| import os
|
| if 'PYOPENGL_PLATFORM' not in os.environ:
|
| os.environ['PYOPENGL_PLATFORM'] = 'egl'
|
| import torch
|
| import numpy as np
|
| import pyrender
|
| import trimesh
|
| import cv2
|
| from yacs.config import CfgNode
|
| from typing import List, Optional
|
|
|
| def cam_crop_to_full(cam_bbox, box_center, box_size, img_size, focal_length=5000.):
|
|
|
| img_w, img_h = img_size[:, 0], img_size[:, 1]
|
| cx, cy, b = box_center[:, 0], box_center[:, 1], box_size
|
| w_2, h_2 = img_w / 2., img_h / 2.
|
| bs = b * cam_bbox[:, 0] + 1e-9
|
| tz = 2 * focal_length / bs
|
| tx = (2 * (cx - w_2) / bs) + cam_bbox[:, 1]
|
| ty = (2 * (cy - h_2) / bs) + cam_bbox[:, 2]
|
| full_cam = torch.stack([tx, ty, tz], dim=-1)
|
| return full_cam
|
|
|
| def get_light_poses(n_lights=5, elevation=np.pi / 3, dist=12):
|
|
|
| thetas = elevation * np.ones(n_lights)
|
| phis = 2 * np.pi * np.arange(n_lights) / n_lights
|
| poses = []
|
| trans = make_translation(torch.tensor([0, 0, dist]))
|
| for phi, theta in zip(phis, thetas):
|
| rot = make_rotation(rx=-theta, ry=phi, order="xyz")
|
| poses.append((rot @ trans).numpy())
|
| return poses
|
|
|
| def make_translation(t):
|
| return make_4x4_pose(torch.eye(3), t)
|
|
|
| def make_rotation(rx=0, ry=0, rz=0, order="xyz"):
|
| Rx = rotx(rx)
|
| Ry = roty(ry)
|
| Rz = rotz(rz)
|
| if order == "xyz":
|
| R = Rz @ Ry @ Rx
|
| elif order == "xzy":
|
| R = Ry @ Rz @ Rx
|
| elif order == "yxz":
|
| R = Rz @ Rx @ Ry
|
| elif order == "yzx":
|
| R = Rx @ Rz @ Ry
|
| elif order == "zyx":
|
| R = Rx @ Ry @ Rz
|
| elif order == "zxy":
|
| R = Ry @ Rx @ Rz
|
| return make_4x4_pose(R, torch.zeros(3))
|
|
|
| def make_4x4_pose(R, t):
|
| """
|
| :param R (*, 3, 3)
|
| :param t (*, 3)
|
| return (*, 4, 4)
|
| """
|
| dims = R.shape[:-2]
|
| pose_3x4 = torch.cat([R, t.view(*dims, 3, 1)], dim=-1)
|
| bottom = (
|
| torch.tensor([0, 0, 0, 1], device=R.device)
|
| .reshape(*(1,) * len(dims), 1, 4)
|
| .expand(*dims, 1, 4)
|
| )
|
| return torch.cat([pose_3x4, bottom], dim=-2)
|
|
|
|
|
| def rotx(theta):
|
| return torch.tensor(
|
| [
|
| [1, 0, 0],
|
| [0, np.cos(theta), -np.sin(theta)],
|
| [0, np.sin(theta), np.cos(theta)],
|
| ],
|
| dtype=torch.float32,
|
| )
|
|
|
|
|
| def roty(theta):
|
| return torch.tensor(
|
| [
|
| [np.cos(theta), 0, np.sin(theta)],
|
| [0, 1, 0],
|
| [-np.sin(theta), 0, np.cos(theta)],
|
| ],
|
| dtype=torch.float32,
|
| )
|
|
|
|
|
| def rotz(theta):
|
| return torch.tensor(
|
| [
|
| [np.cos(theta), -np.sin(theta), 0],
|
| [np.sin(theta), np.cos(theta), 0],
|
| [0, 0, 1],
|
| ],
|
| dtype=torch.float32,
|
| )
|
|
|
|
|
| def create_raymond_lights() -> List[pyrender.Node]:
|
| """
|
| Return raymond light nodes for the scene.
|
| """
|
| thetas = np.pi * np.array([1.0 / 6.0, 1.0 / 6.0, 1.0 / 6.0])
|
| phis = np.pi * np.array([0.0, 2.0 / 3.0, 4.0 / 3.0])
|
|
|
| nodes = []
|
|
|
| for phi, theta in zip(phis, thetas):
|
| xp = np.sin(theta) * np.cos(phi)
|
| yp = np.sin(theta) * np.sin(phi)
|
| zp = np.cos(theta)
|
|
|
| z = np.array([xp, yp, zp])
|
| z = z / np.linalg.norm(z)
|
| x = np.array([-z[1], z[0], 0.0])
|
| if np.linalg.norm(x) == 0:
|
| x = np.array([1.0, 0.0, 0.0])
|
| x = x / np.linalg.norm(x)
|
| y = np.cross(z, x)
|
|
|
| matrix = np.eye(4)
|
| matrix[:3,:3] = np.c_[x,y,z]
|
| nodes.append(pyrender.Node(
|
| light=pyrender.DirectionalLight(color=np.ones(3), intensity=1.0),
|
| matrix=matrix
|
| ))
|
|
|
| return nodes
|
|
|
| class Renderer:
|
|
|
| def __init__(self, cfg: CfgNode, faces: np.array):
|
| """
|
| Wrapper around the pyrender renderer to render MANO meshes.
|
| Args:
|
| cfg (CfgNode): Model config file.
|
| faces (np.array): Array of shape (F, 3) containing the mesh faces.
|
| """
|
| self.cfg = cfg
|
| self.focal_length = cfg.EXTRA.FOCAL_LENGTH
|
| self.img_res = cfg.MODEL.IMAGE_SIZE
|
|
|
|
|
| faces_new = np.array([[92, 38, 234],
|
| [234, 38, 239],
|
| [38, 122, 239],
|
| [239, 122, 279],
|
| [122, 118, 279],
|
| [279, 118, 215],
|
| [118, 117, 215],
|
| [215, 117, 214],
|
| [117, 119, 214],
|
| [214, 119, 121],
|
| [119, 120, 121],
|
| [121, 120, 78],
|
| [120, 108, 78],
|
| [78, 108, 79]])
|
| faces = np.concatenate([faces, faces_new], axis=0)
|
|
|
| self.camera_center = [self.img_res // 2, self.img_res // 2]
|
| self.faces = faces
|
| self.faces_left = self.faces[:,[0,2,1]]
|
|
|
| def __call__(self,
|
| vertices: np.array,
|
| camera_translation: np.array,
|
| image: torch.Tensor,
|
| full_frame: bool = False,
|
| imgname: Optional[str] = None,
|
| side_view=False, rot_angle=90,
|
| mesh_base_color=(1.0, 1.0, 0.9),
|
| scene_bg_color=(0,0,0),
|
| return_rgba=False,
|
| ) -> np.array:
|
| """
|
| Render meshes on input image
|
| Args:
|
| vertices (np.array): Array of shape (V, 3) containing the mesh vertices.
|
| camera_translation (np.array): Array of shape (3,) with the camera translation.
|
| image (torch.Tensor): Tensor of shape (3, H, W) containing the image crop with normalized pixel values.
|
| full_frame (bool): If True, then render on the full image.
|
| imgname (Optional[str]): Contains the original image filenamee. Used only if full_frame == True.
|
| """
|
|
|
| if full_frame:
|
| image = cv2.imread(imgname).astype(np.float32)[:, :, ::-1] / 255.
|
| else:
|
| image = image.clone() * torch.tensor(self.cfg.MODEL.IMAGE_STD, device=image.device).reshape(3,1,1)
|
| image = image + torch.tensor(self.cfg.MODEL.IMAGE_MEAN, device=image.device).reshape(3,1,1)
|
| image = image.permute(1, 2, 0).cpu().numpy()
|
|
|
| renderer = pyrender.OffscreenRenderer(viewport_width=image.shape[1],
|
| viewport_height=image.shape[0],
|
| point_size=1.0)
|
| material = pyrender.MetallicRoughnessMaterial(
|
| metallicFactor=0.0,
|
| alphaMode='OPAQUE',
|
| baseColorFactor=(*mesh_base_color, 1.0))
|
|
|
| camera_translation[0] *= -1.
|
|
|
| mesh = trimesh.Trimesh(vertices.copy(), self.faces.copy())
|
| if side_view:
|
| rot = trimesh.transformations.rotation_matrix(
|
| np.radians(rot_angle), [0, 1, 0])
|
| mesh.apply_transform(rot)
|
| rot = trimesh.transformations.rotation_matrix(
|
| np.radians(180), [1, 0, 0])
|
| mesh.apply_transform(rot)
|
| mesh = pyrender.Mesh.from_trimesh(mesh, material=material)
|
|
|
| scene = pyrender.Scene(bg_color=[*scene_bg_color, 0.0],
|
| ambient_light=(0.3, 0.3, 0.3))
|
| scene.add(mesh, 'mesh')
|
|
|
| camera_pose = np.eye(4)
|
| camera_pose[:3, 3] = camera_translation
|
| camera_center = [image.shape[1] / 2., image.shape[0] / 2.]
|
| camera = pyrender.IntrinsicsCamera(fx=self.focal_length, fy=self.focal_length,
|
| cx=camera_center[0], cy=camera_center[1], zfar=1e12)
|
| scene.add(camera, pose=camera_pose)
|
|
|
|
|
| light_nodes = create_raymond_lights()
|
| for node in light_nodes:
|
| scene.add_node(node)
|
|
|
| color, rend_depth = renderer.render(scene, flags=pyrender.RenderFlags.RGBA)
|
| color = color.astype(np.float32) / 255.0
|
| renderer.delete()
|
|
|
| if return_rgba:
|
| return color
|
|
|
| valid_mask = (color[:, :, -1])[:, :, np.newaxis]
|
| if not side_view:
|
| output_img = (color[:, :, :3] * valid_mask + (1 - valid_mask) * image)
|
| else:
|
| output_img = color[:, :, :3]
|
|
|
| output_img = output_img.astype(np.float32)
|
| return output_img
|
|
|
| def vertices_to_trimesh(self, vertices, camera_translation, mesh_base_color=(1.0, 1.0, 0.9),
|
| rot_axis=[1,0,0], rot_angle=0, is_right=1):
|
|
|
|
|
|
|
|
|
| vertex_colors = np.array([(*mesh_base_color, 1.0)] * vertices.shape[0])
|
| if is_right:
|
| mesh = trimesh.Trimesh(vertices.copy() + camera_translation, self.faces.copy(), vertex_colors=vertex_colors)
|
| else:
|
| mesh = trimesh.Trimesh(vertices.copy() + camera_translation, self.faces_left.copy(), vertex_colors=vertex_colors)
|
|
|
|
|
| rot = trimesh.transformations.rotation_matrix(
|
| np.radians(rot_angle), rot_axis)
|
| mesh.apply_transform(rot)
|
|
|
| rot = trimesh.transformations.rotation_matrix(
|
| np.radians(180), [1, 0, 0])
|
| mesh.apply_transform(rot)
|
| return mesh
|
|
|
| def render_rgba(
|
| self,
|
| vertices: np.array,
|
| cam_t = None,
|
| rot=None,
|
| rot_axis=[1,0,0],
|
| rot_angle=0,
|
| camera_z=3,
|
|
|
| mesh_base_color=(1.0, 1.0, 0.9),
|
| scene_bg_color=(0,0,0),
|
| render_res=[256, 256],
|
| focal_length=None,
|
| is_right=None,
|
| ):
|
|
|
| renderer = pyrender.OffscreenRenderer(viewport_width=render_res[0],
|
| viewport_height=render_res[1],
|
| point_size=1.0)
|
|
|
|
|
|
|
|
|
|
|
| focal_length = focal_length if focal_length is not None else self.focal_length
|
|
|
| if cam_t is not None:
|
| camera_translation = cam_t.copy()
|
| camera_translation[0] *= -1.
|
| else:
|
| camera_translation = np.array([0, 0, camera_z * focal_length/render_res[1]])
|
|
|
| mesh = self.vertices_to_trimesh(vertices, np.array([0, 0, 0]), mesh_base_color, rot_axis, rot_angle, is_right=is_right)
|
| mesh = pyrender.Mesh.from_trimesh(mesh)
|
|
|
|
|
| scene = pyrender.Scene(bg_color=[*scene_bg_color, 0.0],
|
| ambient_light=(0.3, 0.3, 0.3))
|
| scene.add(mesh, 'mesh')
|
|
|
| camera_pose = np.eye(4)
|
| camera_pose[:3, 3] = camera_translation
|
| camera_center = [render_res[0] / 2., render_res[1] / 2.]
|
| camera = pyrender.IntrinsicsCamera(fx=focal_length, fy=focal_length,
|
| cx=camera_center[0], cy=camera_center[1], zfar=1e12)
|
|
|
|
|
| camera_node = pyrender.Node(camera=camera, matrix=camera_pose)
|
| scene.add_node(camera_node)
|
| self.add_point_lighting(scene, camera_node)
|
| self.add_lighting(scene, camera_node)
|
|
|
| light_nodes = create_raymond_lights()
|
| for node in light_nodes:
|
| scene.add_node(node)
|
|
|
| color, rend_depth = renderer.render(scene, flags=pyrender.RenderFlags.RGBA)
|
| color = color.astype(np.float32) / 255.0
|
| renderer.delete()
|
|
|
| return color
|
|
|
| def render_rgba_multiple(
|
| self,
|
| vertices: List[np.array],
|
| cam_t: List[np.array],
|
| rot_axis=[1,0,0],
|
| rot_angle=0,
|
| mesh_base_color=(1.0, 1.0, 0.9),
|
| scene_bg_color=(0,0,0),
|
| render_res=[256, 256],
|
| focal_length=None,
|
| is_right=None,
|
| ):
|
|
|
| renderer = pyrender.OffscreenRenderer(viewport_width=render_res[0],
|
| viewport_height=render_res[1],
|
| point_size=1.0)
|
|
|
|
|
|
|
|
|
|
|
| if is_right is None:
|
| is_right = [1 for _ in range(len(vertices))]
|
|
|
| mesh_list = [pyrender.Mesh.from_trimesh(self.vertices_to_trimesh(vvv, ttt.copy(), mesh_base_color, rot_axis, rot_angle, is_right=sss)) for vvv,ttt,sss in zip(vertices, cam_t, is_right)]
|
|
|
| scene = pyrender.Scene(bg_color=[*scene_bg_color, 0.0],
|
| ambient_light=(0.3, 0.3, 0.3))
|
| for i,mesh in enumerate(mesh_list):
|
| scene.add(mesh, f'mesh_{i}')
|
|
|
| camera_pose = np.eye(4)
|
|
|
| camera_center = [render_res[0] / 2., render_res[1] / 2.]
|
| focal_length = focal_length if focal_length is not None else self.focal_length
|
| camera = pyrender.IntrinsicsCamera(fx=focal_length, fy=focal_length,
|
| cx=camera_center[0], cy=camera_center[1], zfar=1e12)
|
|
|
|
|
| camera_node = pyrender.Node(camera=camera, matrix=camera_pose)
|
| scene.add_node(camera_node)
|
| self.add_point_lighting(scene, camera_node)
|
| self.add_lighting(scene, camera_node)
|
|
|
| light_nodes = create_raymond_lights()
|
| for node in light_nodes:
|
| scene.add_node(node)
|
|
|
| color, rend_depth = renderer.render(scene, flags=pyrender.RenderFlags.RGBA)
|
| color = color.astype(np.float32) / 255.0
|
| renderer.delete()
|
|
|
| return color
|
|
|
| def add_lighting(self, scene, cam_node, color=np.ones(3), intensity=1.0):
|
|
|
| light_poses = get_light_poses()
|
| light_poses.append(np.eye(4))
|
| cam_pose = scene.get_pose(cam_node)
|
| for i, pose in enumerate(light_poses):
|
| matrix = cam_pose @ pose
|
| node = pyrender.Node(
|
| name=f"light-{i:02d}",
|
| light=pyrender.DirectionalLight(color=color, intensity=intensity),
|
| matrix=matrix,
|
| )
|
| if scene.has_node(node):
|
| continue
|
| scene.add_node(node)
|
|
|
| def add_point_lighting(self, scene, cam_node, color=np.ones(3), intensity=1.0):
|
|
|
| light_poses = get_light_poses(dist=0.5)
|
| light_poses.append(np.eye(4))
|
| cam_pose = scene.get_pose(cam_node)
|
| for i, pose in enumerate(light_poses):
|
| matrix = cam_pose @ pose
|
|
|
|
|
|
|
|
|
|
|
| node = pyrender.Node(
|
| name=f"plight-{i:02d}",
|
| light=pyrender.PointLight(color=color, intensity=intensity),
|
| matrix=matrix,
|
| )
|
| if scene.has_node(node):
|
| continue
|
| scene.add_node(node)
|
|
|
