-
Notifications
You must be signed in to change notification settings - Fork 1
/
render_mitsuba.py
198 lines (163 loc) · 6.38 KB
/
render_mitsuba.py
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
187
188
189
190
191
192
193
194
195
196
197
198
from PIL import Image
import h5py as h5
import numpy as np
import cv2
from pathlib import Path
from tqdm import tqdm
import subprocess
import argparse
import os
def standardize_bbox(pcl):
mins = np.amin(pcl, axis=0)
maxs = np.amax(pcl, axis=0)
center = (mins + maxs) / 2.
scale = np.amax(maxs - mins)
result = ((pcl - center) / scale).astype(np.float32) # [-0.5, 0.5]
return result
xml_head = \
"""
<scene version="0.5.0">
<integrator type="path">
<integer name="maxDepth" value="-1"/>
</integrator>
<sensor type="perspective">
<float name="farClip" value="100"/>
<float name="nearClip" value="0.1"/>
<transform name="toWorld">
<lookat origin="3,3,3" target="0,0,0" up="0,0,1"/>
</transform>
<float name="fov" value="25"/>
<sampler type="ldsampler">
<integer name="sampleCount" value="256"/>
</sampler>
<film type="hdrfilm">
<integer name="width" value="800"/>
<integer name="height" value="600"/>
<rfilter type="gaussian"/>
<boolean name="banner" value="false"/>
</film>
</sensor>
<bsdf type="roughplastic" id="surfaceMaterial">
<string name="distribution" value="ggx"/>
<float name="alpha" value="0.05"/>
<float name="intIOR" value="1.46"/>
<rgb name="diffuseReflectance" value="1,1,1"/> <!-- default 0.5 -->
</bsdf>
"""
xml_ball_segment = \
"""
<shape type="sphere">
<float name="radius" value="0.015"/>
<transform name="toWorld">
<translate x="{}" y="{}" z="{}"/>
<scale value="0.7"/>
</transform>
<bsdf type="diffuse">
<rgb name="reflectance" value="{},{},{}"/>
</bsdf>
</shape>
"""
xml_tail = \
"""
<shape type="rectangle">
<ref name="bsdf" id="surfaceMaterial"/>
<transform name="toWorld">
<scale x="10" y="10" z="10"/>
<translate x="0" y="0" z="-0.5"/>
</transform>
</shape>
<shape type="rectangle">
<transform name="toWorld">
<scale x="10" y="10" z="1"/>
<lookat origin="-4,4,20" target="0,0,0" up="0,0,1"/>
</transform>
<emitter type="area">
<rgb name="radiance" value="6,6,6"/>
</emitter>
</shape>
</scene>
"""
def colormap(x, y, z):
vec = np.array([x, y, z])
vec = np.clip(vec, 0.001, 1.0)
norm = np.sqrt(np.sum(vec ** 2))
vec /= norm
return [vec[0], vec[1], vec[2]]
def mitsuba(pcl, path, colors=None):
xml_segments = [xml_head]
pcl = standardize_bbox(pcl)
pcl = pcl[:, [2, 0, 1]]
pcl[:, 0] *= -1
h = np.min(pcl[:, 2])
for i in range(pcl.shape[0]):
if colors is None:
color = colormap(pcl[i, 0] + 0.5, pcl[i, 1] + 0.5, pcl[i, 2] + 0.5)
else:
color = colors[i]
if h < -0.25:
xml_segments.append(xml_ball_segment.format(pcl[i, 0], pcl[i, 1], pcl[i, 2] - h - 0.6875, *color))
else:
xml_segments.append(xml_ball_segment.format(pcl[i, 0], pcl[i, 1], pcl[i, 2], *color))
xml_segments.append(xml_tail)
xml_content = str.join('', xml_segments)
with open(path, 'w') as f:
f.write(xml_content)
def from_exr_to_png(hdr):
# Simply clamp values to a 0-1 range for tone-mapping
ldr = np.clip(hdr, 0, 1)
# Color space conversion
ldr = ldr ** (1 / 2.2)
# 0-255 remapping for bit-depth conversion
ldr = 255.0 * ldr
return ldr
def ex_to_rgb(exa):
rgb = [float(int(exa[i:i + 2], 16) / 255.0) for i in (0, 2, 4)]
return rgb
maps_color = [[1, 0.8, 0], [0, 0.6, 0.2], [0.2, 0.4, 0.8], [0.8, 0.2, 0.6]]
color_gt = [0.8, 0.2, 0.6]
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument("--path_h5", type=str, help="Path to h5 file data.", required=True)
parser.add_argument("--path_png", type=str, help="path to data", required=True)
parser.add_argument("--name_png", type=str, help="path to data", required=True)
parser.add_argument("--path_mitsuba", type=str, help="path to mitsuba render bin.", required=True)
parser.add_argument("--indices", type=int, nargs='+', help="Index for the shape to render.", required=True)
args = parser.parse_args()
path_out_render = args.path_png
path_file_h5 = args.path_h5
path_mitsuba = args.path_mitsuba
name_png = args.name_png
# set path for output rendered images
path_out_render = Path(path_out_render)
path_out_render.mkdir(exist_ok=True)
h5_file = h5.File(path_file_h5, "a")
indices = args.indices
# get generated gt clouds and sampled clouds
pcds_gt = h5_file['gt_clouds'][:].transpose(0, 2, 1)
pcds_pred = h5_file['sampled_clouds'][:].transpose(0, 2, 1)
# labels = h5_file['sampled_labels'][:]
# image_clouds = h5_file['image_clouds'][:].transpose(0, 2, 3, 1)
# print(image_clouds.shape)
for index in tqdm(indices):
pcd_gt = pcds_gt[index]
pcd_pred = pcds_pred[index]
colors_gt = np.asarray(color_gt * pcd_gt.shape[0]).reshape(-1, 3)
colors_pred = np.asarray(maps_color[2] * pcd_pred.shape[0]).reshape(-1, 3)
dict_pcds = {name_png: [pcd_pred, colors_pred], str(name_png)+"_gt": [pcd_gt, colors_gt]}
for key, value in dict_pcds.items():
pcd, colors = value[0], value[1]
name_file = f"{index}_{key}"
path_xml = path_out_render / f"{name_file}.xml" # path for xml file
mitsuba(pcd, path_xml, colors) # use mitsuba to generate xml
# call mitsuba
path_exr = path_out_render / f"{name_file}.exr"
subprocess.call([f"{path_mitsuba}/mitsuba", path_xml, "-o", path_exr], stdout=subprocess.DEVNULL,
stderr=subprocess.STDOUT)
path_xml.unlink()
# transfer exr to png file and save
path_exr = path_out_render / f"{name_file}.exr"
hdr = cv2.imread(str(path_exr), flags=cv2.IMREAD_UNCHANGED)
ldr = from_exr_to_png(hdr)
path_png = path_out_render / f"{name_file}.png"
cv2.imwrite(str(path_png), ldr)
path_exr.unlink()