panda3d 渲染

安装

设置渲染宽高：

渲染3d

安装

pip install Panda3D

设置渲染宽高：

import panda3d.core as pdmargin = 100
screen = Tk().winfo_screenwidth() - margin, Tk().winfo_screenheight() - margin
width, height = (screen[0], int(screen[0] / 1.8)) if screen[0] / screen[1] < 1.8 else (int(screen[1] * 1.8), screen[1])
width,height=1200,800
pd.loadPrcFileData("", "win-origin {} {}".format((screen[0] + margin - width) // 2, (screen[1] + margin - height) // 2))
pd.loadPrcFileData("", "win-size {} {}".format(width, height))
pd.loadPrcFileData("", "win-fixed-size 1")

渲染3d

UnderPressure/visualization.py at main · InterDigitalInc/UnderPressure · GitHub

"""Copyright (c) 2022, InterDigital R&D France. All rights reserved. This sourcecode is made available under the license found in the LICENSE.txt at the rootdirectory of the repository.
"""# UnderPressure
import anim, util
from data import FRAMERATE, TOPOLOGY, Forces# Python
import math, time
from pathlib import Path
from tkinter import Tk# PyTorch
import torch# Panda3D
import panda3d.core as pd
from direct.showbase.ShowBase import ShowBase
from direct.task import Task
from direct.gui.DirectGui import DGG, DirectButton, DirectLabel, DirectSliderdef rotate(pts, axis, angle):axis = torch.nn.functional.normalize(axis, p=2, dim=-1)rmat = util.so3.to_SO3(angle * axis)return torch.einsum("ij,...j->...i", rmat, pts)class Geo:@classmethoddef xy2xyz(cls, tensor, z=0.0, dim=-1):													# [...] x 2 x [...]assert tensor.shape[dim] == 2x, y = tensor.unbind(dim)															# [...] x	 [...]return torch.stack([x, y, torch.full_like(x, z)], dim)								# [...] x 3 x [...]class GeomBuilder:def __init__(self, name, color=None):self.name = nameself.vdata = pd.GeomVertexData(name, pd.GeomVertexFormat.getV3n3c4(), pd.Geom.UHStatic)self.vertexWriter = pd.GeomVertexWriter(self.vdata, "vertex")self.normalWriter = pd.GeomVertexWriter(self.vdata, "normal")self.colorWriter = pd.GeomVertexWriter(self.vdata, "color")self.triangles = pd.GeomTriangles(pd.Geom.UHStatic)self.currentRow = 0self.color = colordef _vertex(self, point, normal, prim=None, color=None):color = color or self.color or [1, 1, 1, 1]self.vertexWriter.addData3(*point)self.normalWriter.addData3(*normal)self.colorWriter.addData4(color[0], color[1], color[2], color[3])if prim is not None:prim.addVertex(self.currentRow)self.currentRow += 1def triangle(self, p1, p2, p3, color=None, normal=None):if normal is None:normal = (p2 - p1).cross(p3 - p1).normalized()self._vertex(p1, normal, self.triangles, color)self._vertex(p2, normal, self.triangles, color)self._vertex(p3, normal, self.triangles, color)self.triangles.closePrimitive()def polygon(self, pts, color=None):triangulator = pd.Triangulator3()for pt in pts:triangulator.addPolygonVertex(triangulator.addVertex(*pt))triangulator.triangulate()for i in range(triangulator.getNumTriangles()):self.triangle(triangulator.getVertex(triangulator.getTriangleV0(i)),triangulator.getVertex(triangulator.getTriangleV1(i)),triangulator.getVertex(triangulator.getTriangleV2(i)),color=color)def thick_polygon(self, pts, tickness, color=None, face_color=None, edge_color=None):pts = torch.as_tensor(pts)bottom, top = pts, pts + torch.as_tensor([0, 0, tickness])self.polygon(top, face_color or color)self.polygon(bottom, face_color or color)for i in range(0, top.shape[0]):j = (i + 1) % top.shape[0]self.polygon([top[i], top[j], bottom[j], bottom[i]], edge_color or color)def cylinder(self, p1, p2, radius, n=24, color=None):p1, p2 = torch.as_tensor(p1), torch.as_tensor(p2)axis = torch.nn.functional.normalize(p2 - p1, p=2, dim=-1)					# 3ex = torch.as_tensor([1.0, 0.0, 0.0])if (axis != ex).any():rvec = radius * torch.nn.functional.normalize(ex.cross(axis), p=2, dim=-1)else:rvec = torch.as_tensor([0.0, radius, 0.0])for i in range(n):self.triangle(p1 + rotate(rvec, axis, i / n * math.tau),p2 + rotate(rvec, axis, (i + 0.5) / n * math.tau),p2 + rotate(rvec, axis, (i - 0.5) / n * math.tau),color=color,normal=rotate(rvec, axis, i / n * math.tau),)self.triangle(p2 + rotate(rvec, axis, (i + 0.5) / n * math.tau),p1 + rotate(rvec, axis, (i + 1) / n * math.tau),p1 + rotate(rvec, axis, i / n * math.tau),color=color,normal=rotate(rvec, axis, (i + 0.5) / n * math.tau),)def cube(self, center, side, color=None):return self.box(center, [side, side, side], color=color)def box(self, center, sides, color=None):center = torch.as_tensor(center)sx, sy, sz = sides[0] / 2, sides[1] / 2, sides[2] / 2vertices = torch.stack([center + torch.as_tensor([-sx, -sy, -sz]),center + torch.as_tensor([-sx, sy, -sz]),center + torch.as_tensor([-sx, sy, sz]),center + torch.as_tensor([-sx, -sy, sz]),center + torch.as_tensor([sx, -sy, -sz]),center + torch.as_tensor([sx, sy, -sz]),center + torch.as_tensor([sx, sy, sz]),center + torch.as_tensor([sx, -sy, sz]),])self.polygon(vertices[[0, 1, 2, 3]], color)self.polygon(vertices[[0, 4, 5, 1]], color)self.polygon(vertices[[1, 5, 6, 2]], color)self.polygon(vertices[[2, 6, 7, 3]], color)self.polygon(vertices[[3, 7, 4, 0]], color)self.polygon(vertices[[7, 6, 5, 4]], color)def build(self):geom = pd.Geom(self.vdata)geom.addPrimitive(self.triangles)node = pd.GeomNode(self.name)node.addGeom(geom)return nodeclass AnimationLoop:def __init__(self, length: int, fps: float, start: bool = True):self._length, self._fps = int(length), float(fps)self._time, self._frame = 0.0, 0.0self._stop, self._running = False, bool(start)self.functions = []@propertydef length(self) -> int:return self._length@length.setterdef length(self, length: int):self._length = int(length)def __len__(self) -> int:return self.length@propertydef fps(self) -> float:return self._fps@fps.setterdef fps(self, value: float):self._fps = float(value)@propertydef frame(self) -> float:return self._frame % self.length@propertydef running(self) -> bool:return self._runningdef reset(self):self._time = 0.0self._frame = 0.0def pause(self):self._running = Falsedef unpause(self):self._running = Truedef stop(self):self._stop = Truedef bind(self, fn):self.functions.append(fn)def unbind(self, fn):self.functions.remove(fn)def __call__(self, state):if self._stop:return Task.doneif self._running:self._frame += (state.time - self._time) * self.fpsfor fn in self.functions:fn(self.frame)self._frame %= self.lengthself._time = state.timereturn Task.contclass Animatable:def __init__(self, loop: AnimationLoop):self.loop = loop@propertydef loop(self):return self._loop@loop.setterdef loop(self, loop: AnimationLoop):del self.loopassert isinstance(loop, AnimationLoop)self._loop = loopself._loop.bind(self.update)@loop.deleterdef loop(self):if hasattr(self, "_loop"):self._loop.unbind(self.update)del self._loop@propertydef nframes(self):return len(self.loop)def update(self, frame: int):prev_frame, next_frame = int(math.floor(frame)), min(int(math.ceil(frame)), self.nframes-1)dframe = frame - prev_frameself.__update__(frame, prev_frame, next_frame, dframe)def __update__(self, frame: int, prev_frame: int, next_frame: int, dframe: float):raise NotImplementedError()class Ground(Animatable):DEFAULT_COLOR1 = 3 * (0.4, ) + (1.0, )DEFAULT_COLOR2 = 3 * (0.6, ) + (1.0, )def __init__(self, parent, grid, size, origin=(0, 0), color1=DEFAULT_COLOR1, color2=DEFAULT_COLOR2, loop=None, trajectory=None):grid, size = torch.as_tensor(grid).int(), torch.as_tensor(size)origin = torch.as_tensor(origin)cell = size / gridbuilder = GeomBuilder("ground")for x in range(grid[0]):for y in range(grid[1]):vertices = origin - 0.5*size + torch.stack([torch.as_tensor([x, y]) * cell,torch.as_tensor([x, y+1]) * cell,torch.as_tensor([x+1, y+1]) * cell,torch.as_tensor([x+1, y]) * cell,])color = color1 if x%2 == y%2 else color2builder.polygon(Geo.xy2xyz(vertices), color)self._node = parent.attachNewNode(builder.build())if loop is not None:super().__init__(loop)if trajectory is not None:self.trajectory = trajectory@propertydef trajectory(self):return self._trajectory.clone()@trajectory.setterdef trajectory(self, trajectory):self._trajectory = trajectory.clone()def __update__(self, frame: int, prev_frame: int, next_frame: int, dframe: float):position = torch.lerp(*self.trajectory[[prev_frame, next_frame]], dframe)self._node.setPos(*position.tolist())class Insole(Animatable):# geometryINSOLE_VERTICES = torch.load(Path(__file__).parent / "geo_insoles.pth")INSOLE_VERTICES_BBOX = torch.stack([INSOLE_VERTICES.amin(dim=0), INSOLE_VERTICES.amax(dim=0)])INSOLE_VERTICES_LENGTH = (INSOLE_VERTICES_BBOX[1, 1] - INSOLE_VERTICES_BBOX[0, 1])INSOLE_VERTICES_CENTER = 0.5 * (INSOLE_VERTICES_BBOX[0] + INSOLE_VERTICES_BBOX[1])CELLS_VERTICES = torch.load(Path(__file__).parent / "geo_insole_cells.pth")# colorsINSOLE_COLOR = (0.2, 0.2, 0.2, 1.0)TOE_COLOR = (150/255, 48/255, 48/255, 1.0)ARCH_COLOR = (0.5, 0.5, 0.5, 1.0)HEEL_COLOR = (48/255, 84/255, 150/255, 1.0)def __init__(self, parent, side, origin, length, angle, zscale=0.025, loop=None, forces=None):self._values = torch.zeros(16)self._side = sideself.__init_geometry__(parent, side, origin, length, angle)self._zscale = float(zscale)if loop is not None:super().__init__(loop)if forces is not None:self.forces = forces@classmethoddef left(cls, parent, *args, **kwargs):return cls(parent, "left", *args, **kwargs)@classmethoddef right(cls, parent, *args, **kwargs):return cls(parent, "right", *args, **kwargs)def is_left(self) -> bool:return self._side == "left"def is_right(self) -> bool:return self._side == "right"def __init_geometry__(self, parent, side, origin, length, angle):self._origin, length = torch.as_tensor(origin), torch.as_tensor(length)angle = (180 + torch.as_tensor(angle)) / 180 * math.piside = {"right": 1, "left": -1}[side]# prepare global transformtransform_mat = torch.as_tensor([[angle.cos(), -angle.sin()], [angle.sin(), angle.cos()]]) # rotationtransform_mat = torch.matmul(transform_mat, (length / self.INSOLE_VERTICES_LENGTH).expand(2).diag()) # scaletransform_mat = torch.matmul(transform_mat, torch.as_tensor([side, 1.0]).diag()) # lefttransform = lambda pts: Geo.xy2xyz(torch.einsum("ij,nj->ni", transform_mat, pts.clone() - self.INSOLE_VERTICES_CENTER))self._base_tickness = 0.002# insolebuilders = {}insole_vertices = transform(self.INSOLE_VERTICES)if side == -1:insole_vertices = insole_vertices.flip(0)builders["insole"] = GeomBuilder("insole")builders["insole"].thick_polygon(self._origin + insole_vertices, tickness=self._base_tickness,face_color=self.INSOLE_COLOR, edge_color=self.INSOLE_COLOR)# cellsfor i, cell_vertices in enumerate(self.CELLS_VERTICES):cell_vertices = transform(cell_vertices)if side == -1:cell_vertices = cell_vertices.flip(0)cell_name = "cell{}".format(i)cell_face_color = self.TOE_COLOR if i in Forces.FRONT_CELLS else self.HEEL_COLOR if i in Forces.BACK_CELLS else self.ARCH_COLORbuilders[cell_name] = GeomBuilder(cell_name)builders[cell_name].thick_polygon(cell_vertices, tickness=1.0,face_color=cell_face_color, edge_color=cell_face_color)self._nodes = {key: parent.attachNewNode(builder.build()) for key, builder in builders.items()}		cells_origin = self._origin + torch.as_tensor([0.0, 0.0, self._base_tickness])for i in range(len(self.CELLS_VERTICES)):		self._nodes["cell{}".format(i)].setPos(*cells_origin.tolist())def __getitem__(self, index):return self._values.__getitem__(index)def __setitem__(self, index, value):self._values.__setitem__(index, value)for i in range(16):z = self._zscale * self._values[i].item() + 1e-5self._nodes["cell{}".format(i)].setSz(z)@propertydef forces(self):return self._forces.clone()@forces.setterdef forces(self, forces):self._forces = forces.clone()def __update__(self, frame: int, prev_frame: int, next_frame: int, dframe: float):self[:] = torch.lerp(*self.forces[[prev_frame, next_frame]], dframe)		class InsolesPair:def __init__(self, left, right, loop=None, forces=None):self.left, self.right = left, rightif loop is not None:self.left.loop = loopself.right.loop = loopif forces is not None:self.forces = forces@propertydef left(self):return self._left@left.setterdef left(self, left):assert isinstance(left, Insole) and left.is_left()self._left = left@propertydef right(self):return self._right@right.setterdef right(self, right):assert isinstance(right, Insole) and right.is_right()self._right = rightdef __setitem__(self, index, value):values = self[:]values.__setitem__(index, value)self.left[:] = values[0]self.right[:] = values[1]def __getitem__(self, index):return torch.stack([self.left[:], self.right[:]]).__getitem__(index)@propertydef forces(self):return self.left.forces, self.right.forces@forces.setterdef forces(self, forces):self.left.forces = forces[0]self.right.forces = forces[1]def update(self, frame):self.left.update(frame)self.right.update(frame)class Skeleton(Animatable):def __init__(self, parent, skeleton, loop=None, angles=None, trajectory=None, label=""):self._skeleton = skeletonself._joints = []for joint in TOPOLOGY:node = GeomBuilder(joint)node.cube((0, 0, 0), side=0.05, color=[0.2, 0.2, 0.2, 0.0])self._joints.append(parent.attachNewNode(node.build()))if loop is not None:super().__init__(loop)if angles is not None:self.angles = anglesif trajectory is not None:self.trajectory = trajectory	if label:self._label = pd.TextNode(label)self._label.setText(label)self._label.setAlign(pd.TextNode.ACenter)self._label = parent.attachNewNode(self._label)self._label.setScale(0.1)self._label.setPos(0.0, 0.0, 1.8)@propertydef angles(self):return self._angles.clone()@angles.setterdef angles(self, angles):self._angles = angles.clone()@propertydef trajectory(self):return self._trajectory.clone()@trajectory.setterdef trajectory(self, trajectory):self._trajectory = trajectory.clone()self._label_traj = util.gma(self.trajectory, size=50, std=50/3, dim=0)def __update__(self, frame: int, prev_frame: int, next_frame: int, dframe: float):angles = util.SU2.slerp(*self.angles[[prev_frame, next_frame]], dframe)positions = anim.FK(angles, self._skeleton, 0, TOPOLOGY)if hasattr(self, "_trajectory"):positions += torch.lerp(*self.trajectory[[prev_frame, next_frame]], dframe)		if hasattr(self, "_label") and hasattr(self, "_label_traj"):self._label.setPos(*torch.lerp(*self._label_traj[[prev_frame, next_frame]], dframe)[:2].tolist(), 1.8)				for j, joint in enumerate(self._joints):joint.setQuat(pd.LQuaternion(*angles[j].tolist()))joint.setPos(*positions[j].tolist())class MocapAndvGRFsApp(ShowBase):def __init__(self, motions: list, vGRFs: list = [], motion_labels=None, vGRF_labels=None):motion_labels = [None for _ in motions] if motion_labels is None else motion_labelsvGRF_labels = [None for _ in vGRFs] if vGRF_labels is None else vGRF_labelsmargin = 100screen = Tk().winfo_screenwidth() - margin, Tk().winfo_screenheight() - marginwidth, height = (screen[0], int(screen[0] / 1.8)) if screen[0] / screen[1] < 1.8 else (int(screen[1] * 1.8), screen[1])width,height=1200,800pd.loadPrcFileData("", "win-origin {} {}".format((screen[0] + margin - width) // 2, (screen[1] + margin - height) // 2))pd.loadPrcFileData("", "win-size {} {}".format(width, height))pd.loadPrcFileData("", "win-fixed-size 1")super().__init__()self.render.setTwoSided(True)self.disableMouse()self.__init_lights__()self.__init_camera__(fov=50, near=0.01, far=50, pos=[0.0, -7.0, 3.0], dir=[0.0, 1.2, -0.5])# init animation loop	assert len({v.shape[0] for v in vGRFs} | {m[0].shape[0] for m in motions}) == 1		nframes = motions[0][0].shape[0]self.animation_loop = AnimationLoop(length=nframes, fps=FRAMERATE, start=True)self.taskMgr.add(self.animation_loop, "animation_loop")# insolesif len(vGRFs) > 0:vGRFs_scale = 1 / torch.stack(list(vGRFs)).max()	for index, (value, label) in enumerate(zip(vGRFs, vGRF_labels)):x = index * 0.111 - 0.111 * (len(vGRFs) - 1) / 2self.add_insoles([x, self.cam.getPos()[1] + 0.60 + 0.08, self.cam.getPos()[2] - 0.435],vGRFs_scale * value, plate=True, label=label,)# get global trajectorytrajectories = torch.cat([motion[2] for motion in motions], dim=-2)global_trajectory = trajectories.mean(dim=-2)global_trajectory = util.gma(global_trajectory, size=30, std=30/3, dim=0)global_trajectory[..., 2] = 0.0c = 0.25global_bbox = trajectories.amax(dim=(0, 1)) - trajectories.amin(dim=(0, 1))global_position = global_trajectory.mean(dim=0)ground_grid = ((global_bbox[:2] + 3) / c).ceil()self._ground = Ground(self.render, grid=ground_grid, size=c*ground_grid, origin=global_position[:2],loop=self.animation_loop,trajectory=-global_trajectory,)for motion, label in zip(motions, motion_labels):angles, skeleton, trajectory = motion[0], motion[1].reshape(-1, 3), motion[2].reshape(-1, 3)trajectory = trajectory - global_trajectoryself._skeleton = Skeleton(self.render, skeleton,loop=self.animation_loop, angles=angles, trajectory=trajectory,label=label,)# Framerate buttonsbutton025 = DirectButton(text="0.25x", scale=0.05, pos=(-0.2, 0.0, 0.96), command=lambda: self.change_framerate(0.25))button050 = DirectButton(text="0.50x", scale=0.05, pos=(0.0, 0.0, 0.96), command=lambda: self.change_framerate(0.50))button100 = DirectButton(text="1.00x", scale=0.05, pos=(0.2, 0.0, 0.96), command=lambda: self.change_framerate(1.00))def change_framerate(self, rate):self.animation_loop.fps = rate * FRAMERATEdef __init_lights__(self):def point_light(position, color, name=""):light = pd.PointLight(name)light.setColor(color)light = self.render.attachNewNode(light)light.setPos(*position)self.render.setLight(light)intensity = 0.6point_light((5, 5, -5), (intensity, intensity, intensity, 1))point_light((0, 5, -5), (intensity, intensity, intensity, 1))point_light((5, 0, -5), (intensity, intensity, intensity, 1))def __init_camera__(self, **kwargs):if "near" in kwargs:self.camLens.setNear(kwargs["near"])if "far" in kwargs:self.camLens.setFar(kwargs["far"])		if "fov" in kwargs:self.camLens.setFov(kwargs["fov"])if "pos" in kwargs:self.cam.setPos(*kwargs["pos"])if "target" in kwargs:pos, target = torch.as_tensor(self.cam.getPos()), torch.as_tensor(kwargs["target"])dir = (target - pos).tolist()elif "dir" in kwargs:dir = kwargs["dir"]self.camLens.setViewVector(*dir,*kwargs.get("up", [0.0, 0.0, 1.0]),)def add_insoles(self, origin, forces, plate=False, label=None):insoles = InsolesPair(Insole.left(self.render, origin=[origin[0] - 0.021, origin[1], origin[2]], length=0.15, angle=10.0),Insole.right(self.render, origin=[origin[0] + 0.021, origin[1], origin[2]], length=0.15, angle=-10.0),loop=self.animation_loop, forces=forces.unbind(dim=-2),)width, depth, thickness = 0.108, 0.16, 0.01if plate:builder = GeomBuilder("insoles_plate")builder.box([origin[0], origin[1], origin[2] - thickness/2], [width, depth, thickness], color=(0.8, 0.8, 0.8, 1.0))self.render.attachNewNode(builder.build())if isinstance(label, str):text = pd.TextNode(label)text.setText(label)text.setAlign(pd.TextNode.ACenter)text = self.render.attachNewNode(text)text.setScale(thickness)text.setPos(origin[0], origin[1] - depth/2 - 1e-4, origin[2] - 0.8*thickness)		if __name__ == "__main__":import modelsfrom data import Datasetfrom argparse import ArgumentParserparser = ArgumentParser()parser.add_argument("-subj", "-subject", default="S9", help="Subject to be selected; default: S9")parser.add_argument("-seq", "-sequence", default="WalkRandomSlow", help="Sequence to be selected; default: WalkRandomSlow")parser.add_argument("-checkpoint", default="pretrained.tar")args = parser.parse_args()dataset = Dataset("{}-{}".format(args.subj, args.seq))item = dataset[0]angles, skeleton, trajectory = item["angles"], item["skeleton"], item["trajectory"]vGRFs_gt = item["forces"]positions = anim.FK(angles, skeleton, trajectory, TOPOLOGY)checkpoint = torch.load(args.checkpoint)model = models.DeepNetwork(state_dict=checkpoint["model"]).eval()with torch.no_grad():vGRFs_pred = model.vGRFs(positions.unsqueeze(0)).squeeze(0)vGRFs_abs_error = (vGRFs_gt - vGRFs_pred).abs()MocapAndvGRFsApp([(angles, skeleton, trajectory)],[vGRFs_gt, vGRFs_pred, vGRFs_abs_error],vGRF_labels=["Ground Truth", "Estimated", "Abs. Error"],).run()