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# ----------------------------------------------------------------------------
# - 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)
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