gem/utils/vis/o3d_render.py

# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
import numpy as np
import open3d as o3d
import open3d.visualization.gui as gui
import open3d.visualization.rendering as rendering
import torch


class Settings:
    UNLIT = "defaultUnlit"
    LIT = "defaultLit"
    NORMALS = "normals"
    DEPTH = "depth"
    LINE = "unlitLine"
    Transparency = "defaultLitTransparency"
    LitSSR = "defaultLitSSR"

    DEFAULT_PROFILE_NAME = "Bright day with sun at +Y [default]"
    POINT_CLOUD_PROFILE_NAME = "Cloudy day (no direct sun)"
    CUSTOM_PROFILE_NAME = "Custom"
    LIGHTING_PROFILES = {
        DEFAULT_PROFILE_NAME: {
            "ibl_intensity": 45000,
            "sun_intensity": 45000,
            "sun_dir": [0.577, -0.577, -0.577],
            # "ibl_rotation":
            "use_ibl": True,
            "use_sun": True,
        },
        "Bright day with sun at -Y": {
            "ibl_intensity": 45000,
            "sun_intensity": 45000,
            "sun_dir": [0.577, 0.577, 0.577],
            # "ibl_rotation":[]
            "use_ibl": True,
            "use_sun": True,
        },
        "Bright day with sun at +Z": {
            "ibl_intensity": 45000,
            "sun_intensity": 45000,
            "sun_dir": [0.577, 0.577, -0.577],
            # "ibl_rotation":
            "use_ibl": True,
            "use_sun": True,
        },
        "Less Bright day with sun at +Y": {
            "ibl_intensity": 35000,
            "sun_intensity": 50000,
            "sun_dir": [0.577, -0.577, -0.577],
            # "ibl_rotation":
            "use_ibl": True,
            "use_sun": True,
        },
        "Less Bright day with sun at -Y": {
            "ibl_intensity": 35000,
            "sun_intensity": 50000,
            "sun_dir": [0.577, 0.577, 0.577],
            # "ibl_rotation":
            "use_ibl": True,
            "use_sun": True,
        },
        "Less Bright day with sun at +Z": {
            "ibl_intensity": 35000,
            "sun_intensity": 50000,
            "sun_dir": [0.577, 0.577, -0.577],
            # "ibl_rotation":
            "use_ibl": True,
            "use_sun": True,
        },
        POINT_CLOUD_PROFILE_NAME: {
            "ibl_intensity": 60000,
            "sun_intensity": 50000,
            "use_ibl": True,
            "use_sun": False,
            # "ibl_rotation":
        },
    }

    DEFAULT_MATERIAL_NAME = "Polished ceramic [default]"
    PREFAB = {
        DEFAULT_MATERIAL_NAME: {
            "metallic": 0.0,
            "roughness": 0.7,
            "reflectance": 0.5,
            "clearcoat": 0.2,
            "clearcoat_roughness": 0.2,
            "anisotropy": 0.0,
        },
        "Metal (rougher)": {
            "metallic": 1.0,
            "roughness": 0.5,
            "reflectance": 0.9,
            "clearcoat": 0.0,
            "clearcoat_roughness": 0.0,
            "anisotropy": 0.0,
        },
        "Metal (smoother)": {
            "metallic": 1.0,
            "roughness": 0.3,
            "reflectance": 0.9,
            "clearcoat": 0.0,
            "clearcoat_roughness": 0.0,
            "anisotropy": 0.0,
        },
        "Plastic": {
            "metallic": 0.0,
            "roughness": 0.5,
            "reflectance": 0.5,
            "clearcoat": 0.5,
            "clearcoat_roughness": 0.2,
            "anisotropy": 0.0,
        },
        "Glazed ceramic": {
            "metallic": 0.0,
            "roughness": 0.5,
            "reflectance": 0.9,
            "clearcoat": 1.0,
            "clearcoat_roughness": 0.1,
            "anisotropy": 0.0,
        },
        "Clay": {
            "metallic": 0.0,
            "roughness": 1.0,
            "reflectance": 0.5,
            "clearcoat": 0.1,
            "clearcoat_roughness": 0.287,
            "anisotropy": 0.0,
        },
        "Transparency": {
            "metallic": 0.0,
            "roughness": 0.0,
            "reflectance": 0.0,
            "clearcoat": 1.0,
            "clearcoat_roughness": 0.0,
            "anisotropy": 0.0,
        },
    }

    def __init__(self):
        # self.mouse_model = gui.SceneWidget.Controls.ROTATE_CAMERA
        self.prefab = Settings.DEFAULT_MATERIAL_NAME
        self.bg_color = gui.Color(1, 1, 1)
        self.show_skybox = True
        self.show_ground_plane = True
        self.show_axes = False
        self.use_ibl = True
        self.use_sun = True
        self.new_ibl_name = None  # clear to None after loading
        self.ibl_intensity = 45000
        self.sun_intensity = 45000
        self.sun_dir = [0.577, -0.577, -0.577]
        self.sun_color = gui.Color(1, 1, 1)

        self.apply_material = True  # clear to False after processing
        self._materials = {
            Settings.LIT: rendering.MaterialRecord(),
            Settings.UNLIT: rendering.MaterialRecord(),
            Settings.NORMALS: rendering.MaterialRecord(),
            Settings.DEPTH: rendering.MaterialRecord(),
            Settings.LINE: rendering.MaterialRecord(),
            Settings.Transparency: rendering.MaterialRecord(),
            Settings.LitSSR: rendering.MaterialRecord(),
        }
        self._materials[Settings.LIT].base_color = [0.9, 0.9, 0.9, 1.0]
        self._materials[Settings.LIT].shader = Settings.LIT
        self._materials[Settings.UNLIT].base_color = [0.9, 0.9, 0.9, 1.0]
        self._materials[Settings.UNLIT].shader = Settings.UNLIT
        self._materials[Settings.LINE].base_color = [0.9, 0.9, 0.9, 1.0]
        self._materials[Settings.LINE].shader = Settings.LINE
        self._materials[Settings.LINE].line_width = 3
        self._materials[Settings.Transparency].base_color = [0.467, 0.467, 0.467, 0.2]
        self._materials[Settings.Transparency].base_color = [0.9, 0.9, 0.9, 0.5]
        self._materials[Settings.Transparency].shader = Settings.Transparency
        self._materials[Settings.Transparency].thickness = 1.0
        self._materials[Settings.Transparency].transmission = 1.0
        self._materials[Settings.Transparency].absorption_distance = 10
        self._materials[Settings.Transparency].absorption_color = [0.5, 0.5, 0.5]
        self._materials[Settings.LitSSR].base_color = [0.467, 0.467, 0.467, 0.2]
        self._materials[Settings.LitSSR].shader = Settings.LitSSR
        self._materials[Settings.LitSSR].thickness = 1.0
        self._materials[Settings.LitSSR].transmission = 1.0
        self._materials[Settings.LitSSR].absorption_distance = 10
        self._materials[Settings.LitSSR].absorption_color = [0.5, 0.5, 0.5]
        self._materials[Settings.NORMALS].shader = Settings.NORMALS
        self._materials[Settings.DEPTH].shader = Settings.DEPTH

        # Conveniently, assigning from self._materials[...] assigns a reference,
        # not a copy, so if we change the property of a material, then switch
        # to another one, then come back, the old setting will still be there.
        self.material = self._materials[Settings.LIT]

    def set_material(self, name):
        self.material = self._materials[name]
        self.apply_material = True

    def apply_material_prefab(self, name):
        # assert (self.material.shader == Settings.LIT)
        self.prefab = name
        for key, val in Settings.PREFAB[name].items():
            setattr(self.material, "base_" + key, val)

    def apply_lighting_profile(self, name):
        """
        It takes a string as an argument, and then sets the attributes of the object to the values in the
        dictionary that is associated with that string

        Args:
          name: The name of the lighting profile.
        """
        profile = Settings.LIGHTING_PROFILES[name]
        for key, val in profile.items():
            setattr(self, key, val)


def get_ground(
    scale,
    center_x,
    center_z,
    grid_size=0.5,
    color1=None,
    color2=None,
):
    if color1 is None:
        color1 = [0.8, 0.9, 0.9]
    if color2 is None:
        color2 = [0.6, 0.7, 0.7]
    half_size = scale / 2
    min_x = center_x - half_size
    min_z = center_z - half_size
    max_x = center_x + half_size
    max_z = center_z + half_size

    # Snap to grid
    min_x = grid_size * np.floor(min_x / grid_size)
    min_z = grid_size * np.floor(min_z / grid_size)
    max_x = grid_size * np.ceil(max_x / grid_size)
    max_z = grid_size * np.ceil(max_z / grid_size)

    vertices = []
    faces = []
    vertex_colors = []
    eps = 1e-4  # Small offset to prevent z-fighting

    for i, x in enumerate(np.arange(min_x, max_x, grid_size)):
        for j, z in enumerate(np.arange(min_z, max_z, grid_size)):
            # Add small offset to prevent z-fighting
            x_offset = ((i % 2 * 2) - 1) * eps
            z_offset = ((j % 2 * 2) - 1) * eps

            # Create vertices for this grid cell
            v1 = np.array([x + x_offset, 0, z + z_offset])
            v2 = np.array([x + x_offset, 0, z + grid_size + z_offset])
            v3 = np.array([x + grid_size + x_offset, 0, z + grid_size + z_offset])
            v4 = np.array([x + grid_size + x_offset, 0, z + z_offset])

            # Add vertices for both sides of the cell
            offset = np.array([0, -eps, 0])  # For bottom face
            vertices.extend([v1, v2, v3, v4, v1 + offset, v2 + offset, v3 + offset, v4 + offset])

            # Create faces (triangles)
            idx = len(vertices) - 8
            faces.extend(
                [
                    [idx, idx + 1, idx + 2],  # Top face triangle 1
                    [idx + 2, idx + 3, idx],  # Top face triangle 2
                    [idx + 4, idx + 7, idx + 6],  # Bottom face triangle 1
                    [idx + 6, idx + 5, idx + 4],  # Bottom face triangle 2
                ]
            )

            # Set vertex colors based on checkerboard pattern
            vertex_color = color1 if (i + j) % 2 == 0 else color2
            vertex_colors.extend([vertex_color] * 8)

    return (
        torch.from_numpy(np.array(vertices)),
        torch.from_numpy(np.array(faces)),
        torch.from_numpy(np.array(vertex_colors)),
    )


def create_meshes(verts, faces, colors):
    """
    :param verts (B, V, 3)
    :param faces (B, F, 3)
    :param colors (B, V, 3)
    """
    mesh = o3d.geometry.TriangleMesh(
        vertices=o3d.utility.Vector3dVector(verts.cpu().numpy()),
        triangles=o3d.utility.Vector3iVector(faces.cpu().numpy()),
    )
    mesh.compute_vertex_normals()
    if len(colors.shape) == 1:
        colors = colors[None, :].repeat(len(verts), 1)
    mesh.vertex_colors = o3d.utility.Vector3dVector(colors.cpu().numpy())

    return mesh