init_code
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sky
199
pygarment/meshgen/render/pythonrender.py
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199
pygarment/meshgen/render/pythonrender.py
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import os
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import platform
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if platform.system() == 'Linux':
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os.environ["PYOPENGL_PLATFORM"] = "egl"
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import numpy as np
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import trimesh
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import pyrender
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from PIL import Image
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from pygarment.meshgen.sim_config import PathCofig
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def rotate_matrix_y(matrix, angle_deg):
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rotation_angle = angle_deg * (np.pi / 180)
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# Define the rotation matrix for 180-degree rotation around the y-axis
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rotation_matrix = np.array([
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[np.cos(rotation_angle), 0, np.sin(rotation_angle), 0],
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[0, 1, 0, 0],
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[-np.sin(rotation_angle), 0, np.cos(rotation_angle), 0],
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[0, 0, 0, 1]
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])
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# Apply the rotation to the mesh vertices
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rot_matrix = np.dot(rotation_matrix, matrix)
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return rot_matrix
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def rotate_matrix_x(matrix, angle_deg):
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rotation_angle = angle_deg * (np.pi / 180)
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# Define the rotation matrix for 180-degree rotation around the y-axis
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rotation_matrix = np.array([
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[1, 0, 0, 0],
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[0, np.cos(rotation_angle), -np.sin(rotation_angle), 0],
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[0, np.sin(rotation_angle), np.cos(rotation_angle), 0],
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[0, 0, 0, 1]
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])
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# Apply the rotation to the mesh vertices
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rot_matrix = np.dot(rotation_matrix, matrix)
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return rot_matrix
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def get_bounding_box_edges(mesh):
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# Calculate the bounding box of the mesh
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min_coords = mesh.bounds[0]
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max_coords = mesh.bounds[1]
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# Compute the corner points of the bounding box
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corners = [
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min_coords,
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[max_coords[0], min_coords[1], min_coords[2]],
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[min_coords[0], max_coords[1], min_coords[2]],
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[max_coords[0], max_coords[1], min_coords[2]],
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[min_coords[0], min_coords[1], max_coords[2]],
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[max_coords[0], min_coords[1], max_coords[2]],
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[min_coords[0], max_coords[1], max_coords[2]],
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max_coords
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]
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return corners
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def create_camera(pyrender, pyrender_body_mesh, scene, side, camera_location=None):
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# Create a camera
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y_fov = np.pi / 6.
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camera = pyrender.PerspectiveCamera(yfov=y_fov)
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if camera_location is None:
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# Evaluate w.r.t. body
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fov = 50 # Set your desired field of view in degrees
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# # Calculate the bounding box center of the mesh
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bounding_box_center = pyrender_body_mesh.bounds.mean(axis=0)
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# Calculate the diagonal length of the bounding box
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diagonal_length = np.linalg.norm(pyrender_body_mesh.bounds[1] - pyrender_body_mesh.bounds[0])
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# Calculate the distance of the camera from the object based on the diagonal length
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distance = 1.5 * diagonal_length / (2 * np.tan(np.radians(fov / 2)))
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camera_location = bounding_box_center
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camera_location[-1] += distance
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# Calculate the camera pose
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camera_pose = np.array([
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[1.0, 0.0, 0.0, camera_location[0]],
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[0.0, 1.0, 0.0, camera_location[1]],
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[0.0, 0.0, 1.0, camera_location[2]],
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[0.0, 0.0, 0.0, 1.0]
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])
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camera_pose = rotate_matrix_x(camera_pose, -15)
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camera_pose = rotate_matrix_y(camera_pose, 20)
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if side == 'back':
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camera_pose = rotate_matrix_y(camera_pose, 180)
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# Set camera's pose in the scene
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scene.add(camera, pose=camera_pose)
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def create_lights(scene, intensity=30.0):
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light_positions = [
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np.array([1.60614, 1.5341, 1.23701]),
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np.array([1.31844, 1.92831, -2.52238]),
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np.array([-2.80522, 1.2594, 2.34624]),
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np.array([0.160261, 1.81789, 3.52215]),
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np.array([-2.65752, 1.41194, -1.26328])
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]
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light_colors = [
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[1.0, 1.0, 1.0],
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[1.0, 1.0, 1.0],
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[1.0, 1.0, 1.0],
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[1.0, 1.0, 1.0],
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[1.0, 1.0, 1.0]
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]
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# Add lights to the scene
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for i in range(5):
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light = pyrender.PointLight(color=light_colors[i], intensity=intensity)
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light_pose = np.eye(4)
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light_pose[:3, 3] = light_positions[i]
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scene.add(light, pose=light_pose)
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def render(
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pyrender_garm_mesh, pyrender_body_mesh,
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side,
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paths: PathCofig,
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render_props=None
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):
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if render_props and 'resolution' in render_props:
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view_width, view_height = render_props['resolution']
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else:
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view_width, view_height = 1080, 1080
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# Create a pyrender scene
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scene = pyrender.Scene(bg_color=(1., 1., 1., 0.)) # Transparent!
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# Create a pyrender mesh object from the trimesh object
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# Add the mesh to the scene
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scene.add(pyrender_garm_mesh)
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scene.add(pyrender_body_mesh)
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camera_location=render_props['front_camera_location'] if 'front_camera_location' in render_props else None
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create_camera(
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pyrender, pyrender_body_mesh, scene, side,
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camera_location=camera_location
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)
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create_lights(scene, intensity=80.)
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# Create a renderer
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renderer = pyrender.OffscreenRenderer(viewport_width=view_width, viewport_height=view_height)
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# Render the scene
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color, _ = renderer.render(scene, flags=pyrender.RenderFlags.RGBA)
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image = Image.fromarray(color)
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image.save(paths.render_path(side), "PNG")
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def load_meshes(paths:PathCofig, body_v, body_f):
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# Load body mesh
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body_mesh = trimesh.Trimesh(body_v, body_f)
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body_mesh.vertices = body_mesh.vertices / 100
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# Color body mesh
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body_material = pyrender.MetallicRoughnessMaterial(
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baseColorFactor=(0.0, 0.0, 0.0, 1.0), # RGB color, Alpha
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metallicFactor=0.658, # Range: [0.0, 1.0]
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roughnessFactor=0.5 # Range: [0.0, 1.0]
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)
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pyrender_body_mesh = pyrender.Mesh.from_trimesh(body_mesh, material=body_material)
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#Load garment mesh
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garm_mesh = trimesh.load_mesh(str(paths.g_sim)) # NOTE: Includes the texture
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garm_mesh.vertices = garm_mesh.vertices / 100 # scale to m
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# Material adjustments
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material = garm_mesh.visual.material.to_pbr()
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material.baseColorFactor = [1., 1., 1., 1.]
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material.doubleSided = True # color both face sides
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# NOTE remove transparency -- add white background just in case
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white_back = Image.new('RGBA', material.baseColorTexture.size, color=(255, 255, 255, 255))
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white_back.paste(material.baseColorTexture)
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material.baseColorTexture = white_back.convert('RGB')
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garm_mesh.visual.material = material
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pyrender_garm_mesh = pyrender.Mesh.from_trimesh(garm_mesh, smooth=True)
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return pyrender_garm_mesh, pyrender_body_mesh
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def render_images(paths: PathCofig, body_v, body_f, render_props):
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pyrender_garm_mesh, pyrender_body_mesh = load_meshes(paths, body_v, body_f)
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for side in render_props['sides']:
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render(pyrender_garm_mesh, pyrender_body_mesh, side, paths, render_props)
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