How to use render_results method in avocado

Best Python code snippet using avocado_python

render_utils.py

Source:render_utils.py

1import os2import cv23import gibson24import numpy as np5import py360convert6from configs.data_config import IG59CLASSES7from utils.transform_utils import points2bdb2d, contour2bfov8hdr_texture = os.path.join(9    gibson2.ig_dataset_path, 'scenes', 'background', 'probe_02.hdr')10hdr_texture2 = os.path.join(11    gibson2.ig_dataset_path, 'scenes', 'background', 'probe_03.hdr')12background_texture = os.path.join(13    gibson2.ig_dataset_path, 'scenes', 'background',14    'urban_street_01.jpg')15def seg2obj(seg, i_obj, camera=None):16    """17    Extract contour and bounding box/fov from instance segmentation image.18    Parameters19    ----------20    seg: H x W numpy array of instance segmentation image21    i_obj: instance ID22    Returns23    -------24    dict of object contour and 2D bounding box: dict{25        'bfov': {'lon': float, 'lat': float, 'x_fov': float, 'y_fov': float} in rad26        'bdb2d': {'x1': int, 'x2': int, 'y1': int, 'y2': int} in pixel27        'contour': {'x': 1-d numpy array, 'y': 1-d numpy array, 'area': float} in pixel28    }29    definition of output pixel coordinate:30    x: (left) 0 --> width - 1 (right)31    y: (up) 0 --> height - 1 (down)32    definition of longitude and latitude in radiation:33    longitude: (left) -pi -- 0 --> +pi (right)34    latitude: (up) -pi/2 -- 0 --> +pi/2 (down)35    """36    height, width = seg.shape[:2]37    pano = camera is None or 'K' not in camera38    if pano:39        # if is panorama, repeat image along x axis to connect segmentation mask divided by edge40        seg = np.tile(seg, 2)41    # find and sort contours42    obj_mask = seg == i_obj43    contours, hierarchy = cv2.findContours(44        obj_mask.astype(np.uint8), cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)45    area = [cv2.contourArea(contour) for contour in contours]46    contours = [x for _, x in sorted(zip(area, contours), key=lambda pair: pair[0], reverse=True)]47    area = sorted(area, reverse=True)48    if pano:49        # if is panorama, consider objects on edge50        if len(area) > 1 and abs(area[0] - area[1]) < 1:51            # if object is not on the edge, choose the left contour52            contour_a, contour_b = contours[0][:, 0, :], contours[1][:, 0, :]53            contour = contour_a if np.min(contour_a[:, 0]) < np.min(contour_b[:, 0]) else contour_b54        elif len(area) == 0:55            return56        else:57            # if object is on the edge, choose the largest contour58            contour = contours[0][:, 0, :]59    else:60        # if is perspective camera, choose the largest contour61        contour = contours[0][:, 0, :]62    # from contour to bdb2d/bfov63    bdb2d = points2bdb2d(contour)64    bdb2d = {k: int(v) for k, v in bdb2d.items()}65    contour = {66        'x': contour[..., 0].astype(np.int32),67        'y': contour[..., 1].astype(np.int32),68        'area': float(area[0])69    }70    bfov = contour2bfov(contour, height, width, camera)71    return {72        'bfov': bfov,73        'bdb2d': bdb2d,74        'contour': contour75    }76def render_camera(renderer, camera, render_types: (list, str), perspective=None, obj_groups=None, objects_by_id=None):77    if isinstance(render_types, str):78        render_types = [render_types]79    # map render types80    render_type_mapping = {'sem': 'seg', 'depth': '3d'}81    igibson_types = set()82    for save_type in render_types:83        igibson_types.add(render_type_mapping.get(save_type, save_type))84    # render85    if perspective is None:86        perspective = 'K' in camera87    if perspective:88        renderer.set_fov(camera['vertical_fov'])89        renderer.set_camera(camera["pos"], camera["target"], camera["up"])90        render_results = renderer.render(modes=igibson_types)91        render_results = {t: r for t, r in zip(igibson_types, render_results)}92        for t, r in render_results.items():93            interpolation = cv2.INTER_LINEAR if t == 'rgb' else cv2.INTER_NEAREST94            render_results[t] = cv2.resize(r, (camera['width'], camera['height']), interpolation=interpolation)95    else:96        renderer.set_fov(90)97        render_results = render_pano(renderer, camera, igibson_types)98    render_results = {t: render_results[render_type_mapping.get(t, t)] for t in render_types}99    # convert igibson format100    for render_type, im in render_results.items():101        im = im[:, :, :3].copy()102        if render_type == 'seg':103            im = im[:, :, 0]104            im = (im * 255).astype(np.uint8)105            ids = np.unique(im)106            if obj_groups:107                # merge sub objects and super object (for example pillows)108                # into the main sub object (for example bed)109                for main_object, sub_objs in obj_groups.items():110                    for i_subobj in sub_objs:111                        if i_subobj in ids:112                            im[im == i_subobj] = main_object113        elif render_type == 'sem':114            seg = im[:, :, 0]115            seg = (seg * 255).astype(np.uint8)116            instances = np.unique(seg)117            im = seg.copy()118            for instance in instances:119                category = objects_by_id[instance].category120                class_id = IG59CLASSES.index(category)121                im[seg == instance] = class_id122        elif render_type == 'depth':123            if 'K' in camera:124                im = - im[:, :, 2]125            else:126                im = np.linalg.norm(im, axis=-1)127        else:128            im = (im * 255).astype(np.uint8)129        render_results[render_type] = im130    return render_results131def render_pano(renderer, camera, igibson_types):132    forward_v = camera["target"] - camera["pos"]133    left_v = np.array([-forward_v[1], forward_v[0], 0])134    up_v = np.array(camera["up"])135    rot_mat = np.stack([forward_v, left_v, up_v]).T136    cubemaps = {render_type: {} for render_type in igibson_types}137    for direction, up, name in [138        [[-1, 0, 0], [0, 0, 1], 'B'],139        [[0, 0, -1], [1, 0, 0], 'D'],140        [[0, 1, 0], [0, 0, 1], 'L'],141        [[0, -1, 0], [0, 0, 1], 'R'],142        [[0, 0, 1], [-1, 0, 0], 'U'],143        [[1, 0, 0], [0, 0, 1], 'F'],144    ]:145        direction = np.matmul(rot_mat, np.array(direction))146        up = np.matmul(rot_mat, np.array(up))147        renderer.set_camera(camera["pos"], camera["pos"] + direction, up)148        frame = renderer.render(modes=igibson_types)149        for i_render, render_type in enumerate(igibson_types):150            cubemaps[render_type][name] = frame[i_render]151    render_results = {}152    for render_type in igibson_types:153        cubemaps[render_type]['R'] = np.flip(cubemaps[render_type]['R'], 1)154        cubemaps[render_type]['B'] = np.flip(cubemaps[render_type]['B'], 1)155        cubemaps[render_type]['U'] = np.flip(cubemaps[render_type]['U'], 0)156        pano = py360convert.c2e(157            cubemaps[render_type],158            camera['height'], camera['width'],159            mode='bilinear' if render_type == 'rgb' else 'nearest',160            cube_format='dict')161        pano = pano.astype(np.float32)162        render_results[render_type] = pano163    return render_results164def is_obj_valid(obj_dict, min_contour_area=20, min_contour_len=30, min_bdb2d_width=10):165    # check contour length and area166    contour = obj_dict['contour']167    if contour['area'] < min_contour_area:168        return False169    if len(contour['x']) < min_contour_len:170        return False171    # check bdb2d width172    bdb2d = obj_dict['bdb2d']173    if bdb2d['x2'] - bdb2d['x1'] < min_bdb2d_width or bdb2d['y2'] - bdb2d['y1'] < min_bdb2d_width:174        return False...

render_xm_unshadow_one.py

Source:render_xm_unshadow_one.py

1import sys2import json3import os4import math5# Blender6import bpy7sys.path.append(os.path.abspath((os.path.dirname(__file__))))8import xiuminglib as xm9def main():10    # Open scene11    xm.blender.scene.open_blend('./test.blend')12    # model path13    xm.blender.render.set_cycles(w=512,h=512)14    # Remove existing cameras and lights, if any15    for o in bpy.data.objects:16        o.select = o.type in ('LAMP', 'CAMERA')17    for obj in bpy.context.scene.objects:18        obj.select=True19    bpy.ops.object.delete()20    bpy.context.scene.update()21    # loading obj22    bpy.ops.import_scene.obj(filepath='./127711540134843-h/127711540134843_scaled.obj',23                             axis_forward='-Z', axis_up='Y', filter_glob="*.obj;*.mtl") #-Z, Y()24    # rotate obj25    # xm.blender.object.rotate_object(rotate_angle=math.pi/6,rotate_axis=(True,False,False))26    # xm.blender.object.rotate_object(rotate_angle=math.pi/2,rotate_axis=(False,True,False))27    # xm.blender.object.scale_object(scale=(1.1,1.1,1.1),scale_axis=(True,True,True))28    # loading cam and light29    with open('metas/Oppo/cams/P01.json', 'r') as h:30        cam = json.load(h)31    with open('metas/Olat/trainvali_lights/L001.json', 'r') as h:32        light = json.load(h)33    cam_obj = xm.blender.camera.add_camera(34        xyz=cam['position'], rot_vec_rad=cam['rotation'],35        name=cam['name'], f=cam['focal_length'],36        sensor_width=cam['sensor_width'], sensor_height=cam['sensor_height'],37        clip_start=cam['clip_start'], clip_end=cam['clip_end'])38    # xm.blender.light.add_light_env(env='/media/jcn/æ°å å·/JCN/CLOTHES/Blender_rendering/HDRmaps/round_platform_4k.hdr')39    xm.blender.light.add_light_point(40        xyz=light['position'], name=light['name'], size=light['size'])41    xm.blender.render.easyset(n_samples=64, color_mode='RGB')42    bpy.context.scene.use_nodes = True43    xm.blender.render.render_unshadow('/media/jcn/æ°å å·/JCN/CLOTHES/Blender_rendering/render_results')44    #45    # rgb_camspc_f = os.path.join('render_results/rgb.png')46    # xm.blender.render.render(rgb_camspc_f)47    # normal_f = os.path.join('render_results/normal')48    # xm.blender.render.render_normal(normal_f)49    #50    # alpha_f = os.path.join('render_results/alpha.png')51    # xm.blender.render.render_alpha(alpha_f,samples=64)52    # # depth_f=os.path.join('render_results/depth')53    # # xm.blender.render.render_depth(depth_f)54    # AO_f = os.path.join('render_results/AO.png')55    # xm.blender.render.render_ambient(AO_f)56    # albedo_f = os.path.join('render_results/albedo.png')57    # xm.blender.render.render_albedo(albedo_f)58    # xm.blender.object.rotate_object(rotate_angle=-math.pi / 2, rotate_axis=(False, True, False))59    # xm.blender.object.rotate_object(rotate_angle=-math.pi / 6, rotate_axis=(True, False, False))60    # xm.blender.object.scale_object(scale=(1.1, 1.1, 1.1), scale_axis=(True, True, True))61    # rgb_camspc_f = os.path.join('/media/jcn/æ°å å·/JCN/CLOTHES/Blender_rendering/render_results')62    # xm.blender.render.render(rgb_camspc_f)63    # normal_f = os.path.join('render_results/normal_1')64    # xm.blender.render.render_normal(normal_f)65    # alpha_f = os.path.join('render_results/alpha_1.png')66    # xm.blender.render.render_alpha(alpha_f, samples=64)67    # depth_f = os.path.join('render_results/depth_1')68    # xm.blender.render.render_depth(depth_f)69    # AO_f = os.path.join('render_results/AO_1.png')70    # xm.blender.render.render_ambient(AO_f)71    # albedo_f = os.path.join('render_results/albedo_1.png')72    # xm.blender.render.render_albedo(albedo_f)73    # xm.blender.scene.save_blend('./blend_1.blend')74if __name__ == '__main__':...

render_xm_one.py

Source:render_xm_one.py

1import sys2import json3import os4import math5# Blender6import bpy7sys.path.append(os.path.abspath((os.path.dirname(__file__))))8import xiuminglib as xm9def main():10    # Open scene11    xm.blender.scene.open_blend('./test.blend')12    # model path13    xm.blender.render.set_cycles(w=512,h=512)14    # Remove existing cameras and lights, if any15    for o in bpy.data.objects:16        o.select = o.type in ('LAMP', 'CAMERA')17    for obj in bpy.context.scene.objects:18        obj.select=True19    bpy.ops.object.delete()20    bpy.context.scene.update()21    # loading obj22    bpy.ops.import_scene.obj(filepath='./127711540134843-h/127711540134843_scaled.obj',23                             axis_forward='-Z', axis_up='Y', filter_glob="*.obj;*.mtl") #-Z, Y()24    # rotate obj25    # xm.blender.object.rotate_object(rotate_angle=math.pi/6,rotate_axis=(True,False,False))26    # xm.blender.object.rotate_object(rotate_angle=math.pi/2,rotate_axis=(False,True,False))27    # xm.blender.object.scale_object(scale=(1.1,1.1,1.1),scale_axis=(True,True,True))28    # loading cam and light29    with open('metas/Oppo/cams/P01.json', 'r') as h:30        cam = json.load(h)31    cam_obj = xm.blender.camera.add_camera(32        xyz=cam['position'], rot_vec_rad=cam['rotation'],33        name=cam['name'], f=cam['focal_length'],34        sensor_width=cam['sensor_width'], sensor_height=cam['sensor_height'],35        clip_start=cam['clip_start'], clip_end=cam['clip_end'])36    xm.blender.light.add_light_env(env='/media/jcn/æ°å å·/JCN/CLOTHES/Blender_rendering/HDRmaps/round_platform_4k.hdr')37    xm.blender.render.easyset(n_samples=64, color_mode='RGB')38    bpy.context.scene.use_nodes = True39    xm.blender.render.render_all_color('/media/jcn/æ°å å·/JCN/CLOTHES/Blender_rendering/render_results')40    #41    # rgb_camspc_f = os.path.join('render_results/rgb.png')42    # xm.blender.render.render(rgb_camspc_f)43    # normal_f = os.path.join('render_results/normal')44    # xm.blender.render.render_normal(normal_f)45    #46    # alpha_f = os.path.join('render_results/alpha.png')47    # xm.blender.render.render_alpha(alpha_f,samples=64)48    # # depth_f=os.path.join('render_results/depth')49    # # xm.blender.render.render_depth(depth_f)50    # AO_f = os.path.join('render_results/AO.png')51    # xm.blender.render.render_ambient(AO_f)52    # albedo_f = os.path.join('render_results/albedo.png')53    # xm.blender.render.render_albedo(albedo_f)54    # xm.blender.object.rotate_object(rotate_angle=-math.pi / 2, rotate_axis=(False, True, False))55    # xm.blender.object.rotate_object(rotate_angle=-math.pi / 6, rotate_axis=(True, False, False))56    # xm.blender.object.scale_object(scale=(1.1, 1.1, 1.1), scale_axis=(True, True, True))57    # rgb_camspc_f = os.path.join('/media/jcn/æ°å å·/JCN/CLOTHES/Blender_rendering/render_results')58    # xm.blender.render.render(rgb_camspc_f)59    # normal_f = os.path.join('render_results/normal_1')60    # xm.blender.render.render_normal(normal_f)61    # alpha_f = os.path.join('render_results/alpha_1.png')62    # xm.blender.render.render_alpha(alpha_f, samples=64)63    # depth_f = os.path.join('render_results/depth_1')64    # xm.blender.render.render_depth(depth_f)65    # AO_f = os.path.join('render_results/AO_1.png')66    # xm.blender.render.render_ambient(AO_f)67    # albedo_f = os.path.join('render_results/albedo_1.png')68    # xm.blender.render.render_albedo(albedo_f)69    xm.blender.scene.save_blend('./blend_1.blend')70if __name__ == '__main__':...

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