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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.):
# Convert cam_bbox to full image
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):
# get lights in a circle around origin at elevation
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 SMPL 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
self.camera_center = [self.img_res // 2, self.img_res // 2]
self.faces = faces
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,):
# material = pyrender.MetallicRoughnessMaterial(
# metallicFactor=0.0,
# alphaMode='OPAQUE',
# baseColorFactor=(*mesh_base_color, 1.0))
vertex_colors = np.array([(*mesh_base_color, 1.0)] * vertices.shape[0])
print(vertices.shape, camera_translation.shape)
mesh = trimesh.Trimesh(vertices.copy() + camera_translation, self.faces.copy(), vertex_colors=vertex_colors)
# mesh = trimesh.Trimesh(vertices.copy(), self.faces.copy())
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,
# camera_translation: np.array,
mesh_base_color=(1.0, 1.0, 0.9),
scene_bg_color=(0,0,0),
render_res=[256, 256],
):
renderer = pyrender.OffscreenRenderer(viewport_width=render_res[0],
viewport_height=render_res[1],
point_size=1.0)
# material = pyrender.MetallicRoughnessMaterial(
# metallicFactor=0.0,
# alphaMode='OPAQUE',
# baseColorFactor=(*mesh_base_color, 1.0))
if cam_t is not None:
camera_translation = cam_t.copy()
# camera_translation[0] *= -1.
else:
camera_translation = np.array([0, 0, camera_z * self.focal_length/render_res[1]])
mesh = self.vertices_to_trimesh(vertices, camera_translation, mesh_base_color, rot_axis, rot_angle)
mesh = pyrender.Mesh.from_trimesh(mesh)
# 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 = [render_res[0] / 2., render_res[1] / 2.]
camera = pyrender.IntrinsicsCamera(fx=self.focal_length, fy=self.focal_length,
cx=camera_center[0], cy=camera_center[1], zfar=1e12)
# Create camera node and add it to pyRender scene
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,
):
renderer = pyrender.OffscreenRenderer(viewport_width=render_res[0],
viewport_height=render_res[1],
point_size=1.0)
# material = pyrender.MetallicRoughnessMaterial(
# metallicFactor=0.0,
# alphaMode='OPAQUE',
# baseColorFactor=(*mesh_base_color, 1.0))
mesh_list = [pyrender.Mesh.from_trimesh(self.vertices_to_trimesh(vvv, ttt.copy(), mesh_base_color, rot_axis, rot_angle)) for vvv,ttt in zip(vertices, cam_t)]
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_pose[:3, 3] = camera_translation
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)
# Create camera node and add it to pyRender scene
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):
# from phalp.visualize.py_renderer import get_light_poses
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):
# from phalp.visualize.py_renderer import get_light_poses
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"light-{i:02d}",
# light=pyrender.DirectionalLight(color=color, intensity=intensity),
# matrix=matrix,
# )
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)
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