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| import gradio as gr | |
| import os | |
| os.environ["PYOPENGL_PLATFORM"] = "osmesa" #opengl seems to only work with TPU | |
| print(os.environ['PYOPENGL_PLATFORM']) | |
| from OpenGL.osmesa import OSMesaCreateContextAttribs | |
| import numpy as np | |
| import os | |
| import trimesh | |
| import pyrender | |
| from pyrender import PerspectiveCamera,\ | |
| DirectionalLight, SpotLight, PointLight,\ | |
| MetallicRoughnessMaterial,\ | |
| Primitive, Mesh, Node, Scene,\ | |
| OffscreenRenderer | |
| from PIL import Image | |
| scene = Scene() | |
| axis = trimesh.creation.axis() | |
| axis = Mesh.from_trimesh(axis, smooth=False) | |
| scene.add(axis) | |
| camera_center = np.array([951.30, 536.77]) | |
| camera = pyrender.camera.IntrinsicsCamera( | |
| fx=1060.53, fy=1060.38, | |
| cx=camera_center[0], cy=camera_center[1]) | |
| light = pyrender.DirectionalLight(color=np.ones(3), intensity=2.0) | |
| camera_pose = np.eye(4) | |
| scene.add(camera, pose=camera_pose) | |
| scene.add(light, pose=camera_pose) | |
| r = OffscreenRenderer( | |
| viewport_width=720, | |
| viewport_height=720, | |
| ) | |
| color, _ = r.render(scene) | |
| color = color.astype(np.float32) / 255.0 | |
| img = Image.fromarray((color * 255).astype(np.uint8)) | |
| r.delete() | |
| print(img) | |
| # import os | |
| # os.environ['PYOPENGL_PLATFORM'] = 'egl' | |
| # import sys | |
| # root_dir = os.path.dirname(os.path.abspath(__file__)) | |
| # sys.path.insert(1, os.path.join(root_dir, 'scenediffuser')) | |
| # print(sys.path) | |
| # import gradio as gr | |
| # import interface as IF | |
| # with gr.Blocks(css='style.css') as demo: | |
| # with gr.Column(elem_id="col-container"): | |
| # gr.Markdown("<p align='center' style='font-size: 1.5em;'>Diffusion-based Generation, Optimization, and Planning in 3D Scenes</p>") | |
| # gr.HTML(value="<img src='file/figures/teaser.png' alt='Teaser' width='710px' height='284px' style='display: block; margin: auto;'>") | |
| # gr.HTML(value="<p align='center' style='font-size: 1.2em; color: #485fc7;'><a href='https://arxiv.org/abs/2301.06015' target='_blank'>arXiv</a> | <a href='https://scenediffuser.github.io/' target='_blank'>Project Page</a> | <a href='https://github.com/scenediffuser/Scene-Diffuser' target='_blank'>Code</a></p>") | |
| # gr.Markdown("<p align='center'><i>\"SceneDiffuser provides a unified model for solving scene-conditioned generation, optimization, and planning.\"</i></p>") | |
| # ## five task | |
| # ## pose generation | |
| # with gr.Tab("Pose Generation"): | |
| # with gr.Row(): | |
| # with gr.Column(scale=2): | |
| # selector1 = gr.Dropdown(choices=['MPH16', 'MPH1Library', 'N0SittingBooth', 'N3OpenArea'], label='Scenes', value='MPH16', interactive=True) | |
| # with gr.Row(): | |
| # sample1 = gr.Slider(minimum=1, maximum=8, step=1, label='Count', interactive=True, value=1) | |
| # seed1 = gr.Slider(minimum=0, maximum=2 ** 16, step=1, label='Seed', interactive=True, value=2023) | |
| # opt1 = gr.Checkbox(label='Optimizer Guidance', interactive=True, value=True) | |
| # scale1 = gr.Slider(minimum=0.1, maximum=9.9, step=0.1, label='Scale', interactive=True, value=1.1) | |
| # button1 = gr.Button("Run") | |
| # with gr.Column(scale=3): | |
| # image1 = gr.Gallery(label="Image [Result]").style(grid=[1], height="50") | |
| # # model1 = gr.Model3D(clear_color=[255, 255, 255, 255], label="3D Model [Result]") | |
| # input1 = [selector1, sample1, seed1, opt1, scale1] | |
| # button1.click(IF.pose_generation, inputs=input1, outputs=[image1]) | |
| # ## motion generation | |
| # # with gr.Tab("Motion Generation"): | |
| # # with gr.Row(): | |
| # # with gr.Column(scale=2): | |
| # # selector2 = gr.Dropdown(choices=['MPH16', 'MPH1Library', 'N0SittingBooth', 'N3OpenArea'], label='Scenes', value='MPH16', interactive=True) | |
| # # with gr.Row(): | |
| # # sample2 = gr.Slider(minimum=1, maximum=8, step=1, label='Count', interactive=True, value=1) | |
| # # seed2 = gr.Slider(minimum=0, maximum=2 ** 16, step=1, label='Seed', interactive=True, value=2023) | |
| # # with gr.Row(): | |
| # # withstart = gr.Checkbox(label='With Start', interactive=True, value=False) | |
| # # opt2 = gr.Checkbox(label='Optimizer Guidance', interactive=True, value=True) | |
| # # scale_opt2 = gr.Slider(minimum=0.1, maximum=9.9, step=0.1, label='Scale', interactive=True, value=1.1) | |
| # # button2 = gr.Button("Run") | |
| # # with gr.Column(scale=3): | |
| # # image2 = gr.Image(label="Result") | |
| # # input2 = [selector2, sample2, seed2, withstart, opt2, scale_opt2] | |
| # # button2.click(IF.motion_generation, inputs=input2, outputs=image2) | |
| # with gr.Tab("Motion Generation"): | |
| # with gr.Row(): | |
| # with gr.Column(scale=2): | |
| # input2 = [ | |
| # gr.Dropdown(choices=['MPH16', 'MPH1Library', 'N0SittingBooth', 'N3OpenArea'], label='Scenes') | |
| # ] | |
| # button2 = gr.Button("Generate") | |
| # gr.HTML("<p style='font-size: 0.9em; color: #555555;'>Notes: the output results are pre-sampled results. We will deploy a real-time model for this task soon.</p>") | |
| # with gr.Column(scale=3): | |
| # output2 = gr.Image(label="Result") | |
| # button2.click(IF.motion_generation, inputs=input2, outputs=output2) | |
| # ## grasp generation | |
| # with gr.Tab("Grasp Generation"): | |
| # with gr.Row(): | |
| # with gr.Column(scale=2): | |
| # input3 = [ | |
| # gr.Dropdown(choices=['contactdb+apple', 'contactdb+camera', 'contactdb+cylinder_medium', 'contactdb+door_knob', 'contactdb+rubber_duck', 'contactdb+water_bottle', 'ycb+baseball', 'ycb+pear', 'ycb+potted_meat_can', 'ycb+tomato_soup_can'], label='Objects') | |
| # ] | |
| # button3 = gr.Button("Run") | |
| # gr.HTML("<p style='font-size: 0.9em; color: #555555;'>Notes: the output results are pre-sampled results. We will deploy a real-time model for this task soon.</p>") | |
| # with gr.Column(scale=3): | |
| # output3 = [ | |
| # gr.Model3D(clear_color=[255, 255, 255, 255], label="Result") | |
| # ] | |
| # button3.click(IF.grasp_generation, inputs=input3, outputs=output3) | |
| # ## path planning | |
| # with gr.Tab("Path Planing"): | |
| # with gr.Row(): | |
| # with gr.Column(scale=2): | |
| # selector4 = gr.Dropdown(choices=['scene0603_00', 'scene0621_00', 'scene0626_00', 'scene0634_00', 'scene0637_00', 'scene0640_00', 'scene0641_00', 'scene0645_00', 'scene0653_00', 'scene0667_00', 'scene0672_00', 'scene0673_00', 'scene0678_00', 'scene0694_00', 'scene0698_00'], label='Scenes', value='scene0621_00', interactive=True) | |
| # mode4 = gr.Radio(choices=['Sampling', 'Planning'], value='Sampling', label='Mode', interactive=True) | |
| # with gr.Row(): | |
| # sample4 = gr.Slider(minimum=1, maximum=8, step=1, label='Count', interactive=True, value=1) | |
| # seed4 = gr.Slider(minimum=0, maximum=2 ** 16, step=1, label='Seed', interactive=True, value=2023) | |
| # with gr.Box(): | |
| # opt4 = gr.Checkbox(label='Optimizer Guidance', interactive=True, value=True) | |
| # scale_opt4 = gr.Slider(minimum=0.02, maximum=4.98, step=0.02, label='Scale', interactive=True, value=1.0) | |
| # with gr.Box(): | |
| # pla4 = gr.Checkbox(label='Planner Guidance', interactive=True, value=True) | |
| # scale_pla4 = gr.Slider(minimum=0.02, maximum=0.98, step=0.02, label='Scale', interactive=True, value=0.2) | |
| # button4 = gr.Button("Run") | |
| # with gr.Column(scale=3): | |
| # image4 = gr.Gallery(label="Image [Result]").style(grid=[1], height="50") | |
| # number4 = gr.Number(label="Steps", precision=0) | |
| # gr.HTML("<p style='font-size: 0.9em; color: #555555;'>Notes: 1. It may take a long time to do planning in <b>Planning</b> mode. 2. The <span style='color: #cc0000;'>red</span> balls represent the planning result, starting with the lightest red ball and ending with the darkest red ball. The <span style='color: #00cc00;'>green</span> ball indicates the target position.</p>") | |
| # input4 = [selector4, mode4, sample4, seed4, opt4, scale_opt4, pla4, scale_pla4] | |
| # button4.click(IF.path_planning, inputs=input4, outputs=[image4, number4]) | |
| # ## arm motion planning | |
| # with gr.Tab("Arm Motion Planning"): | |
| # gr.Markdown('Coming soon!') | |
| # demo.launch() | |