| """Wrapper for offscreen rendering. |
| |
| Author: Matthew Matl |
| """ |
| import os |
|
|
| from .renderer import Renderer |
| from .constants import RenderFlags |
|
|
|
|
| class OffscreenRenderer(object): |
| """A wrapper for offscreen rendering. |
| |
| Parameters |
| ---------- |
| viewport_width : int |
| The width of the main viewport, in pixels. |
| viewport_height : int |
| The height of the main viewport, in pixels. |
| point_size : float |
| The size of screen-space points in pixels. |
| """ |
|
|
| def __init__(self, viewport_width, viewport_height, point_size=1.0): |
| self.viewport_width = viewport_width |
| self.viewport_height = viewport_height |
| self.point_size = point_size |
|
|
| self._platform = None |
| self._renderer = None |
| self._create() |
|
|
| @property |
| def viewport_width(self): |
| """int : The width of the main viewport, in pixels. |
| """ |
| return self._viewport_width |
|
|
| @viewport_width.setter |
| def viewport_width(self, value): |
| self._viewport_width = int(value) |
|
|
| @property |
| def viewport_height(self): |
| """int : The height of the main viewport, in pixels. |
| """ |
| return self._viewport_height |
|
|
| @viewport_height.setter |
| def viewport_height(self, value): |
| self._viewport_height = int(value) |
|
|
| @property |
| def point_size(self): |
| """float : The pixel size of points in point clouds. |
| """ |
| return self._point_size |
|
|
| @point_size.setter |
| def point_size(self, value): |
| self._point_size = float(value) |
|
|
| def render(self, scene, flags=RenderFlags.NONE, seg_node_map=None): |
| """Render a scene with the given set of flags. |
| |
| Parameters |
| ---------- |
| scene : :class:`Scene` |
| A scene to render. |
| flags : int |
| A bitwise or of one or more flags from :class:`.RenderFlags`. |
| seg_node_map : dict |
| A map from :class:`.Node` objects to (3,) colors for each. |
| If specified along with flags set to :attr:`.RenderFlags.SEG`, |
| the color image will be a segmentation image. |
| |
| Returns |
| ------- |
| color_im : (h, w, 3) uint8 or (h, w, 4) uint8 |
| The color buffer in RGB format, or in RGBA format if |
| :attr:`.RenderFlags.RGBA` is set. |
| Not returned if flags includes :attr:`.RenderFlags.DEPTH_ONLY`. |
| depth_im : (h, w) float32 |
| The depth buffer in linear units. |
| """ |
| self._platform.make_current() |
| |
| |
| if (self._platform.viewport_height != self.viewport_height or |
| self._platform.viewport_width != self.viewport_width): |
| if not self._platform.supports_framebuffers(): |
| self.delete() |
| self._create() |
|
|
| self._platform.make_current() |
| self._renderer.viewport_width = self.viewport_width |
| self._renderer.viewport_height = self.viewport_height |
| self._renderer.point_size = self.point_size |
|
|
| if self._platform.supports_framebuffers(): |
| flags |= RenderFlags.OFFSCREEN |
| retval = self._renderer.render(scene, flags, seg_node_map) |
| else: |
| self._renderer.render(scene, flags, seg_node_map) |
| depth = self._renderer.read_depth_buf() |
| if flags & RenderFlags.DEPTH_ONLY: |
| retval = depth |
| else: |
| color = self._renderer.read_color_buf() |
| retval = color, depth |
|
|
| |
| self._platform.make_uncurrent() |
| return retval |
|
|
| def delete(self): |
| """Free all OpenGL resources. |
| """ |
| self._platform.make_current() |
| self._renderer.delete() |
| self._platform.delete_context() |
| del self._renderer |
| del self._platform |
| self._renderer = None |
| self._platform = None |
| import gc |
| gc.collect() |
|
|
| def _create(self): |
| if 'PYOPENGL_PLATFORM' not in os.environ: |
| from pyrender.platforms.pyglet_platform import PygletPlatform |
| self._platform = PygletPlatform(self.viewport_width, |
| self.viewport_height) |
| elif os.environ['PYOPENGL_PLATFORM'] == 'egl': |
| from pyrender.platforms import egl |
| device_id = int(os.environ.get('EGL_DEVICE_ID', '0')) |
| egl_device = egl.get_device_by_index(device_id) |
| self._platform = egl.EGLPlatform(self.viewport_width, |
| self.viewport_height, |
| device=egl_device) |
| elif os.environ['PYOPENGL_PLATFORM'] == 'osmesa': |
| from pyrender.platforms.osmesa import OSMesaPlatform |
| self._platform = OSMesaPlatform(self.viewport_width, |
| self.viewport_height) |
| else: |
| raise ValueError('Unsupported PyOpenGL platform: {}'.format( |
| os.environ['PYOPENGL_PLATFORM'] |
| )) |
| self._platform.init_context() |
| self._platform.make_current() |
| self._renderer = Renderer(self.viewport_width, self.viewport_height) |
|
|
| def __del__(self): |
| try: |
| self.delete() |
| except Exception: |
| pass |
|
|
|
|
| __all__ = ['OffscreenRenderer'] |
|
|
