Spaces:
Sleeping
Sleeping
| """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() | |
| def viewport_width(self): | |
| """int : The width of the main viewport, in pixels. | |
| """ | |
| return self._viewport_width | |
| def viewport_width(self, value): | |
| self._viewport_width = int(value) | |
| def viewport_height(self): | |
| """int : The height of the main viewport, in pixels. | |
| """ | |
| return self._viewport_height | |
| def viewport_height(self, value): | |
| self._viewport_height = int(value) | |
| def point_size(self): | |
| """float : The pixel size of points in point clouds. | |
| """ | |
| return self._point_size | |
| 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 platform does not support dynamically-resizing framebuffers, | |
| # destroy it and restart it | |
| 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 | |
| # Make the platform not current | |
| 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'] | |