Merge branch 'main' of https://github.com/eth-ait/aitviewer

README.md

@@ -22,7 +22,7 @@ For more advanced installation and for installing SMPL body models, please refer
 
 ## Features
 * Native Python interface, easy to use and hack.
-* Load [SMPL[-H/-X]](https://smpl.is.tue.mpg.de/) / [MANO](https://mano.is.tue.mpg.de/) / [FLAME](https://flame.is.tue.mpg.de/) / [STAR](https://github.com/ahmedosman/STAR) sequences and display them in an interactive viewer.
+* Load [SMPL[-H/-X]](https://smpl.is.tue.mpg.de/) / [MANO](https://mano.is.tue.mpg.de/) / [FLAME](https://flame.is.tue.mpg.de/) / [STAR](https://github.com/ahmedosman/STAR) / [SUPR](https://github.com/ahmedosman/SUPR) sequences and display them in an interactive viewer.
 * Headless mode for server rendering of videos/images.
 * Remote mode for non-blocking integration of visualization code.
 * Render 3D data on top of images via weak-perspective or OpenCV camera models.

aitviewer/aitvconfig.yaml

@@ -36,6 +36,9 @@ backface_culling: True
 background_color: [1.0, 1.0, 1.0, 1.0]
 window_type: "pyqt5"
 
+# Viewer defaults to Y up, set to true for Z up.
+z_up: False
+
 # Server for remote connections.
 server_enabled: False
 server_port: 8417

aitviewer/configuration.py

@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022  ETH Zurich, Manuel Kaufmann, Velko Vechev
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <https://www.gnu.org/licenses/>.
-"""
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import os
 
 import torch

aitviewer/headless.py

@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022  ETH Zurich, Manuel Kaufmann, Velko Vechev
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <https://www.gnu.org/licenses/>.
-"""
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import os
 from typing import Dict, Tuple
 

aitviewer/models/smpl.py

@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <https://www.gnu.org/licenses/>.
-"""
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import collections
 from abc import ABC
 

aitviewer/models/star.py

@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <https://www.gnu.org/licenses/>.
-"""
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import collections
 import os
 

aitviewer/models/supr.py

@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <https://www.gnu.org/licenses/>.
-"""
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import collections
 import os
 

aitviewer/remote/message.py

@@ -1,3 +1,4 @@
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import enum
 
 

aitviewer/remote/node.py

@@ -1,3 +1,4 @@
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 from .message import Message
 from .viewer import RemoteViewer
 

aitviewer/remote/renderables/arrows.py

@@ -1,3 +1,4 @@
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 from ..message import Message
 from ..node import RemoteNode
 

aitviewer/remote/renderables/lines.py

@@ -1,3 +1,4 @@
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 from ..message import Message
 from ..node import RemoteNode
 

aitviewer/remote/renderables/meshes.py

@@ -1,3 +1,4 @@
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 from ..message import Message
 from ..node import RemoteNode
 

aitviewer/remote/renderables/rigid_bodies.py

@@ -1,3 +1,4 @@
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 from ..message import Message
 from ..node import RemoteNode
 

aitviewer/remote/renderables/smpl.py

@@ -1,3 +1,4 @@
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 from ..message import Message
 from ..node import RemoteNode
 

aitviewer/remote/renderables/spheres.py

@@ -1,3 +1,4 @@
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 from ..message import Message
 from ..node import RemoteNode
 

aitviewer/remote/viewer.py

@@ -1,3 +1,4 @@
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import asyncio
 import pickle
 import queue

aitviewer/renderables/arrows.py

@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <https://www.gnu.org/licenses/>.
-"""
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import numpy as np
 
 from aitviewer.renderables.lines import Lines

aitviewer/renderables/billboard.py

@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <https://www.gnu.org/licenses/>.
-"""
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import os
 import pickle
 from typing import List, Union

aitviewer/renderables/bounding_boxes.py

@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <https://www.gnu.org/licenses/>.
-"""
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import numpy as np
 
 from aitviewer.renderables.lines import Lines

aitviewer/renderables/coordinate_system.py

@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <https://www.gnu.org/licenses/>.
-"""
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import numpy as np
 
 from aitviewer.renderables.rigid_bodies import RigidBodies

aitviewer/renderables/lines.py

@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <https://www.gnu.org/licenses/>.
-"""
+# Copyright (C) 2023  ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
 import moderngl
 import numpy as np
 import trimesh
@@ -33,6 +18,7 @@
     compute_vertex_and_face_normals,
     set_lights_in_program,
     set_material_properties,
+    usd,
 )
 from aitviewer.utils.decorators import hooked
 from aitviewer.utils.so3 import aa2rot_numpy as aa2rot
@@ -447,6 +433,47 @@ def remove_frames(self, frames):
         self.lines = np.delete(self.lines, frames, axis=0)
         self.redraw()
 
+    def export_usd(self, stage, usd_path: str, directory: str = None, verbose=False):
+        name = f"{self.name}_{self.uid:03}".replace(" ", "_")
+        usd_path = f"{usd_path}/{name}"
+
+        if self.mode == "lines":
+            v0s = self.lines[:, ::2]
+            v1s = self.lines[:, 1::2]
+        else:
+            v0s = self.lines[:, :-1]
+            v1s = self.lines[:, 1:]
+
+        print(self.lines.shape)
+        print(v0s.shape)
+
+        # Data is in the form of (F, N_LINES, 3), convert it to (F*N_LINES, 3)
+        v0s = np.reshape(v0s, (-1, 3))
+        v1s = np.reshape(v1s, (-1, 3))
+
+        self.r_tip = self.r_base if self.r_tip is None else self.r_tip
+
+        # If r_tip is below a certain threshold, we create a proper cone, i.e. with just a single vertex at the top.
+        if self.r_tip < 10e-6:
+            data = _create_cone_from_to(v0s, v1s, radius=self.r_base)
+        else:
+            data = _create_cylinder_from_to(v0s, v1s, radius1=self.r_base, radius2=self.r_tip)
+
+        L = self.n_lines
+        V = data["vertices"].shape[1]
+
+        vertices = data["vertices"].reshape((self.n_frames, -1, 3))
+        faces = data["faces"]
+
+        fs = faces[np.newaxis].repeat(L, 0).reshape((L, -1))
+        offsets = (np.arange(L) * V).reshape((L, 1))
+        faces = (fs + offsets).reshape((-1, 3))
+
+        mesh = usd.add_mesh(stage, usd_path, self.name, vertices, faces, self.get_local_transform())
+        usd.add_color(stage, mesh, usd_path, self.color[:3])
+
+        self._export_usd_recursively(stage, usd_path, directory, verbose)
+
 
 class Lines2D(Node):
     """Render 2D lines."""