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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import copy
from os.path import exists, join, dirname, basename, splitext
import sys
import numpy as np
import open3d as o3d
# pylint: disable-next=unused-import
from open3d.visualization.tensorboard_plugin import summary # noqa
from open3d.visualization.tensorboard_plugin.util import to_dict_batch
from torch.utils.tensorboard import SummaryWriter
BASE_LOGDIR = "demo_logs/pytorch/"
MODEL_PATH = o3d.data.MonkeyModel().path
def small_scale(run_name="small_scale"):
"""Basic demo with cube and cylinder with normals and colors.
"""
logdir = 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 = 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 = 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_path=MODEL_PATH):
"""Read an obj model from a directory and write as a TensorBoard summary.
"""
model_dir = dirname(model_path)
model_name = splitext(basename(model_path))[0]
logdir = join(BASE_LOGDIR, model_name)
model = o3d.t.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 = join(model_dir, texture + ".png")
if 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(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.")
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