NOTE: SUPPORT FOR THIS REPOSITORY IS BEING ENDED SOON. BUT FEAR NOT, THERE IS A (MUCH BETTER) REPLACEMENT!
I've written a much better GLTF 2.0 compliant renderer that can do shadows, textures, and physically-based rendering. Check it out here: https://github.com/mmatl/pyrender
This package, which is build on top of PyOpenGL, is designed to make it easy to render images of 3D scenes in pure Python. It supports a scene abstraction and allows users to specify material properties, camera intrinsics, and lighting.
Extensive API documentation is provided here, but an example of using the library to render color and depth images is shown below.
import numpy as np
import trimesh
from autolab_core import RigidTransform
from perception import CameraIntrinsics, RenderMode
from meshrender import Scene, MaterialProperties, AmbientLight, PointLight, SceneObject, VirtualCamera
# Start with an empty scene
scene = Scene()
#====================================
# Add objects to the scene
#====================================
# Begin by loading meshes
cube_mesh = trimesh.load_mesh('cube.obj')
sphere_mesh = trimesh.load_mesh('sphere.obj')
# Set up each object's pose in the world
cube_pose = RigidTransform(
rotation=np.eye(3),
translation=np.array([0.0, 0.0, 0.0]),
from_frame='obj',
to_frame='world'
)
sphere_pose = RigidTransform(
rotation=np.eye(3),
translation=np.array([1.0, 1.0, 0.0]),
from_frame='obj',
to_frame='world'
)
# Set up each object's material properties
cube_material = MaterialProperties(
color = np.array([0.1, 0.1, 0.5]),
k_a = 0.3,
k_d = 1.0,
k_s = 1.0,
alpha = 10.0,
smooth=False
)
sphere_material = MaterialProperties(
color = np.array([0.1, 0.1, 0.5]),
k_a = 0.3,
k_d = 1.0,
k_s = 1.0,
alpha = 10.0,
smooth=True
)
# Create SceneObjects for each object
cube_obj = SceneObject(cube_mesh, cube_pose, cube_material)
sphere_obj = SceneObject(sphere_mesh, sphere_pose, sphere_material)
# Add the SceneObjects to the scene
scene.add_object('cube', cube_obj)
scene.add_object('sphere', sphere_obj)
#====================================
# Add lighting to the scene
#====================================
# Create an ambient light
ambient = AmbientLight(
color=np.array([1.0, 1.0, 1.0]),
strength=1.0
)
# Create a point light
point = PointLight(
location=np.array([1.0, 2.0, 3.0]),
color=np.array([1.0, 1.0, 1.0]),
strength=10.0
)
# Add the lights to the scene
scene.ambient_light = ambient # only one ambient light per scene
scene.add_light('point_light_one', point)
#====================================
# Add a camera to the scene
#====================================
# Set up camera intrinsics
ci = CameraIntrinsics(
frame = 'camera',
fx = 525.0,
fy = 525.0,
cx = 319.5,
cy = 239.5,
skew=0.0,
height=480,
width=640
)
# Set up the camera pose (z axis faces away from scene, x to right, y up)
cp = RigidTransform(
rotation = np.array([
[0.0, 0.0, -1.0],
[0.0, 1.0, 0.0],
[1.0, 0.0, 0.0]
]),
translation = np.array([-0.3, 0.0, 0.0]),
from_frame='camera',
to_frame='world'
)
# Create a VirtualCamera
camera = VirtualCamera(ci, cp)
# Add the camera to the scene
scene.camera = camera
#====================================
# Render images
#====================================
# Render raw numpy arrays containing color and depth
color_image_raw, depth_image_raw = scene.render(render_color=True)
# Alternatively, just render a depth image
depth_image_raw = scene.render(render_color=False)
# Alternatively, collect wrapped images
wrapped_color, wrapped_depth, wrapped_segmask = scene.wrapped_render(
[RenderMode.COLOR, RenderMode.DEPTH, RenderMode.SEGMASK]
)
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