update exe GUI build
This commit is contained in:
ykcheungab
+105
-35
@@ -10,12 +10,21 @@ from orisys.finger.mesh import UVSurfaceMesh
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from orisys.finger.viewer import flow_magnitude_vertex_colors, scalar_map_vertex_colors
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from .contact_arrow import ContactArrowOverlay
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from .flow_arrow import FlowArrowOverlay
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from .flow_arrow import (
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FlowArrowFilamentSlot,
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FlowArrowHiddenSlot,
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FlowArrowOverlay,
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ensure_flow_arrow_in_hidden_vis,
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update_flow_arrows_filament,
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update_flow_arrows_hidden,
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)
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from .mesh_camera import (
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apply_filament_sun_light,
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apply_shade_factors,
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apply_view_from_world_to_cam,
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camera_look_at_from_world_to_cam,
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default_look_at_view,
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orbit_eye_about_target,
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precompute_shade_factors,
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)
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@@ -132,19 +141,35 @@ class _FilamentOffscreenBackend:
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self._material = _make_lit_material(o3d)
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self._mesh_added = False
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self._arrow_added = False
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self._flow_arrow_added = False
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self._flow_arrow_slot = FlowArrowFilamentSlot()
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self._reset_view_state()
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self._apply_camera()
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def _apply_camera(self) -> None:
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def _reset_view_state(self) -> None:
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if self.world_to_cam is not None:
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center, eye, up = camera_look_at_from_world_to_cam(self.world_to_cam, lookat=self.lookat)
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else:
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center = self.lookat.astype(np.float64)
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extent = np.ptp(self.mesh.rest_vertices, axis=0)
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span = float(np.max(extent))
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eye = center + np.array([0.0, 0.0, span * 2.0], dtype=np.float64)
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up = np.array([0.0, 1.0, 0.0], dtype=np.float64)
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self._renderer.scene.camera.look_at(center, eye, up)
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center, eye, up = default_look_at_view(self.mesh.rest_vertices, self.lookat)
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self._view_center = center
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self._view_eye = eye
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self._view_up = up
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def _apply_camera(self) -> None:
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self._renderer.scene.camera.look_at(self._view_center, self._view_eye, self._view_up)
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def rotate_view(self, dx: float, dy: float) -> None:
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self._view_eye, self._view_up = orbit_eye_about_target(
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self._view_center,
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self._view_eye,
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self._view_up,
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dx,
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dy,
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)
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self._apply_camera()
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def reset_view(self) -> None:
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self._reset_view_state()
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self._apply_camera()
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def resize(self, width: int, height: int) -> None:
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width = max(int(width), 64)
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@@ -164,7 +189,18 @@ class _FilamentOffscreenBackend:
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self._material = _make_lit_material(self._o3d)
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self._mesh_added = False
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self._arrow_added = False
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self._flow_arrow_added = False
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self._flow_arrow_slot = FlowArrowFilamentSlot()
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center, eye, up = self._view_center, self._view_eye, self._view_up
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self._renderer = self._o3d.visualization.rendering.OffscreenRenderer(self.width, self.height)
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self._renderer.scene.set_background(_background_rgba01(self.mesh_background))
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if self.mesh_lighting is not None:
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apply_filament_sun_light(
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self._renderer,
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direction=self.mesh_lighting.direction,
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intensity=self.mesh_lighting.intensity,
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)
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self._material = _make_lit_material(self._o3d)
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self._view_center, self._view_eye, self._view_up = center, eye, up
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self._apply_camera()
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def render(
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@@ -211,20 +247,15 @@ class _FilamentOffscreenBackend:
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self._renderer.scene.remove_geometry("contact_arrow")
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self._arrow_added = False
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flow_result = self._flow_arrow.compute(flow, valid_mask=valid_mask)
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if flow_result is not None and self._flow_arrow.arrow_mesh is not None:
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flow_vertices, flow_triangles, flow_colors = flow_result
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if len(flow_vertices) > 0:
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flow_mesh = _mesh_to_o3d(o3d, flow_vertices, flow_triangles, flow_colors)
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if not self._flow_arrow_added:
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self._renderer.scene.add_geometry("flow_arrows", flow_mesh, self._material)
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self._flow_arrow_added = True
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else:
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self._renderer.scene.remove_geometry("flow_arrows")
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self._renderer.scene.add_geometry("flow_arrows", flow_mesh, self._material)
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elif self._flow_arrow_added:
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self._renderer.scene.remove_geometry("flow_arrows")
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self._flow_arrow_added = False
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update_flow_arrows_filament(
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self._flow_arrow,
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flow,
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valid_mask,
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scene=self._renderer.scene,
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material=self._material,
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slot=self._flow_arrow_slot,
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mesh_to_o3d=lambda v, t, c: _mesh_to_o3d(o3d, v, t, c),
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)
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return _numpy_o3d_image_to_rgb(self._renderer.render_to_image())
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@@ -280,6 +311,7 @@ class _HiddenVisualizerBackend:
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self._flow_arrow = FlowArrowOverlay(mesh, style=flow_arrow_style)
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self.vis = None
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self.tri_mesh = None
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self._flow_arrow_slot = FlowArrowHiddenSlot()
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self._create_window()
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def _create_window(self) -> None:
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@@ -313,8 +345,7 @@ class _HiddenVisualizerBackend:
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if self._contact_arrow.arrow_mesh is not None:
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self.vis.add_geometry(self._contact_arrow.arrow_mesh)
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if self._flow_arrow.enabled and self._flow_arrow.arrow_mesh is not None:
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self.vis.add_geometry(self._flow_arrow.arrow_mesh)
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ensure_flow_arrow_in_hidden_vis(self._flow_arrow, self.vis, self._flow_arrow_slot)
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render_option = self.vis.get_render_option()
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render_option.mesh_show_back_face = True
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@@ -322,21 +353,44 @@ class _HiddenVisualizerBackend:
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if hasattr(render_option, "light_on"):
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render_option.light_on = False
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self._apply_default_view()
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def _apply_default_view(self) -> None:
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if self.vis is None:
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return
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if self.world_to_cam is not None:
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apply_view_from_world_to_cam(self.vis, self.world_to_cam, lookat=self.lookat)
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else:
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view_control = self.vis.get_view_control()
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center = self.lookat.astype(np.float64)
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center, eye, up = default_look_at_view(self.mesh.rest_vertices, self.lookat)
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view_control.set_lookat(center)
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front = center - eye
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front_norm = float(np.linalg.norm(front))
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if front_norm > 1e-9:
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front = front / front_norm
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else:
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front = np.array([0.0, 0.0, -1.0], dtype=np.float64)
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view_control.set_front(front)
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view_control.set_up(up)
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extent = np.ptp(self.mesh.rest_vertices, axis=0)
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span = float(np.max(extent))
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view_control.set_lookat(center)
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view_control.set_front(np.array([0.0, 0.0, -1.0]))
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view_control.set_up(np.array([0.0, 1.0, 0.0]))
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view_control.set_zoom(0.5 if span > 0 else 0.7)
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self.vis.poll_events()
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self.vis.update_renderer()
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def rotate_view(self, dx: float, dy: float) -> None:
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if self.vis is None:
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return
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self.vis.get_view_control().rotate(float(dx), float(dy))
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self.vis.poll_events()
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self.vis.update_renderer()
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def reset_view(self) -> None:
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if self.vis is None:
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return
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self._apply_default_view()
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def resize(self, width: int, height: int) -> None:
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width = max(int(width), 64)
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height = max(int(height), 64)
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@@ -377,11 +431,13 @@ class _HiddenVisualizerBackend:
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self._contact_arrow.apply(arrow_vertices, arrow_colors)
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self.vis.update_geometry(self._contact_arrow.arrow_mesh)
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flow_result = self._flow_arrow.compute(flow, valid_mask=valid_mask)
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if flow_result is not None and self._flow_arrow.arrow_mesh is not None:
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flow_vertices, flow_triangles, flow_colors = flow_result
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self._flow_arrow.apply(flow_vertices, flow_triangles, flow_colors)
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self.vis.update_geometry(self._flow_arrow.arrow_mesh)
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update_flow_arrows_hidden(
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self._flow_arrow,
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flow,
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valid_mask,
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vis=self.vis,
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slot=self._flow_arrow_slot,
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)
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self.vis.poll_events()
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self.vis.update_renderer()
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@@ -452,6 +508,20 @@ class OffscreenFingerMeshRenderer:
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def resize(self, width: int, height: int) -> None:
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self._backend.resize(width, height)
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def rotate_view(self, dx: float, dy: float) -> None:
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rotate = getattr(self._backend, "rotate_view", None)
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if rotate is not None:
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rotate(dx, dy)
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def reset_view(self) -> None:
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reset = getattr(self._backend, "reset_view", None)
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if reset is not None:
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reset()
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@property
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def flow_arrow(self) -> FlowArrowOverlay:
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return self._backend._flow_arrow
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def render(
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self,
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*,
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