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
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
|
# ----------------------------------------------------------------------------
# - 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
from open3d.visualization.tensorboard_plugin import summary
from open3d.visualization.tensorboard_plugin.util import to_dict_batch
import tensorflow as tf
BASE_LOGDIR = "demo_logs/tf/"
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 = tf.summary.create_file_writer(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)]
with writer.as_default():
for step in range(3):
cube.paint_uniform_color(colors[step])
summary.add_3d('cube',
to_dict_batch([cube]),
step=step,
logdir=logdir)
cylinder.paint_uniform_color(colors[step])
summary.add_3d('cylinder',
to_dict_batch([cylinder]),
step=step,
logdir=logdir)
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 = tf.summary.create_file_writer(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)]
with writer.as_default():
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
summary.add_3d('cube', cube_summary, step=step, logdir=logdir)
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
summary.add_3d('cylinder',
cylinder_summary,
step=step,
logdir=logdir)
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 = tf.summary.create_file_writer(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))
with writer.as_default():
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])
summary.add_3d('cylinder',
to_dict_batch(cylinder_list),
step=step,
logdir=logdir,
max_outputs=batch_size)
summary.add_3d('mobius',
to_dict_batch(mobius_list),
step=step,
logdir=logdir,
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 = tf.summary.create_file_writer(logdir)
with writer.as_default():
summary.add_3d(model_name, summary_3d, step=0, logdir=logdir)
def demo_scene():
"""Write the demo_scene.py example showing rich PBR materials as a summary.
"""
import demo_scene
geoms = demo_scene.create_scene()
logdir = os.path.join(BASE_LOGDIR, 'demo_scene')
writer = tf.summary.create_file_writer(logdir)
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
with writer.as_default():
summary.add_3d(geom_data["name"], summary_3d, step=0, logdir=logdir)
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.")
|
