# ---------------------------------------------------------------------------- # - 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. # ---------------------------------------------------------------------------- import copy import os import sys import numpy as np import open3d as o3d # pylint: disable-next=unused-import from open3d.visualization.tensorboard_plugin.util import to_dict_batch from torch.utils.tensorboard import SummaryWriter BASE_LOGDIR = "demo_logs/pytorch/" MODEL_DIR = os.path.join( os.path.dirname(os.path.dirname(os.path.dirname( os.path.realpath(__file__)))), "test_data", "monkey") def small_scale(run_name="small_scale"): """Basic demo with cube and cylinder with normals and colors. """ logdir = os.path.join(BASE_LOGDIR, run_name) writer = SummaryWriter(logdir) cube = o3d.geometry.TriangleMesh.create_box(1, 2, 4, create_uv_map=True) cube.compute_vertex_normals() cylinder = o3d.geometry.TriangleMesh.create_cylinder(radius=1.0, height=2.0, resolution=20, split=4, create_uv_map=True) cylinder.compute_vertex_normals() colors = [(1.0, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0)] for step in range(3): cube.paint_uniform_color(colors[step]) writer.add_3d('cube', to_dict_batch([cube]), step=step) cylinder.paint_uniform_color(colors[step]) writer.add_3d('cylinder', to_dict_batch([cylinder]), step=step) def property_reference(run_name="property_reference"): """Produces identical visualization to small_scale, but does not store repeated properties of ``vertex_positions`` and ``vertex_normals``. """ logdir = os.path.join(BASE_LOGDIR, run_name) writer = SummaryWriter(logdir) cube = o3d.geometry.TriangleMesh.create_box(1, 2, 4, create_uv_map=True) cube.compute_vertex_normals() cylinder = o3d.geometry.TriangleMesh.create_cylinder(radius=1.0, height=2.0, resolution=20, split=4, create_uv_map=True) cylinder.compute_vertex_normals() colors = [(1.0, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0)] for step in range(3): cube.paint_uniform_color(colors[step]) cube_summary = to_dict_batch([cube]) if step > 0: cube_summary['vertex_positions'] = 0 cube_summary['vertex_normals'] = 0 writer.add_3d('cube', cube_summary, step=step) cylinder.paint_uniform_color(colors[step]) cylinder_summary = to_dict_batch([cylinder]) if step > 0: cylinder_summary['vertex_positions'] = 0 cylinder_summary['vertex_normals'] = 0 writer.add_3d('cylinder', cylinder_summary, step=step) def large_scale(n_steps=16, batch_size=1, base_resolution=200, run_name="large_scale"): """Generate a large scale summary. Geometry resolution increases linearly with step. Each element in a batch is painted a different color. """ logdir = os.path.join(BASE_LOGDIR, run_name) writer = SummaryWriter(logdir) colors = [] for k in range(batch_size): t = k * np.pi / batch_size colors.append(((1 + np.sin(t)) / 2, (1 + np.cos(t)) / 2, t / np.pi)) for step in range(n_steps): resolution = base_resolution * (step + 1) cylinder_list = [] mobius_list = [] cylinder = o3d.geometry.TriangleMesh.create_cylinder( radius=1.0, height=2.0, resolution=resolution, split=4) cylinder.compute_vertex_normals() mobius = o3d.geometry.TriangleMesh.create_mobius( length_split=int(3.5 * resolution), width_split=int(0.75 * resolution), twists=1, raidus=1, flatness=1, width=1, scale=1) mobius.compute_vertex_normals() for b in range(batch_size): cylinder_list.append(copy.deepcopy(cylinder)) cylinder_list[b].paint_uniform_color(colors[b]) mobius_list.append(copy.deepcopy(mobius)) mobius_list[b].paint_uniform_color(colors[b]) writer.add_3d('cylinder', to_dict_batch(cylinder_list), step=step, max_outputs=batch_size) writer.add_3d('mobius', to_dict_batch(mobius_list), step=step, max_outputs=batch_size) def with_material(model_dir=MODEL_DIR): """Read an obj model from a directory and write as a TensorBoard summary. """ model_name = os.path.basename(model_dir) logdir = os.path.join(BASE_LOGDIR, model_name) model_path = os.path.join(model_dir, model_name + ".obj") model = o3d.t.geometry.TriangleMesh.from_legacy( o3d.io.read_triangle_mesh(model_path)) summary_3d = { "vertex_positions": model.vertex.positions, "vertex_normals": model.vertex.normals, "triangle_texture_uvs": model.triangle["texture_uvs"], "triangle_indices": model.triangle.indices, "material_name": "defaultLit" } names_to_o3dprop = {"ao": "ambient_occlusion"} for texture in ("albedo", "normal", "ao", "metallic", "roughness"): texture_file = os.path.join(model_dir, texture + ".png") if os.path.exists(texture_file): texture = names_to_o3dprop.get(texture, texture) summary_3d.update({ ("material_texture_map_" + texture): o3d.t.io.read_image(texture_file) }) if texture == "metallic": summary_3d.update(material_scalar_metallic=1.0) writer = SummaryWriter(logdir) writer.add_3d(model_name, summary_3d, step=0) def demo_scene(): """Write the demo_scene.py example showing rich PBR materials as a summary """ import demo_scene geoms = demo_scene.create_scene() writer = SummaryWriter(os.path.join(BASE_LOGDIR, 'demo_scene')) for geom_data in geoms: geom = geom_data["geometry"] summary_3d = {} for key, tensor in geom.vertex.items(): summary_3d["vertex_" + key] = tensor for key, tensor in geom.triangle.items(): summary_3d["triangle_" + key] = tensor if geom.has_valid_material(): summary_3d["material_name"] = geom.material.material_name for key, value in geom.material.scalar_properties.items(): summary_3d["material_scalar_" + key] = value for key, value in geom.material.vector_properties.items(): summary_3d["material_vector_" + key] = value for key, value in geom.material.texture_maps.items(): summary_3d["material_texture_map_" + key] = value writer.add_3d(geom_data["name"], summary_3d, step=0) if __name__ == "__main__": examples = ('small_scale', 'large_scale', 'property_reference', 'with_material', 'demo_scene') selected = tuple(eg for eg in sys.argv[1:] if eg in examples) if len(selected) == 0: print(f'Usage: python {__file__} EXAMPLE...') print(f' where EXAMPLE are from {examples}') selected = ('property_reference', 'with_material') for eg in selected: locals()[eg]() print(f"Run 'tensorboard --logdir {BASE_LOGDIR}' to visualize the 3D " "summary.")