Spaces:
Runtime error
Runtime error
File size: 7,783 Bytes
ec9a6bc |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 |
from pytorch3d.renderer import (
look_at_view_transform,
PerspectiveCameras,
OrthographicCameras,
PointLights,
DirectionalLights,
Materials,
RasterizationSettings,
MeshRenderer,
MeshRasterizer,
TexturesUV,
TexturesVertex
)
from pytorch3d.renderer.mesh.shader import ShaderBase, HardDepthShader, HardPhongShader
from pytorch3d.renderer.mesh.rasterizer import Fragments
from pytorch3d.renderer.blending import (
BlendParams,
hard_rgb_blend,
sigmoid_alpha_blend,
softmax_rgb_blend,
)
from pytorch3d.renderer.mesh.textures import TexturesVertex
from pytorch3d.structures import Meshes
import torch
import numpy as np
import cv2 as cv
class VertexAtrriShader(ShaderBase):
def forward(self, fragments: Fragments, meshes: Meshes, **kwargs) -> torch.Tensor:
texels = meshes.sample_textures(fragments)
blend_params = kwargs.get("blend_params", self.blend_params)
images = hard_rgb_blend(texels, fragments, blend_params)
return images
class Renderer:
def __init__(self, img_w: int, img_h: int, mvp = None, shader_name = 'vertex_attribute', bg_color = (0, 0, 0), win_name = None, device = 'cuda'):
self.img_w = img_w
self.img_h = img_h
self.device = device
raster_settings = RasterizationSettings(
image_size = (img_h, img_w),
blur_radius = 0.0,
faces_per_pixel = 1,
bin_size = None,
max_faces_per_bin = 50000
)
self.shader_name = shader_name
blend_params = BlendParams(background_color = bg_color)
if shader_name == 'vertex_attribute':
shader = VertexAtrriShader(device = device, blend_params = blend_params)
elif shader_name == 'position':
shader = VertexAtrriShader(device = device, blend_params = blend_params)
elif shader_name == 'phong_geometry':
shader = HardPhongShader(device = device, blend_params = blend_params)
else:
raise ValueError('Invalid shader_name')
self.renderer = MeshRenderer(
rasterizer = MeshRasterizer(
cameras = None,
raster_settings = raster_settings
),
shader = shader
)
self.mesh = None
def set_camera(self, extr, intr = None):
affine_mat = np.identity(4, np.float32)
affine_mat[0, 0] = -1
affine_mat[1, 1] = -1
extr = affine_mat @ extr
extr[:3, :3] = np.linalg.inv(extr[:3, :3])
extr = torch.from_numpy(extr).to(torch.float32).to(self.device)
if intr is None: # assume orthographic projection
cameras = OrthographicCameras(
focal_length = ((self.img_w / 2., self.img_h / 2.),),
principal_point = ((self.img_w / 2., self.img_h / 2.),),
R = extr[:3, :3].unsqueeze(0),
T = extr[:3, 3].unsqueeze(0),
in_ndc = False,
device = self.device,
image_size = ((self.img_h, self.img_w),)
)
else:
intr = torch.from_numpy(intr).to(torch.float32).to(self.device)
cameras = PerspectiveCameras(((intr[0, 0], intr[1, 1]),),
((intr[0, 2], intr[1, 2]),),
extr[:3, :3].unsqueeze(0),
extr[:3, 3].unsqueeze(0),
in_ndc = False,
device = self.device,
image_size = ((self.img_h, self.img_w),))
self.renderer.rasterizer.cameras = cameras
def set_model(self, vertices, vertex_attributes = None):
if isinstance(vertices, np.ndarray):
vertices = torch.from_numpy(vertices)
if vertex_attributes is not None:
if isinstance(vertex_attributes, np.ndarray):
vertex_attributes = torch.from_numpy(vertex_attributes)
vertex_attributes = vertex_attributes.to(torch.float32).to(self.device)
vertices = vertices.to(torch.float32).to(self.device)
faces = torch.arange(0, vertices.shape[0], dtype = torch.int64).to(self.device).reshape(-1, 3)
if self.shader_name == 'vertex_attribute':
textures = TexturesVertex([vertex_attributes])
elif self.shader_name == 'position':
textures = TexturesVertex([vertices])
else:
textures = TexturesVertex([torch.ones_like(vertices)])
self.mesh = Meshes([vertices], [faces], textures = textures)
def render(self):
img = self.renderer(self.mesh, cameras = self.renderer.rasterizer.cameras)
return img[0].cpu().numpy()
if __name__ == '__main__':
import trimesh
import json
import time
""" test perspective projection """
# cam_data = json.load(open('F:/Pose/thuman4/calibration_00.json', 'r'))
# cam_names = list(cam_data.keys())
# view_num = len(cam_names)
# extr_mats = []
# for view_idx in range(view_num):
# extr_mat = np.identity(4, np.float32)
# extr_mat[:3, :3] = np.array(cam_data[cam_names[view_idx]]['R'], np.float32).reshape(3, 3)
# extr_mat[:3, 3] = np.array(cam_data[cam_names[view_idx]]['T'], np.float32)
# extr_mats.append(extr_mat)
# intr_mats = [np.array(cam_data[cam_names[view_idx]]['K'], np.float32).reshape(3, 3) for view_idx in range(view_num)]
# img_heights = [cam_data[cam_names[view_idx]]['imgSize'][1] for view_idx in range(view_num)]
# img_widths = [cam_data[cam_names[view_idx]]['imgSize'][0] for view_idx in range(view_num)]
#
# mesh = trimesh.load('E:\\ProjectCode\\AvatarHD\\test_results\\zzr_avatarrex\\posevocab_wHand_diffVolume_wRootfind\\thuman00_cam18_epoch120\\live_geometry/2141.ply', process = False)
#
# renderer = Renderer(img_widths[0], img_heights[0], shader_name = 'vertex_attribute')
# # renderer = Renderer(img_widths[0], img_heights[0], shader_name = 'phong_geometry')
# vertices = mesh.vertices[mesh.faces.reshape(-1)]
# normals = mesh.vertex_normals[mesh.faces.reshape(-1)]
# renderer.set_model(vertices, normals)
#
# for view_idx in range(view_num):
# time_0 = time.time()
# proj_mat = gl_perspective_projection_matrix(
# intr_mats[view_idx][0, 0],
# intr_mats[view_idx][1, 1],
# intr_mats[view_idx][0, 2],
# intr_mats[view_idx][1, 2],
# renderer.img_w,
# renderer.img_h
# )
# mvp = proj_mat @ extr_mats[view_idx]
#
# renderer.set_camera(extr_mats[view_idx], intr_mats[view_idx])
#
# img = renderer.render()
# print('Render cost %f secs' % (time.time() - time_0))
#
# cv.imshow('img', img)
# cv.waitKey(0)
""" test orthographic projection """
mesh = trimesh.load('../debug/cano_smpl.obj', process = False)
renderer = Renderer(1024, 1024, shader_name = 'vertex_attribute')
cano_center = 0.5 * (mesh.vertices.max(0) + mesh.vertices.min(0))
front_mv = np.identity(4, np.float32)
front_mv[:3, 3] = -cano_center + np.array([0, 0, -10], np.float32)
front_mv[1:3] *= -1 # gl2real
vertices = mesh.vertices[mesh.faces.reshape(-1)].astype(np.float32)
normals = mesh.vertex_normals[mesh.faces.reshape(-1)].astype(np.float32)
renderer.set_camera(front_mv)
renderer.set_model(vertices, normals)
img = renderer.render()
cv.imshow('img', img)
cv.waitKey(0)
|