101 lines
3.7 KiB
Python
101 lines
3.7 KiB
Python
import os
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import sys
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sys.path.append(os.path.dirname(os.path.abspath(__file__)) + '/..')
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os.environ["CUDA_DEVICE_ORDER"]="PCI_BUS_ID"
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os.environ["CUDA_VISIBLE_DEVICES"] = '0'
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# os.environ["CUDA_LAUNCH_BLOCKING"] = '1'
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import torch
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from torch.nn import Module
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import numpy as np
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from superSMPL.smpl_torch import SMPL
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import trimesh
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import plotly.express as ex
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import plotly.graph_objects as go
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from data_utils import intrinsic, extrinsic, get_camera
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from pytorch3d.renderer import (
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RasterizationSettings,
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MeshRenderer,
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MeshRasterizer,
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SoftPhongShader,
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TexturesVertex,
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HardPhongShader,
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AmbientLights
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)
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from pytorch3d.structures import Meshes
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class PoseRenderer(Module):
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def __init__(self, device='cuda') -> None:
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super().__init__()
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colors = np.load('custom_data/pose_colors.npy')
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self.textures = TexturesVertex(verts_features=torch.from_numpy(colors).to(device)[None, :, :])
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self.cam = torch.tensor([5.0, 0.0, 0.0], device=device).cpu().numpy()
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def forward(self, verts: torch.Tensor, faces: torch.Tensor):
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cameras, K = get_camera(self.cam, [480, 640], verts.get_device())
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raster_settings = RasterizationSettings(
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image_size=(480, 640),
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blur_radius=0.0,
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faces_per_pixel=1,
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bin_size=0
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)
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renderer = MeshRenderer(
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rasterizer=MeshRasterizer(cameras=cameras, raster_settings=raster_settings),
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shader=HardPhongShader(device=verts.device, cameras=cameras, lights=AmbientLights(device=verts.device))
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)
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output = renderer(Meshes(verts[None,:,:], faces[None,:,:], textures=self.textures))
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return output
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if __name__ == '__main__':
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smpl = SMPL(path='superSMPL', device='cuda')
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pose = torch.zeros((1,72), device='cuda')
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# generate random pose
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pose[:,3:] = torch.randn((1,69), device='cuda') * 0.1
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body, _ = smpl(pose, torch.zeros((1,11), device='cuda'), remove=False)
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colors = np.zeros((body.shape[1], 3))
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renderer = PoseRenderer()
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body_to_render = body[0]
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# swap the y,z axes of the body_to_render
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body_to_render = body_to_render[:,[0,2,1]]
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# and rotate it 90 degress along the z axis
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body_to_render = torch.matmul(torch.tensor([[0,1,0],[-1,0,0],[0,0,1]], dtype=torch.float32, device='cuda'), body_to_render.T).T
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out = renderer(body_to_render, torch.from_numpy(smpl.f_all).to(body.get_device()))
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ex.imshow(out[0,:,:,:3].cpu().numpy()).show()
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body = body.cpu().numpy()[0]
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faces = smpl.f_all
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# define a gradinet color cube for the body that goes from green to red based on the coordinates of the vertices and not their indices
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# colors = np.zeros((body.shape[0], 3))
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# colors[:,0] = (body[:,0] - np.min(body[:,0])) / (np.max(body[:,0]) - np.min(body[:,0]))
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# colors[:,1] = (body[:,1] - np.min(body[:,1])) / (np.max(body[:,1]) - np.min(body[:,1]))
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# colors[:,2] = (body[:,2] - np.min(body[:,2])) / (np.max(body[:,2]) - np.min(body[:,2]))
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# fig = go.Figure(data=[go.Mesh3d(x=body[:,0], y=body[:,2], z=body[:,1], i=faces[:,0], j=faces[:,1], k=faces[:,2], vertexcolor=colors)])
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# fig.update_layout(scene=dict(xaxis=dict(range=[-1,1]), yaxis=dict(range=[-1,1]), zaxis=dict(range=[-1,1])))
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# fig.show()
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# np.save('custom_data/pose_colors.npy', colors.astype(np.float32))
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# same as a scatter plot
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# fig = go.Figure(data=[go.Scatter3d(x=body[:,0], y=body[:,2], z=body[:,1], mode='markers', marker=dict(size=2, color=colors, opacity=0.8))])
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# fig.update_layout(scene=dict(xaxis=dict(range=[-1,1]), yaxis=dict(range=[-1,1]), zaxis=dict(range=[-1,1])))
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# fig.show()
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pass |