# ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # The MIT License (MIT) # # Copyright (c) 2018-2021 www.open3d.org # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in # all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS # IN THE SOFTWARE. # ---------------------------------------------------------------------------- """Demo scene demonstrating models, built-in shapes, and materials""" import math import numpy as np import os import open3d as o3d import open3d.visualization as vis def convert_material_record(mat_record): mat = vis.Material('defaultLit') # Convert scalar parameters mat.vector_properties['base_color'] = mat_record.base_color mat.scalar_properties['metallic'] = mat_record.base_metallic mat.scalar_properties['roughness'] = mat_record.base_roughness mat.scalar_properties['reflectance'] = mat_record.base_reflectance mat.texture_maps['albedo'] = o3d.t.geometry.Image.from_legacy( mat_record.albedo_img) mat.texture_maps['normal'] = o3d.t.geometry.Image.from_legacy( mat_record.normal_img) mat.texture_maps['ao_rough_metal'] = o3d.t.geometry.Image.from_legacy( mat_record.ao_rough_metal_img) return mat def create_scene(): ''' Creates the geometry and materials for the demo scene and returns a dictionary suitable for draw call ''' # Create some shapes for our scene a_cube = o3d.geometry.TriangleMesh.create_box(2, 4, 4, create_uv_map=True, map_texture_to_each_face=True) a_cube.compute_triangle_normals() a_cube.translate((-5, 0, -2)) a_cube = o3d.t.geometry.TriangleMesh.from_legacy(a_cube) a_sphere = o3d.geometry.TriangleMesh.create_sphere(2.5, resolution=40, create_uv_map=True) a_sphere.compute_vertex_normals() rotate_90 = o3d.geometry.get_rotation_matrix_from_xyz((-math.pi / 2, 0, 0)) a_sphere.rotate(rotate_90) a_sphere.translate((5, 2.4, 0)) a_sphere = o3d.t.geometry.TriangleMesh.from_legacy(a_sphere) a_cylinder = o3d.geometry.TriangleMesh.create_cylinder( 1.0, 4.0, 30, 4, True) a_cylinder.compute_triangle_normals() a_cylinder.rotate(rotate_90) a_cylinder.translate((10, 2, 0)) a_cylinder = o3d.t.geometry.TriangleMesh.from_legacy(a_cylinder) a_ico = o3d.geometry.TriangleMesh.create_icosahedron(1.25, create_uv_map=True) a_ico.compute_triangle_normals() a_ico.translate((-10, 2, 0)) a_ico = o3d.t.geometry.TriangleMesh.from_legacy(a_ico) # Load an OBJ model for our scene helmet_data = o3d.data.FlightHelmetModel() helmet = o3d.io.read_triangle_model(helmet_data.path) helmet_parts = [] for m in helmet.meshes: # m.mesh.paint_uniform_color((1.0, 0.75, 0.3)) m.mesh.scale(10.0, (0.0, 0.0, 0.0)) helmet_parts.append(m) # Create a ground plane ground_plane = o3d.geometry.TriangleMesh.create_box( 50.0, 0.1, 50.0, create_uv_map=True, map_texture_to_each_face=True) ground_plane.compute_triangle_normals() rotate_180 = o3d.geometry.get_rotation_matrix_from_xyz((-math.pi, 0, 0)) ground_plane.rotate(rotate_180) ground_plane.translate((-25.0, -0.1, -25.0)) ground_plane.paint_uniform_color((1, 1, 1)) ground_plane = o3d.t.geometry.TriangleMesh.from_legacy(ground_plane) # Material to make ground plane more interesting - a rough piece of glass ground_plane.material = vis.Material("defaultLitSSR") ground_plane.material.scalar_properties['roughness'] = 0.15 ground_plane.material.scalar_properties['reflectance'] = 0.72 ground_plane.material.scalar_properties['transmission'] = 0.6 ground_plane.material.scalar_properties['thickness'] = 0.3 ground_plane.material.scalar_properties['absorption_distance'] = 0.1 ground_plane.material.vector_properties['absorption_color'] = np.array( [0.82, 0.98, 0.972, 1.0]) painted_plaster_texture_data = o3d.data.PaintedPlasterTexture() ground_plane.material.texture_maps['albedo'] = o3d.t.io.read_image( painted_plaster_texture_data.albedo_texture_path) ground_plane.material.texture_maps['normal'] = o3d.t.io.read_image( painted_plaster_texture_data.normal_texture_path) ground_plane.material.texture_maps['roughness'] = o3d.t.io.read_image( painted_plaster_texture_data.roughness_texture_path) # Load textures and create materials for each of our demo items wood_floor_texture_data = o3d.data.WoodFloorTexture() a_cube.material = vis.Material('defaultLit') a_cube.material.texture_maps['albedo'] = o3d.t.io.read_image( wood_floor_texture_data.albedo_texture_path) a_cube.material.texture_maps['normal'] = o3d.t.io.read_image( wood_floor_texture_data.normal_texture_path) a_cube.material.texture_maps['roughness'] = o3d.t.io.read_image( wood_floor_texture_data.roughness_texture_path) tiles_texture_data = o3d.data.TilesTexture() a_sphere.material = vis.Material('defaultLit') a_sphere.material.texture_maps['albedo'] = o3d.t.io.read_image( tiles_texture_data.albedo_texture_path) a_sphere.material.texture_maps['normal'] = o3d.t.io.read_image( tiles_texture_data.normal_texture_path) a_sphere.material.texture_maps['roughness'] = o3d.t.io.read_image( tiles_texture_data.roughness_texture_path) terrazzo_texture_data = o3d.data.TerrazzoTexture() a_ico.material = vis.Material('defaultLit') a_ico.material.texture_maps['albedo'] = o3d.t.io.read_image( terrazzo_texture_data.albedo_texture_path) a_ico.material.texture_maps['normal'] = o3d.t.io.read_image( terrazzo_texture_data.normal_texture_path) a_ico.material.texture_maps['roughness'] = o3d.t.io.read_image( terrazzo_texture_data.roughness_texture_path) metal_texture_data = o3d.data.MetalTexture() a_cylinder.material = vis.Material('defaultLit') a_cylinder.material.texture_maps['albedo'] = o3d.t.io.read_image( metal_texture_data.albedo_texture_path) a_cylinder.material.texture_maps['normal'] = o3d.t.io.read_image( metal_texture_data.normal_texture_path) a_cylinder.material.texture_maps['roughness'] = o3d.t.io.read_image( metal_texture_data.roughness_texture_path) a_cylinder.material.texture_maps['metallic'] = o3d.t.io.read_image( metal_texture_data.metallic_texture_path) geoms = [{ "name": "plane", "geometry": ground_plane }, { "name": "cube", "geometry": a_cube }, { "name": "cylinder", "geometry": a_cylinder }, { "name": "ico", "geometry": a_ico }, { "name": "sphere", "geometry": a_sphere }] # Load the helmet for part in helmet_parts: name = part.mesh_name tgeom = o3d.t.geometry.TriangleMesh.from_legacy(part.mesh) tgeom.material = convert_material_record( helmet.materials[part.material_idx]) geoms.append({"name": name, "geometry": tgeom}) return geoms if __name__ == "__main__": geoms = create_scene() vis.draw(geoms, bg_color=(0.8, 0.9, 0.9, 1.0), show_ui=True, width=1920, height=1080)