointcloud(xyz, output, color=color)
-
-        output = os.path.join(tmpdirname, "tmp.pcd")
-        write_pointcloud(xyz, output, color=color)
-
-        output = os.path.join(tmpdirname, "tmp.txt")
-        write_pointcloud(xyz, output, color=color)
-
-        output = os.path.join(tmpdirname, "tmp.pts")
-        write_pointcloud(xyz, output, color=color)
-
-
-def test_mesh_io():
-    mesh = read_mesh("data/Squirrel_visual.obj")
-    with tempfile.TemporaryDirectory() as tmpdirname:
-        output = os.path.join(tmpdirname, "tmp.stl")
-        write_mesh(mesh, output)

utils3d/utils3d/mesh/io.py

@@ -1,16 +0,0 @@
-"""
- @author Zhenyu Jiang
- @email stevetod98@gmail.com
- @date 2022-01-12
- @desc
-"""
-
-import trimesh
-
-
-def read_mesh(path):
-    return trimesh.load(path)
-
-
-def write_mesh(mesh, path):
-    mesh.export(path)

utils3d/utils3d/mesh/utils.py

@@ -1,33 +0,0 @@
-"""
- @author Zhenyu Jiang
- @email stevetod98@gmail.com
- @date 2022-01-12
- @desc Mesh utils
-"""
-import trimesh
-
-
-def as_mesh(scene_or_mesh):
-    """Convert a possible scene to mesh
-
-    Args:
-        scene_or_mesh (trimesh.Scene or trimesh.Trimesh): input scene or mesh.
-
-    Returns:
-        trimesh.Trimesh: Converted mesh with only vertex and face data.
-    """
-    if isinstance(scene_or_mesh, trimesh.Scene):
-        if len(scene_or_mesh.geometry) == 0:
-            mesh = None  # empty scene
-        else:
-            # we lose texture information here
-            mesh = trimesh.util.concatenate(
-                tuple(
-                    trimesh.Trimesh(vertices=g.vertices, faces=g.faces, visual=g.visual)
-                    for g in scene_or_mesh.geometry.values()
-                )
-            )
-    else:
-        assert isinstance(scene_or_mesh, trimesh.Trimesh)
-        mesh = scene_or_mesh
-    return mesh

utils3d/utils3d/pointcloud/io.py

@@ -1,85 +0,0 @@
-"""
- @author Zhenyu Jiang
- @email stevetod98@gmail.com
- @date 2022-01-11
- @desc Point cloud IO
-"""
-
-import os
-
-import numpy as np
-import open3d as o3d
-from numpy.lib import shape_base
-
-from utils3d.pointcloud.utils import assert_array_shape, np_to_o3d_pointcloud
-
-
-def read_pointcloud(path):
-    """read point cloud
-
-    Args:
-        path (str): path to point cloud file
-
-    Raises:
-        NotImplementedError: if the loader for certain type of file is not implemented
-
-    Returns:
-        np.ndarry: loaded point cloud.
-        np.ndarry or None: loaded color.
-    """
-    _, ext = os.path.splitext(path)
-    ext = ext[1:]  # remove .
-    if ext in ["txt", "pts"]:
-        xyz = np.loadtxt(path)
-    elif ext in ["npy"]:
-        xyz = np.load(path)
-    elif ext in ["ply", "pcd"]:
-        pcd = o3d.io.read_point_cloud(path)
-        xyz = np.asarray(pcd.points)
-        if pcd.colors is not None:
-            color = np.asarray(pcd.colors)
-            xyz = np.concatenate((xyz, color), axis=1)
-    else:
-        raise NotImplementedError(f"No loader for {ext} files. Can't load {path}")
-    assert_array_shape(xyz, shapes=((-1, 3), (-1, 6)))
-
-    if xyz.shape[1] > 3:  # with color
-        color = xyz[:, 3:]
-        xyz = xyz[:, :3]
-    else:
-        color = None
-
-    return xyz, color
-
-
-def write_pointcloud(xyz, path, color=None):
-    """save point cloud
-
-    Args:
-        xyz (np.ndarray): point cloud to save, N*3 or N*6
-        path (str): path to point cloud file
-
-    Raises:
-        NotImplementedError: if the saver for certain type of file is not implemented
-
-    """
-    if color is not None:
-        assert_array_shape(color, shapes=((xyz.shape,)))
-        xyz = np.concatenate((xyz, color), axis=1)
-
-    _, ext = os.path.splitext(path)
-    ext = ext[1:]  # remove .
-    if ext in ["txt", "pts"]:
-        np.savetxt(path, xyz)
-    elif ext in ["npy"]:
-        np.save(path, xyz)
-    elif ext in ["ply", "pcd"]:
-        if xyz.shape[1] == 6:
-            color = xyz[:, 3:]
-            xyz = xyz[:, :3]
-        else:
-            color = None
-        pcd = np_to_o3d_pointcloud(xyz, color=color)
-        o3d.io.write_point_cloud(path, pcd)
-    else:
-        raise NotImplementedError(f"No saver for {ext} files. Can't save {path}")

utils3d/utils3d/pointcloud/utils.py

@@ -1,108 +0,0 @@
-"""
- @author Zhenyu Jiang
- @email stevetod98@gmail.com
- @date 2022-01-12
- @desc Point cloud utilities
-"""
-
-import numpy as np
-import open3d as o3d
-
-
-def assert_array_shape(xyz, shapes=((-1, 3),)):
-    """check array shape
-
-    Args:
-        xyz (np.ndarray): array
-        shape (tuple of tuple of ints, optional): possible target shapes, -1 means arbitrary. Defaults to ((-1, 3)).
-
-    Raises:
-        ValueError.
-    """
-    flags = {x: True for x in range(len(shapes))}
-    for idx, shape in enumerate(shapes):
-        if len(xyz.shape) != len(shape):
-            flags[idx] = False
-
-        for dim, num in enumerate(shape):
-            if num == -1:
-                continue
-            elif xyz.shape[dim] != num:
-                flags[idx] = False
-    if sum(flags.values()) == 0:  # None of the possible shape works
-        raise ValueError(f"Input array {xyz.shape} is not in target shapes {shapes}!")
-
-
-def np_to_o3d_pointcloud(xyz, color=None):
-    """convert numpy array to open3d point cloud
-
-    Args:
-        xyz (np.ndarray): point cloud
-        color (np.ndarray, optional): colors of input point cloud. Can be N*3 or 3. Defaults to None.
-
-    Returns:
-        o3d.geometry.PointCloud: open3d point cloud
-    """
-    assert_array_shape(xyz)
-    pcd = o3d.geometry.PointCloud()
-    pcd.points = o3d.utility.Vector3dVector(xyz)
-
-    # add color
-    if color is not None:
-        if len(color.shape) == 2:
-            # same number of colors as the points
-            assert_array_shape(color, shapes=(xyz.shape,))
-            pcd.colors = o3d.utility.Vector3dVector(color)
-        elif len(color.shape) == 1:
-            # N*3
-            color = np.tile(color, (xyz.shape[0], 1))
-            assert_array_shape(color, shapes=(xyz.shape,))
-            pcd.colors = o3d.utility.Vector3dVector(color)
-        else:
-            raise ValueError(f"Bad color with shape {color.shape}")
-
-    return pcd
-
-
-def normalize_pointcloud(xyz, padding=0.0):
-    """normalize point cloud to [-0.5, 0.5]
-
-    Args:
-        xyz (np.ndarray): input point cloud, N*3
-        padding (float, optional): padding. Defaults to 0.0.
-
-    Returns:
-        np.ndarray: normalized point cloud
-        np.ndarray: original center
-        float: original scale
-    """
-    assert_array_shape(xyz)
-    bound_max = xyz.max(0)
-    bound_min = xyz.min(0)
-    center = (bound_max + bound_min) / 2
-    scale = (bound_max - bound_min).max()
-    scale = scale * (1 + padding)
-    normalized_xyz = (xyz - center) / scale
-    return normalized_xyz, center, scale
-
-
-def sample_pointcloud(xyz, color=None, num_points=2048):
-    """random subsample point cloud
-
-    Args:
-        xyz (np.ndarray): input point cloud of N*3.
-        color (np.ndarray, optional): color of the points, N*3 or None. Defaults to None.
-        num_points (int, optional): number of subsampled point cloud. Defaults to 2048.
-
-    Returns:
-        np.ndarray: subsampled point cloud
-    """
-    assert_array_shape(xyz)
-    replace = num_points > xyz.shape[0]
-    sample_idx = np.random.choice(np.arange(xyz.shape[0]), size=(num_points,), replace=replace)
-
-    if color is not None:
-        assert_array_shape(color, shapes=(xyz.shape,))
-        color = color[sample_idx]
-    xyz = xyz[sample_idx]
-    return xyz, color

utils3d/utils3d/pointcloud/visualization.py

@@ -1,105 +0,0 @@
-"""
- @author Zhenyu Jiang
- @email stevetod98@gmail.com
- @date 2022-01-11
- @desc Point cloud interactive visualization utils
-"""
-
-import matplotlib.pyplot as plt
-import numpy as np
-import open3d as o3d
-from mpl_toolkits.mplot3d import Axes3D
-
-from utils3d.pointcloud.utils import assert_array_shape, np_to_o3d_pointcloud
-
-
-def visualize_3d_point_cloud_mpl(
-    xyz,
-    show=True,
-    show_axis=True,
-    in_u_sphere=False,
-    marker=".",
-    s=8,
-    alpha=0.8,
-    figsize=(5, 5),
-    elev=10,
-    azim=240,
-    axis=None,
-    title=None,
-    lim=None,
-    *args,
-    **kwargs,
-):
-    """Visualize 3d point cloud with matplotlib.
-
-    Args:
-        xyz (np.ndarray): input point cloud as N*3 numpy array.
-        show (bool, optional): show current plot. Defaults to True.
-        show_axis (bool, optional): show axis grid. Defaults to True.
-        in_u_sphere (bool, optional): plot in unit sphere. Defaults to False.
-        marker (str, optional): marker shape. Defaults to '.'.
-        s (int, optional): point size. Defaults to 8.
-        alpha (float, optional): point transparency. Defaults to .8.
-        figsize (tuple, optional): figure size. Defaults to (5, 5).
-        elev (int, optional): elevation of view angle. Defaults to 10.
-        azim (int, optional): azimuth of view angle. Defaults to 240.
-        axis (mpl_toolkits.mplot3d.axes3d.Axes3D, optional): plot on given axis instead of creating a new. Defaults to None.
-        title (str of None, optional): plot title. Defaults to None.
-        lim (list of tuples of floats, optional): limits in three dimension. Defaults to None.
-
-    Returns:
-        matplotlib.figure.Figure: axis or figure where the point cloud is plotted on.
-    """
-
-    assert_array_shape(xyz)
-    # extract x y z from input points
-    x = xyz.T[0]
-    y = xyz.T[1]
-    z = xyz.T[2]
-
-    if axis is None:
-        fig = plt.figure(figsize=figsize)
-        ax = fig.add_subplot(111, projection="3d")
-    else:
-        ax = axis
-        fig = axis
-
-    if title is not None:
-        plt.title(title)
-
-    sc = ax.scatter(x, y, z, marker=marker, s=s, alpha=alpha, *args, **kwargs)
-    ax.view_init(elev=elev, azim=azim)
-
-    if lim:
-        ax.set_xlim3d(*lim[0])
-        ax.set_ylim3d(*lim[1])
-        ax.set_zlim3d(*lim[2])
-    elif in_u_sphere:
-        ax.set_xlim3d(-0.5, 0.5)
-        ax.set_ylim3d(-0.5, 0.5)
-        ax.set_zlim3d(-0.5, 0.5)
-    else:
-        lim = (min(np.min(x), np.min(y), np.min(z)), max(np.max(x), np.max(y), np.max(z)))
-        ax.set_xlim(1.3 * lim[0], 1.3 * lim[1])
-        ax.set_ylim(1.3 * lim[0], 1.3 * lim[1])
-        ax.set_zlim(1.3 * lim[0], 1.3 * lim[1])
-        plt.tight_layout()
-
-    if not show_axis:
-        plt.axis("off")
-
-    if show:
-        plt.show()
-
-    return fig
-
-
-def visualize_3d_point_cloud_o3d(xyz, color=None, **kwargs):
-    """Visualize 3d point cloud with matplotlib.
-
-    Args:
-        xyz (np.ndarray): input point cloud as N*3 numpy array.
-        color (np.ndarray, optional): colors of input point cloud. Can be N*3 or 3. Defaults to None.
-    """
-    pcd = np_to_o3d_pointcloud(xyz, color)
-    o3d.visualization.draw_geometries([pcd], **kwargs)

utils3d/utils3d/render/nvisii.py

@@ -1,175 +0,0 @@
-"""
- @author Zhenyu Jiang
- @email stevetod98@gmail.com
- @date 2022-01-14
- @desc NViSII renderer
-"""
-
-from statistics import mode
-
-import numpy as np
-import nvisii
-
-from utils3d.utils.transform import Transform
-
-
-class NViSIIRenderer:
-    def __init__(
-        self,
-        resolution=(640, 480),
-        spp=256,
-        camera_kwargs={"field_of_view": np.pi / 3.0},
-        light_kwargs={"intensity": 3},
-    ):
-        """init function
-
-        Args:
-            resolution (tuple, optional): render resolution. Defaults to (640, 480).
-            spp (int, optional): sample point per pixel. Defaults to 256.
-            camera_kwargs (dict, optional): camera configs. Defaults to {'field_of_view': np.pi / 3.0}.
-            light_kwargs (dict, optional): light configs. Defaults to {'intensity': 3}.
-        """
-        self.spp = spp
-        self.width, self.height = resolution
-        self.camera_kwargs = camera_kwargs
-        self.light_kwargs = light_kwargs
-
-    def reset(self, camera_pose, light_pose, dome_light_color=(1.0, 1.0, 1.0)):
-        """clear scenen, reset camera and light
-
-        Args:
-            camera_pose (np.ndarray): camera pose, 4*4
-            light_pose (np.ndarray): light pose 4*4
-            dome_light_color (tuple, optional): dome light color. Defaults to (1.0, 1.0, 1.0)
-        """
-        nvisii.clear_all()
-        # Camera
-        self.camera = nvisii.entity.create(name="camera")
-        self.camera.set_transform(nvisii.transform.create(name="camera_transform"))
-        self.camera.set_camera(
-            nvisii.camera.create_from_fov(
-                name="camera_camera", aspect=self.width / float(self.height), **self.camera_kwargs
-            )
-        )
-        nvisii.set_camera_entity(self.camera)
-        self.set_camera(camera_pose)
-
-        # Light
-        self.light = nvisii.entity.create(
-            name="light_0",
-            mesh=nvisii.mesh.create_plane("light_0", flip_z=True),
-            transform=nvisii.transform.create("light_1"),
-            light=nvisii.light.create("light_1"),
-        )
-        self.set_light(light_pose, **self.light_kwargs)
-
-        # Dome color
-        nvisii.set_dome_light_color(dome_light_color)
-
-        # Floor
-        # self.floor = nvisii.entity.create(
-        #     name='floor',
-        #     mesh=nvisii.mesh.create_plane('mesh_floor'),
-        #     transform=nvisii.transform.create('transform_floor'),
-        #     material=nvisii.material.create('material_floor'))
-        # self.set_floor(self.opt['floor']['texture'],
-        #                self.opt['floor']['scale'],
-        #                self.opt['floor']['position'])
-
-        self.objects = {}
-
-    def update_objects(self, mesh_pose_dict):
-        """update objects in the scene
-
-        Args:
-            mesh_pose_dict (dict): dict of {'name': (mesh_path: str, scale: tuple of ints, transform: np.ndarray)}
-
-        Returns:
-            list: list of new object names
-            list: list of removed object names
-        """
-        new_objects = []
-        removed_objects = []
-        for k, (path, scale, transform) in mesh_pose_dict.items():
-            transform = Transform.from_matrix(transform)
-            if k not in self.objects.keys():
-                obj = nvisii.import_scene(path)
-                obj.transforms[0].set_position(transform.translation)
-                obj.transforms[0].set_rotation(transform.rotation.as_quat())
-                obj.transforms[0].set_scale(scale)
-                self.objects[k] = obj
-                new_objects.append(k)
-            else:
-                obj = self.objects[k]
-                obj.transforms[0].set_position(transform.translation)
-                obj.transforms[0].set_rotation(transform.rotation.as_quat())
-                obj.transforms[0].set_scale(scale)
-        for k in self.objects.keys():
-            if k not in mesh_pose_dict.keys():
-                for obj in self.objects[k].entities:
-                    obj.remove(obj.get_name())
-                removed_objects.append(k)
-        for k in removed_objects:
-            self.objects.pop(k)
-
-        return new_objects, removed_objects
-
-    def render(self):
-        """render current scene
-
-        Returns:
-            np.ndarray: rgb image of H*W*4
-        """
-        rgb = nvisii.render(width=self.width, height=self.height, samples_per_pixel=self.spp)
-        rgb = np.asarray(rgb).reshape(self.height, self.width, 4)
-        # flip over x axis
-        rgb = np.flip(rgb, axis=0)
-        return rgb
-
-    def set_camera(self, pose):
-        """set camera pose
-
-        Args:
-            pose (np.ndarray): camera pose
-        """
-        transform = Transform.from_matrix(pose)
-        self.camera.get_transform().set_position(transform.translation)
-        self.camera.get_transform().set_rotation(transform.rotation.as_quat())
-
-    def set_light(self, pose, intensity, scale=(1.0, 1.0, 1.0)):
-        """set light pose
-
-        Args:
-            pose (np.ndarray): light pose
-            intensity (float): light intensity
-            scale (tuple, optional): light scale. Defaults to (1.0, 1.0, 1.0).
-        """
-        self.light.get_light().set_intensity(intensity)
-        self.light.get_transform().set_scale(scale)
-
-        transform = Transform.from_matrix(pose)
-        self.light.get_transform().set_position(transform.translation)
-        self.light.get_transform().set_rotation(transform.rotation.as_quat())
-
-    # def set_floor(self, texture_path, scale, position):
-    #     if hasattr(self, 'floor_texture'):
-    #         self.floor_texture.remove(self.floor_texture.get_name())
-    #     self.floor_texture = nvisii.texture.create_from_file(
-    #         name='floor_texture', path=texture_path)
-    #     self.floor.get_material().set_base_color_texture(self.floor_texture)
-    #     self.floor.get_material().set_roughness(0.4)
-    #     self.floor.get_material().set_specular(0)
-
-    #     self.floor.get_transform().set_scale(scale)
-    #     self.floor.get_transform().set_position(position)
-
-    @staticmethod
-    def init():
-        """init NViSII backend"""
-        nvisii.initialize(headless=True, verbose=False)
-        nvisii.enable_denoiser()
-
-    @staticmethod
-    def deinit():
-        """shut down NViSII backend"""
-        nvisii.deinitialize()

utils3d/utils3d/render/pyrender.py

@@ -1,103 +0,0 @@
-"""
- @author Zhenyu Jiang
- @email stevetod98@gmail.com
- @date 2022-01-12
- @desc Pyrender utils
-"""
-import os
-from turtle import color
-
-os.environ["PYOPENGL_PLATFORM"] = "egl"
-import numpy as np
-import pyrender
-import trimesh
-
-from utils3d.utils.transform import Rotation, Transform
-from utils3d.utils.utils import get_pose
-
-
-class PyRenderer:
-    def __init__(
-        self,
-        resolution=(640, 480),
-        camera_kwargs={"yfov": np.pi / 3.0},
-        light_kwargs={"color": np.ones(3), "intensity": 3},
-    ):
-        """Renderer init function
-
-        Args:
-            resolution (tuple, optional): render resolution, . Defaults to (640, 480).
-            camera_kwargs (dict, optional): camera properties. Defaults to {'yfov': np.pi/ 3.0}.
-            light_kwargs (dict, optional): light properties. Defaults to {'color': np.ones(3), 'intensity': 3}.
-        """
-        self.renderer = pyrender.OffscreenRenderer(*resolution)
-        self.camera = pyrender.PerspectiveCamera(**camera_kwargs)
-        self.light = pyrender.SpotLight(**light_kwargs)
-
-    def render_mesh(self, scene_or_mesh, camera_pose, light_pose):
-        """render a mesh or a scene
-
-        Args:
-            scene_or_mesh (trimesh.Trimesh or trimesh.Scene): the scene or mesh to render
-            camera_pose (np.ndarray): camera transformation
-            light_pose (np.ndarray): light transformation
-
-        Returns:
-            np.ndarray: rendered rgb image
-            np.ndarray: rendered depth image
-        """
-        if isinstance(scene_or_mesh, trimesh.Trimesh):
-            scene = trimesh.Scene(scene_or_mesh)
-        else:
-            scene = scene_or_mesh
-
-        r_scene = pyrender.Scene()
-        for mesh in scene.geometry.values():
-            o_mesh = pyrender.Mesh.from_trimesh(mesh, smooth=False)
-            r_scene.add(o_mesh)
-        r_scene.add(self.camera, name="camera", pose=camera_pose)
-        r_scene.add(self.light, name="light", pose=light_pose)
-        rgb, depth = self.renderer.render(r_scene)
-        return rgb, depth
-
-    def render_pointcloud(
-        self, xyz, camera_pose, light_pose, radius=0.005, colors=[102, 102, 102, 102]
-    ):
-        """render a point cloud
-
-        Args:
-            xyz (np.ndarray): point cloud to render.
-            camera_pose (np.ndarray): camera
-            light_pose ([type]): [description]
-            radius (float, optional): radius of each ball representing the point. Defaults to 0.005.
-            colors (list or np.ndarray, optional): colors of the points. Defaults to [102, 102, 102, 102].
-
-        Returns:
-            np.ndarray: rendered rgb image
-            np.ndarray: rendered depth image
-        """
-        r_scene = pyrender.Scene()
-        tfs = np.tile(np.eye(4), (len(xyz), 1, 1))
-        tfs[:, :3, 3] = xyz
-        if colors is None or isinstance(colors, list) or len(colors.shape) == 1:
-            # one color for all points
-            sm = trimesh.creation.uv_sphere(radius=radius)
-            if colors is None:
-                sm.visual.vertex_colors = [0.4, 0.4, 0.4, 0.8]
-            else:
-                sm.visual.vertex_colors = colors
-            o_mesh = pyrender.Mesh.from_trimesh(sm, poses=tfs)
-
-            r_scene.add(o_mesh)
-        else:
-            # different color for different pints
-            for idx, tf in enumerate(tfs):
-                sm = trimesh.creation.uv_sphere(radius=radius)
-                sm.visual.vertex_colors = colors[idx]
-                o_mesh = pyrender.Mesh.from_trimesh(sm, poses=tf)
-                r_scene.add(o_mesh)
-
-        r_scene.add(self.camera, name="camera", pose=camera_pose)
-        r_scene.add(self.light, name="light", pose=light_pose)
-        rgb, depth = self.renderer.render(r_scene)
-        return rgb, depth