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| import numpy as np | |
| import trimesh | |
| from pyrender import (OffscreenRenderer, PerspectiveCamera, DirectionalLight, | |
| SpotLight, Mesh, Node, Scene) | |
| def test_offscreen_renderer(tmpdir): | |
| # Fuze trimesh | |
| fuze_trimesh = trimesh.load('examples/models/fuze.obj') | |
| fuze_mesh = Mesh.from_trimesh(fuze_trimesh) | |
| # Drill trimesh | |
| drill_trimesh = trimesh.load('examples/models/drill.obj') | |
| drill_mesh = Mesh.from_trimesh(drill_trimesh) | |
| drill_pose = np.eye(4) | |
| drill_pose[0,3] = 0.1 | |
| drill_pose[2,3] = -np.min(drill_trimesh.vertices[:,2]) | |
| # Wood trimesh | |
| wood_trimesh = trimesh.load('examples/models/wood.obj') | |
| wood_mesh = Mesh.from_trimesh(wood_trimesh) | |
| # Water bottle trimesh | |
| bottle_gltf = trimesh.load('examples/models/WaterBottle.glb') | |
| bottle_trimesh = bottle_gltf.geometry[list(bottle_gltf.geometry.keys())[0]] | |
| bottle_mesh = Mesh.from_trimesh(bottle_trimesh) | |
| bottle_pose = np.array([ | |
| [1.0, 0.0, 0.0, 0.1], | |
| [0.0, 0.0, -1.0, -0.16], | |
| [0.0, 1.0, 0.0, 0.13], | |
| [0.0, 0.0, 0.0, 1.0], | |
| ]) | |
| boxv_trimesh = trimesh.creation.box(extents=0.1 * np.ones(3)) | |
| boxv_vertex_colors = np.random.uniform(size=(boxv_trimesh.vertices.shape)) | |
| boxv_trimesh.visual.vertex_colors = boxv_vertex_colors | |
| boxv_mesh = Mesh.from_trimesh(boxv_trimesh, smooth=False) | |
| boxf_trimesh = trimesh.creation.box(extents=0.1 * np.ones(3)) | |
| boxf_face_colors = np.random.uniform(size=boxf_trimesh.faces.shape) | |
| boxf_trimesh.visual.face_colors = boxf_face_colors | |
| # Instanced | |
| poses = np.tile(np.eye(4), (2,1,1)) | |
| poses[0,:3,3] = np.array([-0.1, -0.10, 0.05]) | |
| poses[1,:3,3] = np.array([-0.15, -0.10, 0.05]) | |
| boxf_mesh = Mesh.from_trimesh(boxf_trimesh, poses=poses, smooth=False) | |
| points = trimesh.creation.icosphere(radius=0.05).vertices | |
| point_colors = np.random.uniform(size=points.shape) | |
| points_mesh = Mesh.from_points(points, colors=point_colors) | |
| direc_l = DirectionalLight(color=np.ones(3), intensity=1.0) | |
| spot_l = SpotLight(color=np.ones(3), intensity=10.0, | |
| innerConeAngle=np.pi / 16, outerConeAngle=np.pi / 6) | |
| cam = PerspectiveCamera(yfov=(np.pi / 3.0)) | |
| cam_pose = np.array([ | |
| [0.0, -np.sqrt(2) / 2, np.sqrt(2) / 2, 0.5], | |
| [1.0, 0.0, 0.0, 0.0], | |
| [0.0, np.sqrt(2) / 2, np.sqrt(2) / 2, 0.4], | |
| [0.0, 0.0, 0.0, 1.0] | |
| ]) | |
| scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02])) | |
| fuze_node = Node(mesh=fuze_mesh, translation=np.array([ | |
| 0.1, 0.15, -np.min(fuze_trimesh.vertices[:,2]) | |
| ])) | |
| scene.add_node(fuze_node) | |
| boxv_node = Node(mesh=boxv_mesh, translation=np.array([-0.1, 0.10, 0.05])) | |
| scene.add_node(boxv_node) | |
| boxf_node = Node(mesh=boxf_mesh) | |
| scene.add_node(boxf_node) | |
| _ = scene.add(drill_mesh, pose=drill_pose) | |
| _ = scene.add(bottle_mesh, pose=bottle_pose) | |
| _ = scene.add(wood_mesh) | |
| _ = scene.add(direc_l, pose=cam_pose) | |
| _ = scene.add(spot_l, pose=cam_pose) | |
| _ = scene.add(points_mesh) | |
| _ = scene.add(cam, pose=cam_pose) | |
| r = OffscreenRenderer(viewport_width=640, viewport_height=480) | |
| color, depth = r.render(scene) | |
| assert color.shape == (480, 640, 3) | |
| assert depth.shape == (480, 640) | |
| assert np.max(depth.data) > 0.05 | |
| assert np.count_nonzero(depth.data) > (0.2 * depth.size) | |
| r.delete() | |