From ab04da504efbf8b1d4bc4260d915f3a13700caf2 Mon Sep 17 00:00:00 2001 From: WYK96 <624711583@qq.com> Date: Thu, 27 Apr 2023 16:43:00 +0800 Subject: [PATCH 01/18] [improvement] project structure optimization --- viewers/nerf_viewer/README.md | 85 + viewers/nerf_viewer/bridge_server/.gitignore | 1 + viewers/nerf_viewer/bridge_server/actions.py | 23 + .../bridge_server/bridge_server_subprocess.py | 85 + .../bridge_server/requirements.txt | 5 + .../nerf_viewer/bridge_server/run_viewer.py | 14 + viewers/nerf_viewer/bridge_server/server.py | 173 + viewers/nerf_viewer/bridge_server/state.py | 11 + .../nerf_viewer/bridge_server/viewer_state.py | 92 + .../nerf_viewer/bridge_server/visualizer.py | 131 + viewers/nerf_viewer/client/.gitignore | 23 + viewers/nerf_viewer/client/README.md | 70 + viewers/nerf_viewer/client/package-lock.json | 17997 ++++++++++++++++ viewers/nerf_viewer/client/package.json | 51 + .../client/public/OpenXRLab-logo.png | Bin 0 -> 38042 bytes 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create mode 100644 viewers/nerf_viewer/client/src/SceneNode.js create mode 100644 viewers/nerf_viewer/client/src/actions.jsx create mode 100644 viewers/nerf_viewer/client/src/index.jsx create mode 100644 viewers/nerf_viewer/client/src/index.scss create mode 100644 viewers/nerf_viewer/client/src/modules/Banner/Banner.jsx create mode 100644 viewers/nerf_viewer/client/src/modules/RenderResContainer/RenderResContainer.jsx create mode 100644 viewers/nerf_viewer/client/src/modules/SidePanel/SidePanel.jsx create mode 100644 viewers/nerf_viewer/client/src/modules/ViewerPanel/ViewerWindow.jsx create mode 100644 viewers/nerf_viewer/client/src/modules/WebSocket/WebSocket.jsx create mode 100644 viewers/nerf_viewer/client/src/modules/WebSocket/WebSocketListener.jsx create mode 100644 viewers/nerf_viewer/client/src/reducer.js create mode 100644 viewers/nerf_viewer/client/src/reportWebVitals.js create mode 100644 viewers/nerf_viewer/client/src/setupTests.js create mode 100644 viewers/nerf_viewer/client/src/store.js create mode 100644 viewers/nerf_viewer/client/src/themes/theme.ts create mode 100644 viewers/nerf_viewer/doc/run_viewer.png create mode 100644 viewers/nerf_viewer/doc/viewer.png create mode 100644 viewers/nerf_viewer/doc/viewer_compile_success.png create mode 100644 viewers/nerf_viewer/doc/viewer_connected.png diff --git a/viewers/nerf_viewer/README.md b/viewers/nerf_viewer/README.md new file mode 100644 index 0000000..4b921fa --- /dev/null +++ b/viewers/nerf_viewer/README.md @@ -0,0 +1,85 @@ +# Nerf Viewer Quick Start + +## 1 Client + +### 1.1 Install Dependencies + +#### 1.1.1 Install NVM + +Please follow the instructions in: + +https://juejin.cn/post/7120267871950733320/ + +#### 1.1.2 Install Node + +Once you have nvm correctly configured, install node 18.15.0 using the commands below: + +```shell +# install node 18.15.0 +nvm install 18.15.0 + +# activate node 18.15.0 +nvm use 18.15.0 +``` + +#### 1.1.3 Install Node Packages + + +```shell +# make sure that your current working directory is 'client' +cd ./client + +# install node packages using configuration in client/package.json +npm install +``` + +### 1.2 Start Viewer + +Build and run the viewer using: + +```shell +# make sure that your current working directory is 'client' +cd ./client + +# start the viewer +npm start +``` + +Then, check whether viewer is successfully compiled: + +![alt viewer_compile_success](./doc/viewer_compile_success.png) + +Visit http://localhost:3000/ in the browser: + +![alt viewer](./doc/viewer.png) + +## 2 Bridge Server + +### 2.1 Install Dependencies + +```shell + +cd ./bridge_server + +# create a virtual environment +conda create -n BridgeServer python=3.7 + +conda activate BridgeServer + +# install dependencies +pip install -r ./requirements.txt +``` + +#### 2.2 Start Server + +``` +python ./run_viewer.py +``` + +Check whether server is successfully deployed: + +![alt run_viewer](./doc/run_viewer.png) + +Open the browser and visit http://localhost:3000/. Then, check whether the server is connected with the viewer: + +![alt viewer_connected](./doc/viewer_connected.png) \ No newline at end of file diff --git a/viewers/nerf_viewer/bridge_server/.gitignore b/viewers/nerf_viewer/bridge_server/.gitignore new file mode 100644 index 0000000..723ef36 --- /dev/null +++ b/viewers/nerf_viewer/bridge_server/.gitignore @@ -0,0 +1 @@ +.idea \ No newline at end of file diff --git a/viewers/nerf_viewer/bridge_server/actions.py b/viewers/nerf_viewer/bridge_server/actions.py new file mode 100644 index 0000000..60cb364 --- /dev/null +++ b/viewers/nerf_viewer/bridge_server/actions.py @@ -0,0 +1,23 @@ +""" +Actions are a series of keys that determine how data flows +""" + +"""for viewer""" + +UPDATE_CAMERA_TRANSLATION = "UPDATE_CAMERA_TRANSLATION" + +UPDATE_CAMERA_ROTATION = "UPDATE_CAMERA_ROTATION" + +UPDATE_CAMERA_FOV = "UPDATE_CAMERA_FOV" + +UPDATE_RESOLUTION = "UPDATE_RESOLUTION" + +UPDATE_RENDER_TYPE = "UPDATE_RENDER_TYPE" + + +"""for nerf backend""" + +# update the scene state +UPDATE_STATE = "UPDATE_STATE" + +UPDATE_RENDER_RESULT = "UPDATE_RENDER_RESULT" diff --git a/viewers/nerf_viewer/bridge_server/bridge_server_subprocess.py b/viewers/nerf_viewer/bridge_server/bridge_server_subprocess.py new file mode 100644 index 0000000..d31bfa2 --- /dev/null +++ b/viewers/nerf_viewer/bridge_server/bridge_server_subprocess.py @@ -0,0 +1,85 @@ +import atexit +import os +import signal +import socket +import subprocess +import sys +import threading +import time + +import server + +from typing import Optional + + +def is_port_open(port: int): + # check whether the given port is open + try: + sock = socket.socket() + sock.bind(("", port)) + sock.close() + + return True + except OSError: + return False + + +def get_free_port(default_port: int = None): + if default_port: + if is_port_open(default_port): + return default_port + sock = socket.socket() + sock.bind(("", 0)) + port = sock.getsockname()[1] + + return port + + +def run_bridge_server_as_subprocess( + websocket_port: int, + zmq_port: Optional[int] = None, + ip_address: str = "127.0.0.1", +): + # run bridge server as a sub-process + args = [sys.executable, "-u", "-m", server.__name__] + + # find an available port for zmq + if zmq_port is None: + zmq_port = get_free_port() + print(f"Using ZMQ port: {zmq_port}") + + args.append("--zmq-port") + args.append(str(zmq_port)) + args.append("--websocket-port") + args.append(str(websocket_port)) + args.append("--ip-address") + args.append(str(ip_address)) + + process = subprocess.Popen(args, start_new_session=True) + + def cleanup(process): + process.kill() + process.wait() + + def poll_process(): + """ + Continually check to see if the viewer bridge server process is still running and has not failed. + If it fails, alert the user and exit the entire program. + """ + while process.poll() is None: + time.sleep(0.5) + + message = "The bridge server subprocess failed." + cleanup(process) + + # windows system do not have signal.SIGKILL + # os.kill(os.getpid(), signal.SIGKILL) + os.kill(os.getpid(), signal.SIGINT) + + watcher_thread = threading.Thread(target=poll_process) + watcher_thread.daemon = True + watcher_thread.start() + # clean up process when it has shut down + atexit.register(cleanup, process) + + return zmq_port diff --git a/viewers/nerf_viewer/bridge_server/requirements.txt b/viewers/nerf_viewer/bridge_server/requirements.txt new file mode 100644 index 0000000..19ab2d3 --- /dev/null +++ b/viewers/nerf_viewer/bridge_server/requirements.txt @@ -0,0 +1,5 @@ +pyzmq==25.0.2 +pyngrok==5.2.1 +tornado +umsgpack==0.1.0 +opencv-contrib-python==4.5.3.56 \ No newline at end of file diff --git a/viewers/nerf_viewer/bridge_server/run_viewer.py b/viewers/nerf_viewer/bridge_server/run_viewer.py new file mode 100644 index 0000000..59f39e0 --- /dev/null +++ b/viewers/nerf_viewer/bridge_server/run_viewer.py @@ -0,0 +1,14 @@ +from viewer_state import ViewerState + + +def run_viewer(): + """ + start the viewer + """ + viewer_state = ViewerState() + while True: + viewer_state.update_scene() + + +if __name__ == "__main__": + run_viewer() diff --git a/viewers/nerf_viewer/bridge_server/server.py b/viewers/nerf_viewer/bridge_server/server.py new file mode 100644 index 0000000..53d2fe4 --- /dev/null +++ b/viewers/nerf_viewer/bridge_server/server.py @@ -0,0 +1,173 @@ +import pickle +import sys +from typing import List, Optional, Tuple + +# for web networking +import tornado.gen +import tornado.ioloop +import tornado.web +import tornado.websocket + +# for data conversion +import umsgpack + +# ZeroMQ: for messaging +import zmq +import zmq.eventloop.ioloop +from zmq.eventloop.zmqstream import ZMQStream + +from pyngrok import ngrok + +from actions import \ + UPDATE_CAMERA_FOV, UPDATE_CAMERA_ROTATION, UPDATE_CAMERA_TRANSLATION, \ + UPDATE_RENDER_TYPE, UPDATE_RESOLUTION, UPDATE_STATE, UPDATE_RENDER_RESULT + +from state import State + + +class WebSocketHandler(tornado.websocket.WebSocketHandler): # pylint: disable=abstract-method + """for receiving and sending commands from/to the viewer""" + + def __init__(self, *args, **kwargs): + self.bridge = kwargs.pop("bridge") + super().__init__(*args, **kwargs) + + def check_origin(self, origin: str) -> bool: + return True + + def open(self, *args: str, **kwargs: str): + self.bridge.websocket_pool.add(self) + print("opened:", self, file=sys.stderr) + + async def on_message(self, message: bytearray): # pylint: disable=invalid-overridden-method + """parses the message from viewer and calls the appropriate function""" + data = message + unpacked_message = umsgpack.unpackb(message) + + type = unpacked_message["type"] + data = unpacked_message["data"] + # type_ = m["type"] + # path = list(filter(lambda x: len(x) > 0, m["path"].split("/"))) + + if type == UPDATE_CAMERA_TRANSLATION: + self.bridge.state.camera_translation = data + elif type == UPDATE_CAMERA_ROTATION: + self.bridge.state.camera_rotation = data + elif type == UPDATE_RENDER_TYPE: + self.bridge.state.render_type = data + elif type == UPDATE_CAMERA_FOV: + self.bridge.state.camera_fov = data + elif type == UPDATE_RESOLUTION: + self.bridge.state.resolution = data + else: + # TODO: handle exception + pass + + def on_close(self) -> None: + self.bridge.websocket_pool.remove(self) + print("closed: ", self, file=sys.stderr) + + +class ZMQWebSocketBridge: + + context = zmq.Context() # pylint: disable=abstract-class-instantiated + + def __init__(self, zmq_port: int, websocket_port: int, ip_address: str): + self.zmq_port = zmq_port + self.websocket_pool = set() + self.app = self.make_app() + self.ioloop = tornado.ioloop.IOLoop.current() + + # zmq + zmq_url = f"tcp://{ip_address}:{self.zmq_port:d}" + self.zmq_socket, self.zmq_stream, self.zmq_url = self.setup_zmq(zmq_url) + + # websocket + listen_kwargs = {"address" : "0.0.0.0"} + self.app.listen(websocket_port, **listen_kwargs) + self.websocket_port = websocket_port + self.websocket_url = f"0.0.0.0:{self.websocket_port}" + + # state + self.state = State() + + def __str__(self) -> str: + class_name = self.__class__.__name__ + return f'{class_name} using zmq_port="{self.zmq_port}" and websocket_port="{self.websocket_port}"' + + def make_app(self): + # create an application for the websocket server + return tornado.web.Application([(r"/", WebSocketHandler, {"bridge": self})]) + + def handle_zmq(self, frames: List[bytes]): + + type_ = frames[0].decode("utf-8") + data = frames[1] + + if type_ == UPDATE_RENDER_RESULT: + self.forward_to_websockets(frames) + self.zmq_socket.send(umsgpack.packb(b"ok")) + elif type_ == UPDATE_STATE: + serialized = pickle.dumps(self.state) + self.zmq_socket.send(serialized) + elif type_ == "ping": + self.zmq_socket.send(umsgpack.packb(b"ping received")) + else: + print("type: " + str(type_)) + self.zmq_socket.send(umsgpack.packb(b"error: unknown command")) + + def forward_to_websockets( + self, + frames: Tuple[str, str, bytes], + websocket_to_skip: Optional[WebSocketHandler] = None + ): + """forward a zmq message to all websockets""" + """nerf backend -> viewer""" + _type, _data = frames # cmd, data + for websocket in self.websocket_pool: + if websocket_to_skip and websocket == websocket_to_skip: + pass + else: + websocket.write_message(_data, binary=True) + + def setup_zmq(self, url: str): + """setup a zmq socket and connect it to the given url""" + zmq_socket = self.context.socket(zmq.REP) # pylint: disable=no-member + zmq_socket.bind(url) + zmq_stream = ZMQStream(zmq_socket) + zmq_stream.on_recv(self.handle_zmq) + + return zmq_socket, zmq_stream, url + + def run(self): + """starts and runs the websocet bridge""" + self.ioloop.start() + + +def run_bridge_server( + zmq_port: int = 6000, + websocket_port: int = 4567, + ip_address: str = "127.0.0.1", + use_ngrok: bool = False +): + # whether expose the zmq port + if use_ngrok: + http_tunnel = ngrok.connect(addr=str(zmq_port), proto="tcp") + print(http_tunnel) + + bridge = ZMQWebSocketBridge( + zmq_port=zmq_port, + websocket_port=websocket_port, + ip_address=ip_address + ) + + print(bridge) + + try: + bridge.run() + except KeyboardInterrupt: + pass + + +if __name__ == "__main__": + run_bridge_server() \ No newline at end of file diff --git a/viewers/nerf_viewer/bridge_server/state.py b/viewers/nerf_viewer/bridge_server/state.py new file mode 100644 index 0000000..60f5a36 --- /dev/null +++ b/viewers/nerf_viewer/bridge_server/state.py @@ -0,0 +1,11 @@ +class State: + def __init__(self): + self.camera_rotation = [ + 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 + ] + self.camera_translation = [0.0, 0.0, 0.0] + self.camera_fov = 60 + self.resolution = 720 + self.render_type = 'rgb' \ No newline at end of file diff --git a/viewers/nerf_viewer/bridge_server/viewer_state.py b/viewers/nerf_viewer/bridge_server/viewer_state.py new file mode 100644 index 0000000..3bb675e --- /dev/null +++ b/viewers/nerf_viewer/bridge_server/viewer_state.py @@ -0,0 +1,92 @@ +import time +import base64 +import pickle +import umsgpack +from typing import Tuple +import numpy as np +import cv2 as cv +from actions import UPDATE_STATE, UPDATE_RENDER_RESULT +from bridge_server_subprocess import run_bridge_server_as_subprocess +from visualizer import Viewer + + +class ViewerState: + def __init__(self): + # launch the bridge server + websocket_port = 4567 + zmq_port = 6000 + ip_address = "127.0.0.1" + + zmq_port = run_bridge_server_as_subprocess( + websocket_port=websocket_port, + zmq_port=zmq_port, + ip_address=ip_address + ) + websocket_url = f"ws://localhost:{websocket_port}" + self.viewer_url = f"https://localhost/?websocket_url={websocket_url}" + self.viewer = Viewer(zmq_port=zmq_port, ip_address=ip_address) + self.state = None + + def update_scene(self) -> None: + """ + update the scene using rendered results + """ + while True: + serialized_state = umsgpack.unpackb(self.viewer.read(UPDATE_STATE)) + self.state = pickle.loads(serialized_state) + self.render_image_in_viewer() + + def get_resolution(self) -> Tuple[int, int]: + if str(self.state.resolution) == "480": + return 720, 480 + elif str(self.state.resolution) == "720": + return 1280, 720 + elif str(self.state.resolution) == "1080": + return 1920, 1080 + else: + print("invalid resolution") + + def render_image_in_viewer(self) -> None: + """ + Draw an image using current camera configuration. + """ + + """fetch data from state""" + camera_translation = np.array(self.state.camera_translation) + camera_rotation = np.array(self.state.camera_rotation) + camera_fov = self.state.camera_fov + render_type = self.state.render_type + + camera_translation = np.round(camera_translation, 2) + camera_rotation = np.round(camera_rotation, 2) + + """generate a fake image""" + img = np.zeros((1080, 1920, 3), np.uint8) + img.fill(230) + font = cv.FONT_HERSHEY_COMPLEX + color = (10, 20, 20) + cv.putText(img, "translation: " + str(camera_translation), (10, 100), font, 1, color, 1) + cv.putText(img, "rotation: " + str(camera_rotation), (10, 200), font, 1, color, 1) + cv.putText(img, "fov: " + str(camera_fov), (10, 300), font, 1, color, 1) + cv.putText(img, "render type: " + str(render_type), (10, 400), font, 1, color, 1) + scaled_resolution = self.get_resolution() + cv.putText(img, f"resolution: {scaled_resolution[0]}x{scaled_resolution[1]}", (10, 500), font, 1, color, 1) + scaled_image = cv.resize(img, scaled_resolution, interpolation=cv.INTER_AREA) + + image_format = "jpeg" + + data = cv.imencode( + ext=f".{image_format}", + img=scaled_image, + params=[ + cv.IMWRITE_JPEG_QUALITY, + 90 + ] + )[1].tobytes() + data = str(f"data:image/{image_format};base64," + base64.b64encode(data).decode("ascii")) + self.viewer.write(UPDATE_RENDER_RESULT, data) + + """ + Let the renderer relief for some time to avoid websocket blocking + """ + time.sleep(0.05) \ No newline at end of file diff --git a/viewers/nerf_viewer/bridge_server/visualizer.py b/viewers/nerf_viewer/bridge_server/visualizer.py new file mode 100644 index 0000000..cf2aadd --- /dev/null +++ b/viewers/nerf_viewer/bridge_server/visualizer.py @@ -0,0 +1,131 @@ +import sys +from typing import Optional, Union, Dict + +import umsgpack +from threading import Thread +import zmq + + +class ViewerWindow: + context = zmq.Context() # pylint: disable=abstract-class-instantiated + + def __init__( + self, + zmq_port: int = 6000, + ip_address: str = "127.0.0.1" + ): + self.zmq_port = zmq_port + self.client = self.context.socket(zmq.REQ) + zmq_url = f"tcp://{ip_address}:{self.zmq_port}" + self.client.connect(zmq_url) + self.assert_connected() + + def send(self, command): + """ + Send a message to bridge server + """ + self.client.send_multipart( + [ + command["type"].encode("utf-8"), + umsgpack.packb(command) + ] + ) + + return umsgpack.packb(self.client.recv()) + + def send_ping(self): + """ + Ping to the bridge server + """ + type = "ping" + data = umsgpack.packb({ + "type": type + }) + self.client.send_multipart( + [ + type.encode("utf-8"), + data + ] + ) + res = self.client.recv() + + return umsgpack.unpackb(res) + + def timeout_ping(self, timeout_in_sec: int = 12): + res = [Exception(f"Failed to connect to bridge server in {timeout_in_sec} seconds.")] + + def wrapper_func(): + res[0] = self.send_ping() + + thread = Thread(target=wrapper_func, daemon=True) + + try: + thread.start() + thread.join(timeout_in_sec) + except Exception as e: + print("Failed to start thread") + raise e + + ret = res[0] + if isinstance(ret, BaseException): + raise ret + + return ret + + def assert_connected(self, timeout_in_sec: int = 10): + """ + Check whether the connection has been established properly + """ + try: + print("Sending ping to the bridge server") + _ = self.timeout_ping(timeout_in_sec) + print("Successfully connected to bridge server.") + except Exception as e: + print(e) + sys.exit() + + +class Viewer: + """ + for connecting to the bridge server + """ + def __init__( + self, + zmq_port: Optional[int] = None, + window: Optional[ViewerWindow] = None, + ip_address: str = "127.0.0.1" + ): + if zmq_port is None and window is None: + raise ValueError("Must specify either zmq_port or window") + if window is None: + self.window = ViewerWindow(zmq_port, ip_address) + else: + self.window = window + + @staticmethod + def view_into(window: ViewerWindow): + """ + Returns a new viewer while keeping the same viewer window + """ + viewer = Viewer(window=window) + + return viewer + + def write(self, type: str, data: Union[Dict, str, None] = None): + """ + write data to bridge server + """ + return self.window.send({ + "type": type, + "data": data + }) + + def read(self, type: str): + """ + read data from bridge server + """ + res = self.window.send({ + "type": type + }) + return res + diff --git a/viewers/nerf_viewer/client/.gitignore b/viewers/nerf_viewer/client/.gitignore new file mode 100644 index 0000000..4d29575 --- /dev/null +++ b/viewers/nerf_viewer/client/.gitignore @@ -0,0 +1,23 @@ +# See https://help.github.com/articles/ignoring-files/ for more about ignoring files. + +# dependencies +/node_modules +/.pnp +.pnp.js + +# testing +/coverage + +# production +/build + +# misc +.DS_Store +.env.local +.env.development.local +.env.test.local +.env.production.local + +npm-debug.log* +yarn-debug.log* +yarn-error.log* diff --git a/viewers/nerf_viewer/client/README.md b/viewers/nerf_viewer/client/README.md new file mode 100644 index 0000000..58beeac --- /dev/null +++ b/viewers/nerf_viewer/client/README.md @@ -0,0 +1,70 @@ +# Getting Started with Create React App + +This project was bootstrapped with [Create React App](https://github.com/facebook/create-react-app). + +## Available Scripts + +In the project directory, you can run: + +### `npm start` + +Runs the app in the development mode.\ +Open [http://localhost:3000](http://localhost:3000) to view it in your browser. + +The page will reload when you make changes.\ +You may also see any lint errors in the console. + +### `npm test` + +Launches the test runner in the interactive watch mode.\ +See the section about [running tests](https://facebook.github.io/create-react-app/docs/running-tests) for more information. + +### `npm run build` + +Builds the app for production to the `build` folder.\ +It correctly bundles React in production mode and optimizes the build for the best performance. + +The build is minified and the filenames include the hashes.\ +Your app is ready to be deployed! + +See the section about [deployment](https://facebook.github.io/create-react-app/docs/deployment) for more information. + +### `npm run eject` + +**Note: this is a one-way operation. Once you `eject`, you can't go back!** + +If you aren't satisfied with the build tool and configuration choices, you can `eject` at any time. This command will remove the single build dependency from your project. + +Instead, it will copy all the configuration files and the transitive dependencies (webpack, Babel, ESLint, etc) right into your project so you have full control over them. All of the commands except `eject` will still work, but they will point to the copied scripts so you can tweak them. At this point you're on your own. + +You don't have to ever use `eject`. The curated feature set is suitable for small and middle deployments, and you shouldn't feel obligated to use this feature. However we understand that this tool wouldn't be useful if you couldn't customize it when you are ready for it. + +## Learn More + +You can learn more in the [Create React App documentation](https://facebook.github.io/create-react-app/docs/getting-started). + +To learn React, check out the [React documentation](https://reactjs.org/). + +### Code Splitting + +This section has moved here: [https://facebook.github.io/create-react-app/docs/code-splitting](https://facebook.github.io/create-react-app/docs/code-splitting) + +### Analyzing the Bundle Size + +This section has moved here: [https://facebook.github.io/create-react-app/docs/analyzing-the-bundle-size](https://facebook.github.io/create-react-app/docs/analyzing-the-bundle-size) + +### Making a Progressive Web App + +This section has moved here: [https://facebook.github.io/create-react-app/docs/making-a-progressive-web-app](https://facebook.github.io/create-react-app/docs/making-a-progressive-web-app) + +### Advanced Configuration + +This section has moved here: [https://facebook.github.io/create-react-app/docs/advanced-configuration](https://facebook.github.io/create-react-app/docs/advanced-configuration) + +### Deployment + +This section has moved here: [https://facebook.github.io/create-react-app/docs/deployment](https://facebook.github.io/create-react-app/docs/deployment) + +### `npm run build` fails to minify + +This section has moved here: [https://facebook.github.io/create-react-app/docs/troubleshooting#npm-run-build-fails-to-minify](https://facebook.github.io/create-react-app/docs/troubleshooting#npm-run-build-fails-to-minify) diff --git a/viewers/nerf_viewer/client/package-lock.json b/viewers/nerf_viewer/client/package-lock.json new file mode 100644 index 0000000..e5f85e5 --- /dev/null +++ b/viewers/nerf_viewer/client/package-lock.json @@ -0,0 +1,17997 @@ +{ + "name": "nerf_viewer", + "version": "0.1.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "nerf_viewer", + 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b/viewers/nerf_viewer/client/public/index.html new file mode 100644 index 0000000..0819d74 --- /dev/null +++ b/viewers/nerf_viewer/client/public/index.html @@ -0,0 +1,43 @@ + + + + + + + + + + + + + React App + + + +
    + + + diff --git a/viewers/nerf_viewer/client/public/manifest.json b/viewers/nerf_viewer/client/public/manifest.json new file mode 100644 index 0000000..1f2f141 --- /dev/null +++ b/viewers/nerf_viewer/client/public/manifest.json @@ -0,0 +1,15 @@ +{ + "short_name": "React App", + "name": "Create React App Sample", + "icons": [ + { + "src": "favicon.ico", + "sizes": "64x64 32x32 24x24 16x16", + "type": "image/x-icon" + } + ], + "start_url": ".", + "display": "standalone", + "theme_color": "#000000", + "background_color": "#ffffff" +} diff --git a/viewers/nerf_viewer/client/public/robots.txt b/viewers/nerf_viewer/client/public/robots.txt new file mode 100644 index 0000000..e9e57dc --- /dev/null +++ b/viewers/nerf_viewer/client/public/robots.txt @@ -0,0 +1,3 @@ +# https://www.robotstxt.org/robotstxt.html +User-agent: * +Disallow: diff --git a/viewers/nerf_viewer/client/src/App.css b/viewers/nerf_viewer/client/src/App.css new file mode 100644 index 0000000..1a8c21d --- /dev/null +++ b/viewers/nerf_viewer/client/src/App.css @@ -0,0 +1,38 @@ +/* .App { + text-align: center; +} + +.App-logo { + height: 40vmin; + pointer-events: none; +} + +@media (prefers-reduced-motion: no-preference) { + .App-logo { + animation: App-logo-spin infinite 20s linear; + } +} + +.App-header { + background-color: #282c34; + min-height: 100vh; + display: flex; + flex-direction: column; + align-items: center; + justify-content: center; + font-size: calc(10px + 2vmin); + color: white; +} + +.App-link { + color: #61dafb; +} + +@keyframes App-logo-spin { + from { + transform: rotate(0deg); + } + to { + transform: rotate(360deg); + } +} */ diff --git a/viewers/nerf_viewer/client/src/App.jsx b/viewers/nerf_viewer/client/src/App.jsx new file mode 100644 index 0000000..bcdb4d7 --- /dev/null +++ b/viewers/nerf_viewer/client/src/App.jsx @@ -0,0 +1,24 @@ +import './App.css'; +import Banner from './modules/Banner/Banner'; +import { CssBaseline, ThemeProvider } from '@mui/material'; +import { appTheme } from './themes/theme.ts'; +import { WebSocketListener } from './modules/WebSocket/WebSocketListener'; +import ViewerWindowConnected from './modules/ViewerPanel/ViewerWindow'; + +function App() { + + return ( + + +
    + + {/* */} +
    + +
    +
    +     + ); +} + +export default App; diff --git a/viewers/nerf_viewer/client/src/App.test.jsx b/viewers/nerf_viewer/client/src/App.test.jsx new file mode 100644 index 0000000..1f03afe --- /dev/null +++ b/viewers/nerf_viewer/client/src/App.test.jsx @@ -0,0 +1,8 @@ +import { render, screen } from '@testing-library/react'; +import App from './App'; + +test('renders learn react link', () => { + render(); + const linkElement = screen.getByText(/learn react/i); + expect(linkElement).toBeInTheDocument(); +}); diff --git a/viewers/nerf_viewer/client/src/SceneNode.js b/viewers/nerf_viewer/client/src/SceneNode.js new file mode 100644 index 0000000..8ec2e5e --- /dev/null +++ b/viewers/nerf_viewer/client/src/SceneNode.js @@ -0,0 +1,31 @@ +// /* eslint-disable no-underscore-dangle */ +// /* eslint-disable no-restricted-syntax */ +// import * as BABALON from '@babylonjs/core' + +// export default class SceneNode { +// constructor(scene: BABALON.Scene, scene_state){ +// this.metadata = {}; +// this.scene = scene; +// this.children = {}; +// this.scene_state = scene_state; +// for(const c of this.scene.rootNodes){ +// this.add_child(child_node) +// } +// } + +// get_scene_state(){ +// return this.scene_state; +// } + +// add_child(child_node){ +// const node = new SceneNode(child_node); +// this.children[child_node.name] = node; +// return node; +// } + +// create_child(name){ +// const +// } + + +// } \ No newline at end of file diff --git a/viewers/nerf_viewer/client/src/actions.jsx b/viewers/nerf_viewer/client/src/actions.jsx new file mode 100644 index 0000000..d40ba62 --- /dev/null +++ b/viewers/nerf_viewer/client/src/actions.jsx @@ -0,0 +1,51 @@ +export const UPDATE_CAMERA_TRANSLATION = "UPDATE_CAMERA_TRANSLATION" +export const UPDATE_CAMERA_ROTATION = "UPDATE_CAMERA_ROTATION" +export const UPDATE_CAMERA_FOV = "UPDATE_CAMERA_FOV" +export const UPDATE_RESOLUTION = "UPDATE_RESOLUTION" +export const UPDATE_RENDER_TYPE = "UPDATE_RENDER_TYPE" +export const UPDATE_RENDER_RESULT = "UPDATE_RENDER_RESULT" +export const UPDATE_CANVAS_SIZE = "UPDATE_CANVAS_SIZE" +export const UPDATE_WEBSOCKET_CONNECTED= "UPDATE_WEBSOCKET_CONNECTED" + +export const updateCameraFOV = (cameraFOV) => ({ + type: UPDATE_CAMERA_FOV, + data: cameraFOV +}); + +export const updateCameraTranslation = (cameraTranslation) => ({ + type: UPDATE_CAMERA_TRANSLATION, + data: cameraTranslation +}); + +export const updateCameraRotation = (cameraRotation) => ({ + type: UPDATE_CAMERA_ROTATION, + data: cameraRotation +}); + +export const updateResolution = (resolution) => ({ + type: UPDATE_RESOLUTION, + data: resolution +}); + +export const updateCanvasSize = (canvasSize) => ({ + type: UPDATE_CANVAS_SIZE, + data: canvasSize +}); + +const msgpack = require("msgpack-lite"); + +export function sendMessage(_webSocket: WebSocket, _type: String, _data){ + if (_webSocket.readyState === WebSocket.OPEN) { + const data_packet = { + type: _type, + data: _data + }; + const message = msgpack.encode(data_packet); + _webSocket.send(message); + + return true; + } + else { + return false; + } +} diff --git a/viewers/nerf_viewer/client/src/index.jsx b/viewers/nerf_viewer/client/src/index.jsx new file mode 100644 index 0000000..4bb47c0 --- /dev/null +++ b/viewers/nerf_viewer/client/src/index.jsx @@ -0,0 +1,25 @@ +import React from 'react'; +import ReactDOM from 'react-dom/client'; +import './index.scss'; +import App from './App'; +import reportWebVitals from './reportWebVitals'; +import {Provider} from 'react-redux'; +import WebSocketProvider from './modules/WebSocket/WebSocket'; +import store from './store'; + +import { ProSidebarProvider } from 'react-pro-sidebar' + +const root = ReactDOM.createRoot(document.getElementById('root')); +root.render( + + + + + + + +); +// If you want to start measuring performance in your app, pass a function +// to log results (for example: reportWebVitals(console.log)) +// or send to an analytics endpoint. Learn more: https://bit.ly/CRA-vitals +reportWebVitals(); diff --git a/viewers/nerf_viewer/client/src/index.scss b/viewers/nerf_viewer/client/src/index.scss new file mode 100644 index 0000000..1de4179 --- /dev/null +++ b/viewers/nerf_viewer/client/src/index.scss @@ -0,0 +1,138 @@ +body { + margin: 0; + font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', 'Roboto', 'Oxygen', + 'Ubuntu', 'Cantarell', 'Fira Sans', 'Droid Sans', 'Helvetica Neue', + sans-serif; + -webkit-font-smoothing: antialiased; + -moz-osx-font-smoothing: grayscale; + height: 100%; + overflow: hidden; +} + +code { + font-family: source-code-pro, Menlo, Monaco, Consolas, 'Courier New', + monospace; +} + +.App { + position: relative; + height: 100vh; +} + +div { + font-size: 8px; +} + +$base-color1: #292d39; +// $base-color2: #201f2e; +$base-color2: #222831; +$base-color3: #393e46; +$base-color4: #5071a8; +$base-color5: #ffffff; +$accent-color1: #db5200; +$accent-color2: #ff8600; +$accent-color3: #ffd369; +$highlight-color1: #606980; +$highlight-color2: #eeeeee; +$highlight-color3: #ffffff; + +// banner + +.banner{ + position: absolute; + top: 0; + left: 0; + right: 0; + height: 50px; + width: 100%; + z-index: 1000; + background-color: $base-color1; + + .banner-button{ + margin: 10px; + float: left; + } + + .banner-logo{ + margin: 10px; + margin-right: 120px; + float: right; + } +} + +.App-body{ + position: absolute; + top: 0px; + left: 0; + right: 0; + bottom: 0; +} + +$custom-border: solid 1px $base-color1; + + +.SidePanel{ + position: absolute; + background-color: $base-color2; + color: $highlight-color2; + top: 0; + //width: $SidePanel-width; + width: 20%; + right: 0; + bottom: 0; + border: $custom-border; + z-index: 999; + text-align: center; + overflow-y: scroll; +} + +// Your variable overrides +$sidebar-color: $accent-color3 !default; +$sidebar-width: 100% !default; +//@import '~react-pro-sidebar/dist/scss/styles.scss'; +// Scrollbar + +/* width */ +::-webkit-scrollbar { + width: 8px; + height: 6px; +} + +/* Track */ +::-webkit-scrollbar-track { + background: #454651; +} + +/* Handle */ +::-webkit-scrollbar-thumb { + background: $accent-color3; +} + +/* Handle on hover */ +::-webkit-scrollbar-thumb:hover { + background: $highlight-color2; +} + +// viewer +.canvas-container +.RenderResContainer{ + top: 0px; + left: 0px; + border: $custom-border; +} + +.RenderResContainer{ + position: absolute; + width: 80%; + height: 100%; + margin-left: 0px; + z-index: 1; +} + +.canvas-container{ + position: absolute; + width: 80%; + height: 100%; + margin-left: 0px; + z-index: 2; +} \ No newline at end of file diff --git a/viewers/nerf_viewer/client/src/modules/Banner/Banner.jsx b/viewers/nerf_viewer/client/src/modules/Banner/Banner.jsx new file mode 100644 index 0000000..303a054 --- /dev/null +++ b/viewers/nerf_viewer/client/src/modules/Banner/Banner.jsx @@ -0,0 +1,43 @@ +import React from 'react'; + +import Button from '@mui/material/Button' +import GithubIcon from '@mui/icons-material/GitHub' +import DescriptionOutlinedIcon from '@mui/icons-material/DescriptionRounded'; +// import CollectionsOutlinedIcon from '@mui/icons-material/CollectionsOutlined'; + +export default function Banner(){ + return( +
    + + + + +
    + logo +
    + +
    + ); +} \ No newline at end of file diff --git a/viewers/nerf_viewer/client/src/modules/RenderResContainer/RenderResContainer.jsx b/viewers/nerf_viewer/client/src/modules/RenderResContainer/RenderResContainer.jsx new file mode 100644 index 0000000..be4f607 --- /dev/null +++ b/viewers/nerf_viewer/client/src/modules/RenderResContainer/RenderResContainer.jsx @@ -0,0 +1,34 @@ +import * as React from 'react' +import { useSelector } from 'react-redux' + +export default function RenderResContainer(){ + const render_result = useSelector((state) => state.render_result); + return( + <> + { + render_result && +
    + render_result +
    + } + { + !render_result && +
    + default_render +
    + } + + ); +} + +export { RenderResContainer } \ No newline at end of file diff --git a/viewers/nerf_viewer/client/src/modules/SidePanel/SidePanel.jsx b/viewers/nerf_viewer/client/src/modules/SidePanel/SidePanel.jsx new file mode 100644 index 0000000..f3d7039 --- /dev/null +++ b/viewers/nerf_viewer/client/src/modules/SidePanel/SidePanel.jsx @@ -0,0 +1,237 @@ +import * as React from 'react'; +import { useDispatch, useSelector } from 'react-redux'; + +import { + Stack, Slider, Button, Box, Grid, Select, FormControl, + Radio, RadioGroup, FormControlLabel +} from '@mui/material'; + +import { Menu, MenuItem } from 'react-pro-sidebar'; + +import { sendMessage } from '../../actions' +import { UPDATE_CAMERA_FOV, UPDATE_RENDER_TYPE, UPDATE_RESOLUTION } from "../../actions"; + +import * as BABYLON from '@babylonjs/core'; + +export function SidePanel(props){ + const { + webSocket + } = props; + + const dispatch = useDispatch(); + + const cameraTranslation = useSelector( + (state) => state.cameraTranslation + ); + + const cameraRotation = useSelector( + (state) => state.cameraRotation + ) + + const cameraFOV = useSelector( + (state) => state.cameraFOV + ); + + const webSocketConnected = useSelector( + (state) => state.webSocketConnected + ); + + const renderType = useSelector( + (state) => state.renderType + ); + + const resolution = useSelector( + (state) => state.resolution + ); + + const canvasSize = useSelector( + (state) => state.canvasSize + ); + + const webSocketConnectedText = webSocketConnected ? "connected" : "disconnected"; + const webSocketConnectedColor = webSocketConnected ? "#008000" : "#DC143C"; + + + let cameraQuatRotation = BABYLON.Quaternion.FromRotationMatrix( + BABYLON.Matrix.FromValues( + cameraRotation[0], cameraRotation[1], cameraRotation[2], 0, + cameraRotation[3], cameraRotation[4], cameraRotation[5], 0, + cameraRotation[6], cameraRotation[7], cameraRotation[8], 0, + 0 , 0 , 0, 1, + ) + ); + let cameraEulerRotationRadians = cameraQuatRotation.toEulerAngles(); + let cameraEulerRotationDegrees = new BABYLON.Vector3( + BABYLON.Tools.ToDegrees(cameraEulerRotationRadians.x), + BABYLON.Tools.ToDegrees(cameraEulerRotationRadians.y), + BABYLON.Tools.ToDegrees(cameraEulerRotationRadians.z) + ) + + return ( +
    + + + +
    + WebSocket State: + + {webSocketConnectedText} + +
    +     + + +
    + Frame Rate: + + 0 + +
    +     + + +
    + Canvas Size: + + {canvasSize[0]}x{canvasSize[1]} + +
    +     + +
    + + Translation: + + + + + + + + + + + + + + + + + + + + + Rotation: +
    + + + + + + + + + + + + + + + +     +
    + +
    + +

    Camera FOV

    + { + dispatch({ + type: UPDATE_CAMERA_FOV, + data: value + }) + sendMessage(webSocket, UPDATE_CAMERA_FOV, value) + }} + /> +

    {cameraFOV}

    +     + +

    Render Type

    + + + + + +     + +

    Resolution:

    + + { + const value = event.target.value + + dispatch({ + type: UPDATE_RESOLUTION, + data: value + }) + sendMessage(webSocket, UPDATE_RESOLUTION, value) + }} + > + } label="480p" /> + } label="720p" /> + } label="1080p" /> + + +     +
    +
    + ); +} \ No newline at end of file diff --git a/viewers/nerf_viewer/client/src/modules/ViewerPanel/ViewerWindow.jsx b/viewers/nerf_viewer/client/src/modules/ViewerPanel/ViewerWindow.jsx new file mode 100644 index 0000000..58fc670 --- /dev/null +++ b/viewers/nerf_viewer/client/src/modules/ViewerPanel/ViewerWindow.jsx @@ -0,0 +1,417 @@ +import {useContext, useRef} from "react"; + +import { + Color3, Color4, Vector3, + Matrix, StandardMaterial, ArcRotateCamera, Quaternion, MeshBuilder, + HemisphericLight, TransformNode, Viewport, + Mesh, + ActionManager, + ExecuteCodeAction +} from "@babylonjs/core"; + +import * as BABYLON from '@babylonjs/core'; + +import { GridMaterial } from "@babylonjs/materials"; + +import { RenderResContainer } from "../RenderResContainer/RenderResContainer"; +import { SidePanel } from '../SidePanel/SidePanel'; + +import { connect } from "react-redux"; + +import '@babylonjs/loaders'; + +import { + Scene, Engine, + SceneEventArgs, +} from 'react-babylonjs'; +import { + sendMessage, + updateCameraTranslation, updateCameraRotation, updateCanvasSize, + UPDATE_CAMERA_TRANSLATION, UPDATE_CAMERA_ROTATION, UPDATE_CAMERA_FOV, UPDATE_RENDER_TYPE, UPDATE_RESOLUTION +} from "../../actions"; + +import { WebSocketContext } from "../WebSocket/WebSocket"; +import { } from '../../actions'; + +function ViewerWindow(props){ + const { + cameraFOV, renderType, resolution, + onUpdateCameraTranslation, + onUpdateCameraRotation, + onUpdateCanvasSize, + } = props; + + const webSocket = useContext(WebSocketContext).socket; + + const cameraRef = useRef(null); + + const onSceneMount = (e: SceneEventArgs) => { + const { canvas, scene } = e; + const engine = scene.getEngine(); + + scene.useRightHandedSystem = true; + + // *********************** spawn ground *********************** + const ground = MeshBuilder.CreateGround( + "ground", + {width: 100, height: 100}, + scene + ) + ground.position = new Vector3(0, 0, 0); + + const groundMat = new GridMaterial( + "groundMaterial", + scene + ); + groundMat.majorUnitFrequency = 5; + groundMat.minorUnitVisibility = 0.3; + groundMat.gridRatio = 2; + groundMat.opacity = 0.99; + groundMat.useMaxLine = true; + groundMat.lineColor = new Color3(0, 0, 0); + groundMat.mainColor = new Color3(0, 0, 0); + groundMat.backFaceCulling = false; + + ground.material = groundMat; + // *********************** spawn ground *********************** + + // *********************** spawn light *********************** + const hemiLight = new HemisphericLight( + "hemiLight", + new Vector3(0, 1, 0), + scene + ); + hemiLight.intensity = 0.95; + // *********************** spawn light *********************** + + // *********************** handle window resize *********************** + onUpdateCanvasSize([canvas.width, canvas.height]); + + function callback(){ + const width = canvas.width; + const height = canvas.height; + onUpdateCanvasSize([width, height]); + } + + function setResizeHandler(callback, timeout){ + let timer_id = undefined; + window.addEventListener("resize", function(){ + if(timer_id !== undefined){ + clearTimeout(timer_id); + timer_id = undefined; + } + timer_id = setTimeout(function(){ + timer_id = undefined; + callback(); + }, timeout) + }); + } + + setResizeHandler(callback, 0); + // *********************** handle window resize *********************** + + // *********************** spawn roaming camera *********************** + const camera = new ArcRotateCamera( + "camera", + -Math.PI / 3, + Math.PI / 3, + 10, + Vector3.Zero(), + scene + ); + camera.attachControl(); + camera.fov = BABYLON.Tools.ToRadians(cameraFOV); + camera.panningSensibility = 2000; + camera.angularSensibilityX = 2000; + camera.angularSensibilityY = 2000; + camera.maxZ = 999; + camera.minZ = 0; + camera.wheelPrecision = 50; + // prevent camera from infinite zoom in + // see https://doc.babylonjs.com/features/featuresDeepDive/behaviors/cameraBehaviors + camera.lowerRadiusLimit = 0.1; + camera.useBouncingBehavior = true; + + // enable keyboard control of camera + // see https://www.toptal.com/developers/keycode for keycode. + camera.keysUp.push(87); + camera.keysDown.push(83); + camera.keysLeft.push(65); + camera.keysRight.push(68); + + cameraRef.current = camera; + + let translation = Vector3.Zero(); + let rotation = Quaternion.Zero(); + + function get_camera_translation_and_rotation(camera: BABYLON.Camera){ + let cameraWorldMatrix = camera.getWorldMatrix(); + // let cameraTransformationMatrix = camera.getTransformationMatrix(); + // let cameraProjectionMatrix = camera.getProjectionMatrix(); + let cameraViewMatrix = camera.getViewMatrix(); + cameraWorldMatrix.decompose(null, null, translation); + // cameraTransformationMatrix.decompose(null, rotation, null); + // cameraProjectionMatrix.decompose(null, rotation, translation); + cameraViewMatrix.decompose(null, rotation, null); + const rotMat = Matrix.Zero(); + rotation.toRotationMatrix(rotMat); + + return [translation.asArray(), Array.from(Matrix.GetAsMatrix3x3(rotMat))] + } + + camera.onViewMatrixChangedObservable.add(() => { + let [camera_translation, camera_roation] = get_camera_translation_and_rotation(camera); + onUpdateCameraTranslation(camera_translation); + onUpdateCameraRotation(camera_roation); + sendMessage(webSocket, UPDATE_CAMERA_TRANSLATION, camera_translation); + sendMessage(webSocket, UPDATE_CAMERA_ROTATION, camera_roation); + }); + + camera.onProjectionMatrixChangedObservable.add(() => { + camera.fov = BABYLON.Tools.ToRadians(cameraFOV); + }); + // *********************** spawn roaming camera *********************** + + // *********************** spawn HUD camera *********************** + const cameraHUD = new ArcRotateCamera( + "cameraHUD", + -Math.PI / 3, + Math.PI / 3, + 10, + Vector3.Zero(), + scene + ); + + cameraHUD.attachControl(); + cameraHUD.lowerRadiusLimit = 0.1; + cameraHUD.layerMask = 0x20000000; + cameraHUD.viewport = new Viewport(0.90, 0.85, 0.12, 0.17); + + scene.activeCameras = [camera, cameraHUD]; // HUD camera must be the last + // *********************** spawn HUD camera *********************** + + // register camera pointer event + scene.onPointerObservable.add((eventData) => { + let rect = engine.getRenderingCanvasClientRect(); + let x = eventData.event.clientX - rect.left; + let y = eventData.event.clientY - rect.top; + + if (x >= (rect.width * 0.90) && y <= (rect.height * 0.15)){ + scene.cameraToUseForPointers = cameraHUD; + } + else { + scene.cameraToUseForPointers = camera; + } + }, BABYLON.PointerEventTypes.POINTERMOVE); + + // *********************** spawn axes *********************** + const instance = new TransformNode('axes', scene); + const size = 1; + const origin = Vector3.Zero(); + const dot = MeshBuilder.CreateSphere('hover', {diameter: size / 2, segments: 4}, scene); + const mat = new StandardMaterial('mat', scene); + mat.disableLighting = true; + mat.emissiveColor = Color3.White(); + dot.material = mat; + dot.renderingGroupId = 1; + dot.layerMask = 0x20000000; + dot.setEnabled(false); + dot.parent = instance; + + function createAxis(name: string, color: Color3, sign: Number = 1, addLabel: Boolean= false){ + const mat = new StandardMaterial(name, scene); + mat.checkReadyOnlyOnce = true; + mat.disableLighting = true; + mat.emissiveColor = color; + + if(sign < 0){ // negative axis + mat.alpha = 0.3; + mat.alphaMode = BABYLON.Engine.ALPHA_MAXIMIZED; + } + let mesh = MeshBuilder.CreateSphere(name, {diameter: size, segments: 8}, scene); + + if(sign > 0){ + const pos = origin.clone(); + pos[name] = -sign * size * 2; + const tube = MeshBuilder.CreateTube( + 'tube', + {path: [pos, origin], radius: sign / 10, cap: 1, tessellation: 6}, + scene + ); + tube.material = mat; + mesh = Mesh.MergeMeshes([mesh, tube], true); + } + mesh.position[name] = sign * size * 2; + mesh.layerMask = 0x20000000; + mesh.material = mat; + mesh.parent = instance; + mesh.id = `${sign < 0 ? '-' : ''}${name}`; + + // interaction + const actionManager = mesh.actionManager = new ActionManager(scene); + actionManager.registerAction( + new ExecuteCodeAction( + ActionManager.OnPointerOverTrigger, + ({meshUnderPointer}) => { + console.log("over trigger"); + dot.position = meshUnderPointer.position; + dot.setEnabled(true); + } + ) + ); + actionManager.registerAction( + new ExecuteCodeAction( + ActionManager.OnPointerOutTrigger, + ({meshUnderPointer}) => { + console.log("out trigger"); + dot.setEnabled(false); + } + ) + ); + actionManager.registerAction( + new ExecuteCodeAction( + ActionManager.OnLeftPickTrigger, + ({meshUnderPointer}) => { + setCameraAngle(meshUnderPointer.id); + } + ) + ); + + actionManager.hoverCursor = 'pointer'; + + return mesh; + } + + const red = new Color3(1.00, 0.10, 0.30); + const green = new Color3(0.30, 0.65, 0.10); + const blue = new Color3(0.10, 0.50, 0.90); + + createAxis('x', red, 1, true); + createAxis('x', red, -1 ); + createAxis('y', green, 1, true); + createAxis('y', green, -1 ); + createAxis('z', blue, 1, true); + createAxis('z', blue, -1 ); + + scene.onBeforeCameraRenderObservable.add(() => { + instance.position = cameraHUD.getFrontPosition(size * 10); + }); + + function setCameraAngle(id) { + switch(id) { + case 'x': + camera.alpha = cameraHUD.alpha = 0; + camera.beta = cameraHUD.beta = Math.PI / 2; + return; + case '-x': + camera.alpha = cameraHUD.alpha = -Math.PI; + camera.beta = cameraHUD.beta = Math.PI / 2; + return; + case 'y': + camera.alpha = cameraHUD.alpha = -Math.PI / 2; + camera.beta = cameraHUD.beta = 0; + return; + case '-y': + camera.alpha = cameraHUD.alpha = -Math.PI / 2; + camera.beta = cameraHUD.beta = Math.PI; + return; + case 'z': + camera.alpha = cameraHUD.alpha = Math.PI / 2; + camera.beta = cameraHUD.beta = Math.PI / 2; + return; + case '-z': + camera.alpha = cameraHUD.alpha = -Math.PI / 2; + camera.beta = cameraHUD.beta = Math.PI / 2; + return; + default: + return; + } + } + + // *********************** spawn axes *********************** + + // *********************** render loop *********************** + let bInitialStateSent = false; + + engine.runRenderLoop(() => { + if(scene){ + if(bInitialStateSent === false){ + let [cameraTranslation, cameraRotation] = get_camera_translation_and_rotation(camera); + onUpdateCameraTranslation(cameraTranslation); + onUpdateCameraRotation(cameraRotation); + + let bSent = sendMessage(webSocket, UPDATE_CAMERA_TRANSLATION, cameraTranslation); + sendMessage(webSocket, UPDATE_CAMERA_ROTATION, cameraRotation); + sendMessage(webSocket, UPDATE_CAMERA_FOV, cameraFOV); + sendMessage(webSocket, UPDATE_RENDER_TYPE, renderType); + sendMessage(webSocket, UPDATE_RESOLUTION, resolution); + + if(bSent){ + bInitialStateSent = true; + } + } + + const fpsDiv = document.getElementById('fpsDiv'); + fpsDiv.innerText = engine.getFps().toFixed() + "fps"; + } + }); + // *********************** render loop *********************** + } + + const onBeforeRenderObservable = () => { + if(cameraRef !== null){ + cameraRef.current.fov = BABYLON.Tools.ToRadians(cameraFOV); + } + } + + return ( + <> + +
    + + + + +
    + + + ); +} + +const mapDispatchToProps = (dispatch) => { + return { + onUpdateCameraTranslation: (cameraTranslation) => { + dispatch(updateCameraTranslation(cameraTranslation)) + }, + onUpdateCameraRotation: (cameraRotation) => { + dispatch(updateCameraRotation(cameraRotation)) + }, + onUpdateCanvasSize: (canvasSize) => { + dispatch(updateCanvasSize(canvasSize)) + } + } +} + +const mapStateToProps = (state) => { + return { + cameraTranslation: state.cameraTranslation, + cameraRotation: state.cameraRotation, + cameraFOV: state.cameraFOV, + renderType: state.renderType, + resolution: state.resolution, + canvasSize: state.canvasSize, + } +} + +const ViewerWindowConnected = connect( + mapStateToProps, + mapDispatchToProps +)(ViewerWindow) + +export default ViewerWindowConnected; \ No newline at end of file diff --git a/viewers/nerf_viewer/client/src/modules/WebSocket/WebSocket.jsx b/viewers/nerf_viewer/client/src/modules/WebSocket/WebSocket.jsx new file mode 100644 index 0000000..c22ff99 --- /dev/null +++ b/viewers/nerf_viewer/client/src/modules/WebSocket/WebSocket.jsx @@ -0,0 +1,79 @@ +import { createContext, useEffect } from "react"; +import { useDispatch, useSelector } from 'react-redux'; + +import PropTypes from 'prop-types'; + +import { UPDATE_WEBSOCKET_CONNECTED } from "../../actions"; + +const WebSocketContext = createContext(null); + +export { WebSocketContext }; + +export default function WebSocketContextFunction(props){ + const { children } = props; + + const dispatch = useDispatch(); + + let ws = null; + let socket = null; + + const webSocketUrl = useSelector( + (state) => state.webSocketUrl, + ); + + const connect = () => { + console.log("websocket url: " + webSocketUrl); + try{ + socket = new WebSocket(webSocketUrl); + } catch(error){ + socket = new WebSocket('ws://localhost:4567'); + } + socket.binaryType = 'arraybuffer'; + socket.onopen = () => { + console.log("websocket connected"); + dispatch({ + type: UPDATE_WEBSOCKET_CONNECTED, + data: true, + }); + }; + + socket.onclose = () => { + console.log("websocket disconnected"); + dispatch({ + type: UPDATE_WEBSOCKET_CONNECTED, + data: false, + }); + }; + + socket.onerror = (err) => { + console.error("Socket error occured: ", err.message, "Closing socket"); + socket.close(); + }; + + return socket; + }; + + useEffect(() => { + return () => { + if (socket !== null) { + socket.close(); + } + }; + }, [socket]); + + connect(); + + ws = { + socket, + }; + + return ( + + {children} + + ); +} + +WebSocketContextFunction.propTypes = { + children: PropTypes.node.isRequired, +}; \ No newline at end of file diff --git a/viewers/nerf_viewer/client/src/modules/WebSocket/WebSocketListener.jsx b/viewers/nerf_viewer/client/src/modules/WebSocket/WebSocketListener.jsx new file mode 100644 index 0000000..455db00 --- /dev/null +++ b/viewers/nerf_viewer/client/src/modules/WebSocket/WebSocketListener.jsx @@ -0,0 +1,26 @@ +import { useContext, useEffect } from "react"; +import { useDispatch } from "react-redux"; +import { WebSocketContext } from "./WebSocket"; + +import { UPDATE_RENDER_RESULT } from "../../actions"; + +const msgpack = require('msgpack-lite'); + +const WebSocketListener = () => { + const socket = useContext(WebSocketContext).socket; + const dispatch = useDispatch(); + + useEffect(() => { + socket.addEventListener('message', (originalCmd) => { + const cmd = msgpack.decode(new Uint8Array(originalCmd.data)); + if(cmd.type === UPDATE_RENDER_RESULT){ + dispatch({ + type: UPDATE_RENDER_RESULT, + data: cmd.data + }) + } + }) + }, [socket, dispatch]); +} + +export { WebSocketListener }; \ No newline at end of file diff --git a/viewers/nerf_viewer/client/src/reducer.js b/viewers/nerf_viewer/client/src/reducer.js new file mode 100644 index 0000000..7fed0dd --- /dev/null +++ b/viewers/nerf_viewer/client/src/reducer.js @@ -0,0 +1,84 @@ +import * as Actions from './actions' + +const initialState = { + cameraRotation: [ + 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 + ], + + cameraTranslation: [0.0, 0.0, 0.0], + + cameraFOV: 60, + + resolution: "720", + + webSocketConnected: false, + + webSocketUrl: 'ws://localhost:4567', + + renderType: 'rgb', + + canvasSize: [1920, 1080], + + renderResult: null, +}; + +const rootReducer = (state = initialState, action) => { + switch(action.type){ + case Actions.UPDATE_CAMERA_TRANSLATION:{ + return{ + ...state, + cameraTranslation: action.data + } + } + case Actions.UPDATE_CAMERA_ROTATION:{ + return{ + ...state, + cameraRotation: action.data + } + } + case Actions.UPDATE_CAMERA_FOV: { + return{ + ...state, + cameraFOV: action.data + } + } + case Actions.UPDATE_RESOLUTION: { + return{ + ...state, + resolution: action.data + } + } + case Actions.UPDATE_WEBSOCKET_CONNECTED: { + return{ + ...state, + webSocketConnected: action.data + } + } + case Actions.UPDATE_RENDER_TYPE: { + return{ + ...state, + renderType: action.data + } + } + case Actions.UPDATE_RENDER_RESULT: { + return{ + ...state, + render_result: action.data + } + } + case Actions.UPDATE_CANVAS_SIZE: { + return{ + ...state, + canvasSize: action.data + } + } + default: { // never + return state; + } + + } +} + +export default rootReducer; \ No newline at end of file diff --git a/viewers/nerf_viewer/client/src/reportWebVitals.js b/viewers/nerf_viewer/client/src/reportWebVitals.js new file mode 100644 index 0000000..5253d3a --- /dev/null +++ b/viewers/nerf_viewer/client/src/reportWebVitals.js @@ -0,0 +1,13 @@ +const reportWebVitals = onPerfEntry => { + if (onPerfEntry && onPerfEntry instanceof Function) { + import('web-vitals').then(({ getCLS, getFID, getFCP, getLCP, getTTFB }) => { + getCLS(onPerfEntry); + getFID(onPerfEntry); + getFCP(onPerfEntry); + getLCP(onPerfEntry); + getTTFB(onPerfEntry); + }); + } +}; + +export default reportWebVitals; diff --git a/viewers/nerf_viewer/client/src/setupTests.js b/viewers/nerf_viewer/client/src/setupTests.js new file mode 100644 index 0000000..8f2609b --- /dev/null +++ b/viewers/nerf_viewer/client/src/setupTests.js @@ -0,0 +1,5 @@ +// jest-dom adds custom jest matchers for asserting on DOM nodes. +// allows you to do things like: +// expect(element).toHaveTextContent(/react/i) +// learn more: https://github.com/testing-library/jest-dom +import '@testing-library/jest-dom'; diff --git a/viewers/nerf_viewer/client/src/store.js b/viewers/nerf_viewer/client/src/store.js new file mode 100644 index 0000000..6fea0ef --- /dev/null +++ b/viewers/nerf_viewer/client/src/store.js @@ -0,0 +1,6 @@ +import {createStore} from '@reduxjs/toolkit' +import rootReducer from './reducer'; + +const store = createStore(rootReducer); + +export default store; \ No newline at end of file diff --git a/viewers/nerf_viewer/client/src/themes/theme.ts b/viewers/nerf_viewer/client/src/themes/theme.ts new file mode 100644 index 0000000..d388c30 --- /dev/null +++ b/viewers/nerf_viewer/client/src/themes/theme.ts @@ -0,0 +1,180 @@ +import { createTheme } from '@mui/material/styles'; + +export const appTheme = createTheme({ + palette: { + primary: { main: '#EEEEEE' }, + secondary: { main: '#FFD369' }, + text: { + primary: '#EEEEEE', + secondary: '#FFD369', + disabled: '#555555', + }, + }, + components: { + MuiPaper: { + styleOverrides: { + root: { + backgroundColor: '#222831', + }, + }, + }, + // MuiIcon: { + // styleOverrides: { + // root: { + // color: '#eeeeee', + // }, + // }, + // }, + // MuiTextField: { + // styleOverrides: { + // root: { + // '& label': { + // color: '#999999', + // }, + // '& label.Mui-focused': { + // color: '#FFD369', + // }, + // '& .MuiOutlinedInput-root': { + // '& fieldset': { + // borderColor: '#555555', + // }, + // '&:hover fieldset': { + // borderColor: '#dddddd', + // }, + // '&.Mui-focused fieldset': { + // borderColor: '#FFD369', + // }, + // }, + // }, + // }, + // }, + // MuiButton: { + // defaultProps: { + // disableRipple: true, + // }, + // styleOverrides: { + // root: { + // '&.Mui-disabled': { + // color: '#999999', + // backgroundColor: '#393e46', + // }, + // }, + // }, + // }, + // MuiIconButton: { + // styleOverrides: { + // root: { + // color: '#eeeeee', + // backgroundColor: '#393e46', + // '&:hover': { + // color: '#FFD369', + // backgroundColor: '#555555', + // }, + // }, + // }, + // }, + + // MuiTab: { + // styleOverrides: { + // root: { + // fontSize: '.8rem', + // }, + // }, + // }, + // MuiDivider: { + // styleOverrides: { + // root: { + // backgroundColor: '#555555', + // }, + // }, + // }, + // MuiFilledInput: { + // styleOverrides: { + // root: { + // backgroundColor: '#393e46', + // '&:hover': { + // backgroundColor: '#555555', + // }, + // }, + // }, + // }, + // MuiInput: { + // styleOverrides: { + // root: { + // '&:before': { + // borderBottom: '2px solid #555555', + // }, + // '&:after': { + // borderBottom: '2px solid #FFD369', + // }, + // }, + // }, + // }, + // MuiToggleButtonGroup: { + // styleOverrides: { + // root: { + // color: '#eeeeee', + // backgroundColor: '#393e46', + // '&.Mui-disabled': { + // color: '#999999', + // backgroundColor: '#393e46', + // }, + // }, + // }, + // }, + // MuiToggleButton: { + // styleOverrides: { + // root: { + // color: '#eeeeee', + // backgroundColor: 'FFD369', + // '&.Mui-selected': { + // color: '#222831', + // backgroundColor: '#FFD369', + // ':hover': { + // backgroundColor: '#FFD369', + // }, + // }, + // '&.Mui-disabled': { + // color: '#999999', + // backgroundColor: '#393e46', + // }, + // }, + // }, + // }, + // MuiList: { + // styleOverrides: { + // padding: { + // paddingTop: 4, + // paddingBottom: 4, + // }, + // }, + // }, + // MuiAccordionSummary: { + // styleOverrides: { + // root: { + // '& .MuiAccordionSummary-content': { + // margin: '0px', + // }, + // '& .MuiAccordionSummary-content.Mui-expanded': { + // margin: '0px', + // }, + // }, + // }, + // }, + // MuiAccordionDetails: { + // styleOverrides: { + // root: { + // paddingTop: '4px', + // paddingBottom: '8px', + // }, + // }, + // }, + // MuiSelect: { + // styleOverrides: { + // icon: { + // color: '#eeeeee', + // }, + // }, + // }, + }, +}); diff --git a/viewers/nerf_viewer/doc/run_viewer.png b/viewers/nerf_viewer/doc/run_viewer.png new file mode 100644 index 0000000000000000000000000000000000000000..950a51da39a9e73ec7f7737544d71b50758eea0a GIT binary patch literal 119626 zcmdqJXIN8N_c!c}qmGqPR76BXN~9}@NR5gJp+%`uqe4WaL_=@M%vcbS8j2A}MhPH& z=!TY2X(0$2qy~tT7z2b5N(iY>aPFD^+_(4tdcV9M-uKCMah;rVcFx{s@3rJOY>=azzB01lF$I2~a(KZb%jZ5= ze79wP<*&c0pTBbMyy8z6s>g!~jiyXXN>D@7_&B16l)@f1;|%vBLXigE=8}^Gl}*1s;IF$s6Uf%l-~V;?KgXYK|ML-F@11i2X)r*} z8&mtAAMa!T(dX9&=Uo1m=loxH*pp? z>TRf0khgi3_n#BDY16r_X)CAuPuE)G(PN=(4Uif&!d__jU)nuPT{- zs|R^&&>+^io191S&g*XfrM>Fc_6i~^^$D?>TJhCDaSYWE`od9pg7d>S&3`VwNbcX| zC>jKWAMgKVr$hbvZ%(;<##3cL!_vK>4D5!k{Kv=l&3=GsoejzQz(94^{mW!Wb*tzl z>!xNzjAutDj5PAD1pXhtkeog(Jk2O(<)Rl)B~VzTIpuRuCq{{xng>B+@S$n#P{%!S}}dznAE zG*kq7W4kUllu5K5S+JS3-rngcZ}dvuV}W``ZTi1HImA!t3>Tjo_-o;dAYT& zXW&dk-ctB?L_X_Y&RAZ^rC4--}Ev(esxZrLEpE 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2001 From: weiyukun1 Date: Fri, 5 May 2023 12:35:35 +0800 Subject: [PATCH 02/18] [bug] fix axes viewer incorrect rotation --- .../src/modules/ViewerPanel/ViewerWindow.jsx | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/viewers/nerf_viewer/client/src/modules/ViewerPanel/ViewerWindow.jsx b/viewers/nerf_viewer/client/src/modules/ViewerPanel/ViewerWindow.jsx index 58fc670..7b9155d 100644 --- a/viewers/nerf_viewer/client/src/modules/ViewerPanel/ViewerWindow.jsx +++ b/viewers/nerf_viewer/client/src/modules/ViewerPanel/ViewerWindow.jsx @@ -111,6 +111,12 @@ function ViewerWindow(props){ // *********************** handle window resize *********************** // *********************** spawn roaming camera *********************** + + // the HUD camera must share the same sensibility configurations with the roaming camera + const panningSensibility = 2000; + const angularSensibilityX = 2000; + const angularSensibilityY = 2000; + const camera = new ArcRotateCamera( "camera", -Math.PI / 3, @@ -121,9 +127,9 @@ function ViewerWindow(props){ ); camera.attachControl(); camera.fov = BABYLON.Tools.ToRadians(cameraFOV); - camera.panningSensibility = 2000; - camera.angularSensibilityX = 2000; - camera.angularSensibilityY = 2000; + camera.panningSensibility = panningSensibility; + camera.angularSensibilityX = angularSensibilityX; + camera.angularSensibilityY = angularSensibilityY; camera.maxZ = 999; camera.minZ = 0; camera.wheelPrecision = 50; @@ -186,7 +192,10 @@ function ViewerWindow(props){ cameraHUD.lowerRadiusLimit = 0.1; cameraHUD.layerMask = 0x20000000; cameraHUD.viewport = new Viewport(0.90, 0.85, 0.12, 0.17); - + cameraHUD.panningSensibility = panningSensibility; + cameraHUD.angularSensibilityX = angularSensibilityX; + cameraHUD.angularSensibilityY = angularSensibilityY; + scene.activeCameras = [camera, cameraHUD]; // HUD camera must be the last // *********************** spawn HUD camera *********************** From 5c50bc3f8b662b316b4010a08a50305455fd7326 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Tue, 6 Jun 2023 11:15:52 +0800 Subject: [PATCH 03/18] 1. Move XRNerf web renderer from viewers/nerf_viewer/client to web_renderer/xrnerf 2. Move XRNerf bridge server from viewers/nerf_viewer/bridge_server to python/xrprimer/services/xrnerf --- .../xrprimer/services/xrnerf}/.gitignore | 0 .../xrprimer/services/xrnerf}/actions.py | 0 .../xrnerf}/bridge_server_subprocess.py | 0 .../services/xrnerf}/requirements.txt | 0 .../xrprimer/services/xrnerf}/run_viewer.py | 0 .../xrprimer/services/xrnerf}/server.py | 0 .../xrprimer/services/xrnerf}/state.py | 0 .../xrprimer/services/xrnerf}/viewer_state.py | 0 .../xrprimer/services/xrnerf}/visualizer.py | 0 viewers/nerf_viewer/client/README.md | 70 ------------------ .../client => web_renderer/xrnerf}/.gitignore | 0 .../xrnerf}/README.md | 0 .../xrnerf}/doc/run_viewer.png | Bin .../xrnerf}/doc/viewer.png | Bin .../xrnerf}/doc/viewer_compile_success.png | Bin .../xrnerf}/doc/viewer_connected.png | Bin .../xrnerf}/package-lock.json | 0 .../xrnerf}/package.json | 0 .../xrnerf}/public/OpenXRLab-logo.png | Bin .../xrnerf}/public/default_render.png | Bin .../xrnerf}/public/favicon.ico | Bin .../xrnerf}/public/index.html | 0 .../xrnerf}/public/manifest.json | 0 .../xrnerf}/public/robots.txt | 0 .../xrnerf}/src/App.css | 0 .../xrnerf}/src/App.jsx | 0 .../xrnerf}/src/App.test.jsx | 0 .../xrnerf}/src/SceneNode.js | 0 .../xrnerf}/src/actions.jsx | 0 .../xrnerf}/src/index.jsx | 0 .../xrnerf}/src/index.scss | 0 .../xrnerf}/src/modules/Banner/Banner.jsx | 0 .../RenderResContainer/RenderResContainer.jsx | 0 .../src/modules/SidePanel/SidePanel.jsx | 0 .../src/modules/ViewerPanel/ViewerWindow.jsx | 0 .../src/modules/WebSocket/WebSocket.jsx | 0 .../modules/WebSocket/WebSocketListener.jsx | 0 .../xrnerf}/src/reducer.js | 0 .../xrnerf}/src/reportWebVitals.js | 0 .../xrnerf}/src/setupTests.js | 0 .../xrnerf}/src/store.js | 0 .../xrnerf}/src/themes/theme.ts | 0 42 files changed, 70 deletions(-) rename {viewers/nerf_viewer/bridge_server => python/xrprimer/services/xrnerf}/.gitignore (100%) rename {viewers/nerf_viewer/bridge_server => python/xrprimer/services/xrnerf}/actions.py (100%) rename {viewers/nerf_viewer/bridge_server => python/xrprimer/services/xrnerf}/bridge_server_subprocess.py (100%) rename {viewers/nerf_viewer/bridge_server => python/xrprimer/services/xrnerf}/requirements.txt (100%) rename {viewers/nerf_viewer/bridge_server => python/xrprimer/services/xrnerf}/run_viewer.py (100%) rename {viewers/nerf_viewer/bridge_server => python/xrprimer/services/xrnerf}/server.py (100%) rename {viewers/nerf_viewer/bridge_server => python/xrprimer/services/xrnerf}/state.py (100%) rename {viewers/nerf_viewer/bridge_server => python/xrprimer/services/xrnerf}/viewer_state.py (100%) rename {viewers/nerf_viewer/bridge_server => python/xrprimer/services/xrnerf}/visualizer.py (100%) delete mode 100644 viewers/nerf_viewer/client/README.md rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/.gitignore (100%) rename {viewers/nerf_viewer => web_renderer/xrnerf}/README.md (100%) rename {viewers/nerf_viewer => web_renderer/xrnerf}/doc/run_viewer.png (100%) rename {viewers/nerf_viewer => web_renderer/xrnerf}/doc/viewer.png (100%) rename {viewers/nerf_viewer => web_renderer/xrnerf}/doc/viewer_compile_success.png (100%) rename {viewers/nerf_viewer => web_renderer/xrnerf}/doc/viewer_connected.png (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/package-lock.json (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/package.json (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/public/OpenXRLab-logo.png (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/public/default_render.png (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/public/favicon.ico (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/public/index.html (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/public/manifest.json (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/public/robots.txt (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/App.css (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/App.jsx (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/App.test.jsx (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/SceneNode.js (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/actions.jsx (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/index.jsx (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/index.scss (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/modules/Banner/Banner.jsx (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/modules/RenderResContainer/RenderResContainer.jsx (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/modules/SidePanel/SidePanel.jsx (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/modules/ViewerPanel/ViewerWindow.jsx (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/modules/WebSocket/WebSocket.jsx (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/modules/WebSocket/WebSocketListener.jsx (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/reducer.js (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/reportWebVitals.js (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/setupTests.js (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/store.js (100%) rename {viewers/nerf_viewer/client => web_renderer/xrnerf}/src/themes/theme.ts (100%) diff --git a/viewers/nerf_viewer/bridge_server/.gitignore b/python/xrprimer/services/xrnerf/.gitignore similarity index 100% rename from viewers/nerf_viewer/bridge_server/.gitignore rename to python/xrprimer/services/xrnerf/.gitignore diff --git a/viewers/nerf_viewer/bridge_server/actions.py b/python/xrprimer/services/xrnerf/actions.py similarity index 100% rename from viewers/nerf_viewer/bridge_server/actions.py rename to python/xrprimer/services/xrnerf/actions.py diff --git a/viewers/nerf_viewer/bridge_server/bridge_server_subprocess.py b/python/xrprimer/services/xrnerf/bridge_server_subprocess.py similarity index 100% rename from viewers/nerf_viewer/bridge_server/bridge_server_subprocess.py rename to python/xrprimer/services/xrnerf/bridge_server_subprocess.py diff --git a/viewers/nerf_viewer/bridge_server/requirements.txt b/python/xrprimer/services/xrnerf/requirements.txt similarity index 100% rename from viewers/nerf_viewer/bridge_server/requirements.txt rename to python/xrprimer/services/xrnerf/requirements.txt diff --git a/viewers/nerf_viewer/bridge_server/run_viewer.py b/python/xrprimer/services/xrnerf/run_viewer.py similarity index 100% rename from viewers/nerf_viewer/bridge_server/run_viewer.py rename to python/xrprimer/services/xrnerf/run_viewer.py diff --git a/viewers/nerf_viewer/bridge_server/server.py b/python/xrprimer/services/xrnerf/server.py similarity index 100% rename from viewers/nerf_viewer/bridge_server/server.py rename to python/xrprimer/services/xrnerf/server.py diff --git a/viewers/nerf_viewer/bridge_server/state.py b/python/xrprimer/services/xrnerf/state.py similarity index 100% rename from viewers/nerf_viewer/bridge_server/state.py rename to python/xrprimer/services/xrnerf/state.py diff --git a/viewers/nerf_viewer/bridge_server/viewer_state.py b/python/xrprimer/services/xrnerf/viewer_state.py similarity index 100% rename from viewers/nerf_viewer/bridge_server/viewer_state.py rename to python/xrprimer/services/xrnerf/viewer_state.py diff --git a/viewers/nerf_viewer/bridge_server/visualizer.py b/python/xrprimer/services/xrnerf/visualizer.py similarity index 100% rename from viewers/nerf_viewer/bridge_server/visualizer.py rename to python/xrprimer/services/xrnerf/visualizer.py diff --git a/viewers/nerf_viewer/client/README.md b/viewers/nerf_viewer/client/README.md deleted file mode 100644 index 58beeac..0000000 --- a/viewers/nerf_viewer/client/README.md +++ /dev/null @@ -1,70 +0,0 @@ -# Getting Started with Create React App - -This project was bootstrapped with [Create React App](https://github.com/facebook/create-react-app). - -## Available Scripts - -In the project directory, you can run: - -### `npm start` - -Runs the app in the development mode.\ -Open [http://localhost:3000](http://localhost:3000) to view it in your browser. - -The page will reload when you make changes.\ -You may also see any lint errors in the console. - -### `npm test` - -Launches the test runner in the interactive watch mode.\ -See the section about [running tests](https://facebook.github.io/create-react-app/docs/running-tests) for more information. - -### `npm run build` - -Builds the app for production to the `build` folder.\ -It correctly bundles React in production mode and optimizes the build for the best performance. - -The build is minified and the filenames include the hashes.\ -Your app is ready to be deployed! - -See the section about [deployment](https://facebook.github.io/create-react-app/docs/deployment) for more information. - -### `npm run eject` - -**Note: this is a one-way operation. Once you `eject`, you can't go back!** - -If you aren't satisfied with the build tool and configuration choices, you can `eject` at any time. This command will remove the single build dependency from your project. - -Instead, it will copy all the configuration files and the transitive dependencies (webpack, Babel, ESLint, etc) right into your project so you have full control over them. All of the commands except `eject` will still work, but they will point to the copied scripts so you can tweak them. At this point you're on your own. - -You don't have to ever use `eject`. The curated feature set is suitable for small and middle deployments, and you shouldn't feel obligated to use this feature. However we understand that this tool wouldn't be useful if you couldn't customize it when you are ready for it. - -## Learn More - -You can learn more in the [Create React App documentation](https://facebook.github.io/create-react-app/docs/getting-started). - -To learn React, check out the [React documentation](https://reactjs.org/). - -### Code Splitting - -This section has moved here: [https://facebook.github.io/create-react-app/docs/code-splitting](https://facebook.github.io/create-react-app/docs/code-splitting) - -### Analyzing the Bundle Size - -This section has moved here: [https://facebook.github.io/create-react-app/docs/analyzing-the-bundle-size](https://facebook.github.io/create-react-app/docs/analyzing-the-bundle-size) - -### Making a Progressive Web App - -This section has moved here: [https://facebook.github.io/create-react-app/docs/making-a-progressive-web-app](https://facebook.github.io/create-react-app/docs/making-a-progressive-web-app) - -### Advanced Configuration - -This section has moved here: [https://facebook.github.io/create-react-app/docs/advanced-configuration](https://facebook.github.io/create-react-app/docs/advanced-configuration) - -### Deployment - -This section has moved here: [https://facebook.github.io/create-react-app/docs/deployment](https://facebook.github.io/create-react-app/docs/deployment) - -### `npm run build` fails to minify - -This section has moved here: [https://facebook.github.io/create-react-app/docs/troubleshooting#npm-run-build-fails-to-minify](https://facebook.github.io/create-react-app/docs/troubleshooting#npm-run-build-fails-to-minify) diff --git a/viewers/nerf_viewer/client/.gitignore b/web_renderer/xrnerf/.gitignore similarity index 100% rename from viewers/nerf_viewer/client/.gitignore rename to web_renderer/xrnerf/.gitignore diff --git a/viewers/nerf_viewer/README.md b/web_renderer/xrnerf/README.md similarity index 100% rename from viewers/nerf_viewer/README.md rename to web_renderer/xrnerf/README.md diff --git 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b/web_renderer/xrnerf/package-lock.json similarity index 100% rename from viewers/nerf_viewer/client/package-lock.json rename to web_renderer/xrnerf/package-lock.json diff --git a/viewers/nerf_viewer/client/package.json b/web_renderer/xrnerf/package.json similarity index 100% rename from viewers/nerf_viewer/client/package.json rename to web_renderer/xrnerf/package.json diff --git a/viewers/nerf_viewer/client/public/OpenXRLab-logo.png b/web_renderer/xrnerf/public/OpenXRLab-logo.png similarity index 100% rename from viewers/nerf_viewer/client/public/OpenXRLab-logo.png rename to web_renderer/xrnerf/public/OpenXRLab-logo.png diff --git a/viewers/nerf_viewer/client/public/default_render.png b/web_renderer/xrnerf/public/default_render.png similarity index 100% rename from viewers/nerf_viewer/client/public/default_render.png rename to web_renderer/xrnerf/public/default_render.png diff --git a/viewers/nerf_viewer/client/public/favicon.ico b/web_renderer/xrnerf/public/favicon.ico similarity index 100% rename from viewers/nerf_viewer/client/public/favicon.ico rename to web_renderer/xrnerf/public/favicon.ico diff --git a/viewers/nerf_viewer/client/public/index.html b/web_renderer/xrnerf/public/index.html similarity index 100% rename from viewers/nerf_viewer/client/public/index.html rename to web_renderer/xrnerf/public/index.html diff --git a/viewers/nerf_viewer/client/public/manifest.json b/web_renderer/xrnerf/public/manifest.json similarity index 100% rename from viewers/nerf_viewer/client/public/manifest.json rename to web_renderer/xrnerf/public/manifest.json diff --git a/viewers/nerf_viewer/client/public/robots.txt b/web_renderer/xrnerf/public/robots.txt similarity index 100% rename from viewers/nerf_viewer/client/public/robots.txt rename to web_renderer/xrnerf/public/robots.txt diff --git a/viewers/nerf_viewer/client/src/App.css b/web_renderer/xrnerf/src/App.css similarity index 100% rename from viewers/nerf_viewer/client/src/App.css rename to web_renderer/xrnerf/src/App.css diff --git a/viewers/nerf_viewer/client/src/App.jsx b/web_renderer/xrnerf/src/App.jsx similarity index 100% rename from viewers/nerf_viewer/client/src/App.jsx rename to web_renderer/xrnerf/src/App.jsx diff --git a/viewers/nerf_viewer/client/src/App.test.jsx b/web_renderer/xrnerf/src/App.test.jsx similarity index 100% rename from viewers/nerf_viewer/client/src/App.test.jsx rename to web_renderer/xrnerf/src/App.test.jsx diff --git a/viewers/nerf_viewer/client/src/SceneNode.js b/web_renderer/xrnerf/src/SceneNode.js similarity index 100% rename from viewers/nerf_viewer/client/src/SceneNode.js rename to web_renderer/xrnerf/src/SceneNode.js diff --git a/viewers/nerf_viewer/client/src/actions.jsx b/web_renderer/xrnerf/src/actions.jsx similarity index 100% rename from viewers/nerf_viewer/client/src/actions.jsx rename to web_renderer/xrnerf/src/actions.jsx diff --git a/viewers/nerf_viewer/client/src/index.jsx b/web_renderer/xrnerf/src/index.jsx similarity index 100% rename from viewers/nerf_viewer/client/src/index.jsx rename to web_renderer/xrnerf/src/index.jsx diff --git a/viewers/nerf_viewer/client/src/index.scss b/web_renderer/xrnerf/src/index.scss similarity index 100% rename from viewers/nerf_viewer/client/src/index.scss rename to web_renderer/xrnerf/src/index.scss diff --git a/viewers/nerf_viewer/client/src/modules/Banner/Banner.jsx b/web_renderer/xrnerf/src/modules/Banner/Banner.jsx similarity index 100% rename from viewers/nerf_viewer/client/src/modules/Banner/Banner.jsx rename to web_renderer/xrnerf/src/modules/Banner/Banner.jsx diff --git a/viewers/nerf_viewer/client/src/modules/RenderResContainer/RenderResContainer.jsx b/web_renderer/xrnerf/src/modules/RenderResContainer/RenderResContainer.jsx similarity index 100% rename from viewers/nerf_viewer/client/src/modules/RenderResContainer/RenderResContainer.jsx rename to web_renderer/xrnerf/src/modules/RenderResContainer/RenderResContainer.jsx diff --git a/viewers/nerf_viewer/client/src/modules/SidePanel/SidePanel.jsx b/web_renderer/xrnerf/src/modules/SidePanel/SidePanel.jsx similarity index 100% rename from viewers/nerf_viewer/client/src/modules/SidePanel/SidePanel.jsx rename to web_renderer/xrnerf/src/modules/SidePanel/SidePanel.jsx diff --git a/viewers/nerf_viewer/client/src/modules/ViewerPanel/ViewerWindow.jsx b/web_renderer/xrnerf/src/modules/ViewerPanel/ViewerWindow.jsx similarity index 100% rename from viewers/nerf_viewer/client/src/modules/ViewerPanel/ViewerWindow.jsx rename to web_renderer/xrnerf/src/modules/ViewerPanel/ViewerWindow.jsx diff --git a/viewers/nerf_viewer/client/src/modules/WebSocket/WebSocket.jsx b/web_renderer/xrnerf/src/modules/WebSocket/WebSocket.jsx similarity index 100% rename from viewers/nerf_viewer/client/src/modules/WebSocket/WebSocket.jsx rename to web_renderer/xrnerf/src/modules/WebSocket/WebSocket.jsx diff --git a/viewers/nerf_viewer/client/src/modules/WebSocket/WebSocketListener.jsx b/web_renderer/xrnerf/src/modules/WebSocket/WebSocketListener.jsx similarity index 100% rename from viewers/nerf_viewer/client/src/modules/WebSocket/WebSocketListener.jsx rename to web_renderer/xrnerf/src/modules/WebSocket/WebSocketListener.jsx diff --git a/viewers/nerf_viewer/client/src/reducer.js b/web_renderer/xrnerf/src/reducer.js similarity index 100% rename from viewers/nerf_viewer/client/src/reducer.js rename to web_renderer/xrnerf/src/reducer.js diff --git a/viewers/nerf_viewer/client/src/reportWebVitals.js b/web_renderer/xrnerf/src/reportWebVitals.js similarity index 100% rename from viewers/nerf_viewer/client/src/reportWebVitals.js rename to web_renderer/xrnerf/src/reportWebVitals.js diff --git a/viewers/nerf_viewer/client/src/setupTests.js b/web_renderer/xrnerf/src/setupTests.js similarity index 100% rename from viewers/nerf_viewer/client/src/setupTests.js rename to web_renderer/xrnerf/src/setupTests.js diff --git a/viewers/nerf_viewer/client/src/store.js b/web_renderer/xrnerf/src/store.js similarity index 100% rename from viewers/nerf_viewer/client/src/store.js rename to web_renderer/xrnerf/src/store.js diff --git a/viewers/nerf_viewer/client/src/themes/theme.ts b/web_renderer/xrnerf/src/themes/theme.ts similarity index 100% rename from viewers/nerf_viewer/client/src/themes/theme.ts rename to web_renderer/xrnerf/src/themes/theme.ts From 1e4735bc1dba47e35a668d5b60cc6c4302e0d3a3 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Tue, 6 Jun 2023 13:24:20 +0800 Subject: [PATCH 04/18] 1. Fix axes viewer negative axis color blending mode 2. Optimized data flow that greatly reduces the react dom element refresh frequency --- web_renderer/xrnerf/src/App.jsx | 6 +- .../src/modules/SidePanel/SidePanel.jsx | 59 ++++-------- .../src/modules/ViewerPanel/ViewerWindow.jsx | 90 ++++++++++++------- 3 files changed, 77 insertions(+), 78 deletions(-) diff --git a/web_renderer/xrnerf/src/App.jsx b/web_renderer/xrnerf/src/App.jsx index bcdb4d7..9a9dd87 100644 --- a/web_renderer/xrnerf/src/App.jsx +++ b/web_renderer/xrnerf/src/App.jsx @@ -1,5 +1,7 @@ import './App.css'; -import Banner from './modules/Banner/Banner'; +// TODO: determine whether we need a banner +// import Banner from './modules/Banner/Banner'; +import { SidePanel } from './modules/SidePanel/SidePanel'; import { CssBaseline, ThemeProvider } from '@mui/material'; import { appTheme } from './themes/theme.ts'; import { WebSocketListener } from './modules/WebSocket/WebSocketListener'; @@ -12,9 +14,11 @@ function App() {

      diff --git a/web_renderer/xrnerf/src/modules/SidePanel/SidePanel.jsx b/web_renderer/xrnerf/src/modules/SidePanel/SidePanel.jsx index f3d7039..37ce34b 100644 --- a/web_renderer/xrnerf/src/modules/SidePanel/SidePanel.jsx +++ b/web_renderer/xrnerf/src/modules/SidePanel/SidePanel.jsx @@ -10,24 +10,16 @@ import { Menu, MenuItem } from 'react-pro-sidebar'; import { sendMessage } from '../../actions' import { UPDATE_CAMERA_FOV, UPDATE_RENDER_TYPE, UPDATE_RESOLUTION } from "../../actions"; - -import * as BABYLON from '@babylonjs/core'; - -export function SidePanel(props){ - const { - webSocket - } = props; - +import { WebSocketContext } from "../WebSocket/WebSocket"; +// import * as BABYLON from '@babylonjs/core'; + +export function SidePanel(){ + // const { + // webSocket + // } = props; + const webSocket = React.useContext(WebSocketContext).socket; const dispatch = useDispatch(); - const cameraTranslation = useSelector( - (state) => state.cameraTranslation - ); - - const cameraRotation = useSelector( - (state) => state.cameraRotation - ) - const cameraFOV = useSelector( (state) => state.cameraFOV ); @@ -44,28 +36,9 @@ export function SidePanel(props){ (state) => state.resolution ); - const canvasSize = useSelector( - (state) => state.canvasSize - ); - const webSocketConnectedText = webSocketConnected ? "connected" : "disconnected"; const webSocketConnectedColor = webSocketConnected ? "#008000" : "#DC143C"; - - - let cameraQuatRotation = BABYLON.Quaternion.FromRotationMatrix( - BABYLON.Matrix.FromValues( - cameraRotation[0], cameraRotation[1], cameraRotation[2], 0, - cameraRotation[3], cameraRotation[4], cameraRotation[5], 0, - cameraRotation[6], cameraRotation[7], cameraRotation[8], 0, - 0 , 0 , 0, 1, - ) - ); - let cameraEulerRotationRadians = cameraQuatRotation.toEulerAngles(); - let cameraEulerRotationDegrees = new BABYLON.Vector3( - BABYLON.Tools.ToDegrees(cameraEulerRotationRadians.x), - BABYLON.Tools.ToDegrees(cameraEulerRotationRadians.y), - BABYLON.Tools.ToDegrees(cameraEulerRotationRadians.z) - ) + console.log(Date.now()); return (
      @@ -105,7 +78,7 @@ export function SidePanel(props){
      Canvas Size: - {canvasSize[0]}x{canvasSize[1]} + 0x0
      @@ -119,17 +92,17 @@ export function SidePanel(props){ @@ -146,17 +119,17 @@ export function SidePanel(props){ diff --git a/web_renderer/xrnerf/src/modules/ViewerPanel/ViewerWindow.jsx b/web_renderer/xrnerf/src/modules/ViewerPanel/ViewerWindow.jsx index 7b9155d..654e3d3 100644 --- a/web_renderer/xrnerf/src/modules/ViewerPanel/ViewerWindow.jsx +++ b/web_renderer/xrnerf/src/modules/ViewerPanel/ViewerWindow.jsx @@ -1,28 +1,20 @@ import {useContext, useRef} from "react"; import { - Color3, Color4, Vector3, - Matrix, StandardMaterial, ArcRotateCamera, Quaternion, MeshBuilder, - HemisphericLight, TransformNode, Viewport, - Mesh, - ActionManager, - ExecuteCodeAction + Color3, Color4, Vector3, Matrix, StandardMaterial, ArcRotateCamera, Quaternion, Mesh, MeshBuilder, + HemisphericLight, TransformNode, Viewport, ActionManager, ExecuteCodeAction } from "@babylonjs/core"; - import * as BABYLON from '@babylonjs/core'; - +import '@babylonjs/loaders'; import { GridMaterial } from "@babylonjs/materials"; import { RenderResContainer } from "../RenderResContainer/RenderResContainer"; -import { SidePanel } from '../SidePanel/SidePanel'; import { connect } from "react-redux"; -import '@babylonjs/loaders'; import { - Scene, Engine, - SceneEventArgs, + Scene, Engine, SceneEventArgs, } from 'react-babylonjs'; import { sendMessage, @@ -31,7 +23,6 @@ import { } from "../../actions"; import { WebSocketContext } from "../WebSocket/WebSocket"; -import { } from '../../actions'; function ViewerWindow(props){ const { @@ -85,12 +76,18 @@ function ViewerWindow(props){ // *********************** spawn light *********************** // *********************** handle window resize *********************** + const canvasSizeXDiv = document.getElementById('canvasSizeX'); + const canvasSizeYDiv = document.getElementById('canvasSizeY'); + canvasSizeXDiv.innerText = canvas.width.toFixed(0); + canvasSizeYDiv.innerText = canvas.height.toFixed(0); onUpdateCanvasSize([canvas.width, canvas.height]); function callback(){ const width = canvas.width; const height = canvas.height; onUpdateCanvasSize([width, height]); + canvasSizeXDiv.innerText = width.toFixed(0); + canvasSizeYDiv.innerText = height.toFixed(0); } function setResizeHandler(callback, timeout){ @@ -152,25 +149,51 @@ function ViewerWindow(props){ function get_camera_translation_and_rotation(camera: BABYLON.Camera){ let cameraWorldMatrix = camera.getWorldMatrix(); - // let cameraTransformationMatrix = camera.getTransformationMatrix(); - // let cameraProjectionMatrix = camera.getProjectionMatrix(); let cameraViewMatrix = camera.getViewMatrix(); - cameraWorldMatrix.decompose(null, null, translation); - // cameraTransformationMatrix.decompose(null, rotation, null); - // cameraProjectionMatrix.decompose(null, rotation, translation); + cameraWorldMatrix.decompose(null, null, translation); cameraViewMatrix.decompose(null, rotation, null); const rotMat = Matrix.Zero(); rotation.toRotationMatrix(rotMat); - return [translation.asArray(), Array.from(Matrix.GetAsMatrix3x3(rotMat))] + return { + trans_vec: translation, + rot_mat: rotMat + } } + const cameraTransXDiv = document.getElementById('cameraTransX'); + const cameraTransYDiv = document.getElementById('cameraTransY'); + const cameraTransZDiv = document.getElementById('cameraTransZ'); + const cameraRotationXDiv = document.getElementById('cameraRotationX'); + const cameraRotationYDiv = document.getElementById('cameraRotationY'); + const cameraRotationZDiv = document.getElementById('cameraRotationZ'); + camera.onViewMatrixChangedObservable.add(() => { - let [camera_translation, camera_roation] = get_camera_translation_and_rotation(camera); - onUpdateCameraTranslation(camera_translation); - onUpdateCameraRotation(camera_roation); - sendMessage(webSocket, UPDATE_CAMERA_TRANSLATION, camera_translation); - sendMessage(webSocket, UPDATE_CAMERA_ROTATION, camera_roation); + let camera_extrinsic = get_camera_translation_and_rotation(camera); + let camera_translation = camera_extrinsic.trans_vec; + let camera_rotation = camera_extrinsic.rot_mat; + let cameraEulerRotationRadians = Quaternion.FromRotationMatrix(camera_rotation).toEulerAngles(); + let cameraEulerRotationDegrees = new BABYLON.Vector3( + BABYLON.Tools.ToDegrees(cameraEulerRotationRadians.x), + BABYLON.Tools.ToDegrees(cameraEulerRotationRadians.y), + BABYLON.Tools.ToDegrees(cameraEulerRotationRadians.z) + ); + + // set side panel camera extrinsic display + cameraTransXDiv.innerText = camera_translation.x.toFixed(2); + cameraTransYDiv.innerText = camera_translation.y.toFixed(2); + cameraTransZDiv.innerText = camera_translation.z.toFixed(2); + cameraRotationXDiv.innerText = cameraEulerRotationDegrees.x.toFixed(2); + cameraRotationYDiv.innerText = cameraEulerRotationDegrees.y.toFixed(2); + cameraRotationZDiv.innerText = cameraEulerRotationDegrees.z.toFixed(2); + + // send camera extrinsic to bridge server + let trans_arr = camera_translation.asArray(); + let rot_arr = Array.from(Matrix.GetAsMatrix3x3(camera_rotation)); + onUpdateCameraTranslation(trans_arr); + onUpdateCameraRotation(rot_arr); + sendMessage(webSocket, UPDATE_CAMERA_TRANSLATION, trans_arr); + sendMessage(webSocket, UPDATE_CAMERA_ROTATION, rot_arr); }); camera.onProjectionMatrixChangedObservable.add(() => { @@ -235,7 +258,7 @@ function ViewerWindow(props){ if(sign < 0){ // negative axis mat.alpha = 0.3; - mat.alphaMode = BABYLON.Engine.ALPHA_MAXIMIZED; + mat.alphaMode = BABYLON.Engine.ALPHA_COMBINE; } let mesh = MeshBuilder.CreateSphere(name, {diameter: size, segments: 8}, scene); @@ -345,12 +368,14 @@ function ViewerWindow(props){ engine.runRenderLoop(() => { if(scene){ if(bInitialStateSent === false){ - let [cameraTranslation, cameraRotation] = get_camera_translation_and_rotation(camera); - onUpdateCameraTranslation(cameraTranslation); - onUpdateCameraRotation(cameraRotation); - - let bSent = sendMessage(webSocket, UPDATE_CAMERA_TRANSLATION, cameraTranslation); - sendMessage(webSocket, UPDATE_CAMERA_ROTATION, cameraRotation); + let camera_extrinsic = get_camera_translation_and_rotation(camera); + let trans_arr = camera_extrinsic.trans_vec.asArray(); + let rot_arr = Array.from(Matrix.GetAsMatrix3x3(camera_extrinsic.rot_mat)); + onUpdateCameraTranslation(trans_arr); + onUpdateCameraRotation(rot_arr); + + let bSent = sendMessage(webSocket, UPDATE_CAMERA_TRANSLATION, trans_arr); + sendMessage(webSocket, UPDATE_CAMERA_ROTATION, rot_arr); sendMessage(webSocket, UPDATE_CAMERA_FOV, cameraFOV); sendMessage(webSocket, UPDATE_RENDER_TYPE, renderType); sendMessage(webSocket, UPDATE_RESOLUTION, resolution); @@ -386,9 +411,6 @@ function ViewerWindow(props){
      - ); } From bce618d09a5d4d0089ccf9dff73b6ea0d8ea84e1 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Tue, 6 Jun 2023 14:33:30 +0800 Subject: [PATCH 05/18] [improvement] remove redundant redux stored variables --- web_renderer/xrnerf/src/actions.jsx | 25 ------------ .../src/modules/SidePanel/SidePanel.jsx | 4 -- .../src/modules/ViewerPanel/ViewerWindow.jsx | 40 ++++--------------- web_renderer/xrnerf/src/reducer.js | 28 ------------- 4 files changed, 8 insertions(+), 89 deletions(-) diff --git a/web_renderer/xrnerf/src/actions.jsx b/web_renderer/xrnerf/src/actions.jsx index d40ba62..bfde1c4 100644 --- a/web_renderer/xrnerf/src/actions.jsx +++ b/web_renderer/xrnerf/src/actions.jsx @@ -7,31 +7,6 @@ export const UPDATE_RENDER_RESULT = "UPDATE_RENDER_RESULT" export const UPDATE_CANVAS_SIZE = "UPDATE_CANVAS_SIZE" export const UPDATE_WEBSOCKET_CONNECTED= "UPDATE_WEBSOCKET_CONNECTED" -export const updateCameraFOV = (cameraFOV) => ({ - type: UPDATE_CAMERA_FOV, - data: cameraFOV -}); - -export const updateCameraTranslation = (cameraTranslation) => ({ - type: UPDATE_CAMERA_TRANSLATION, - data: cameraTranslation -}); - -export const updateCameraRotation = (cameraRotation) => ({ - type: UPDATE_CAMERA_ROTATION, - data: cameraRotation -}); - -export const updateResolution = (resolution) => ({ - type: UPDATE_RESOLUTION, - data: resolution -}); - -export const updateCanvasSize = (canvasSize) => ({ - type: UPDATE_CANVAS_SIZE, - data: canvasSize -}); - const msgpack = require("msgpack-lite"); export function sendMessage(_webSocket: WebSocket, _type: String, _data){ diff --git a/web_renderer/xrnerf/src/modules/SidePanel/SidePanel.jsx b/web_renderer/xrnerf/src/modules/SidePanel/SidePanel.jsx index 37ce34b..eb637df 100644 --- a/web_renderer/xrnerf/src/modules/SidePanel/SidePanel.jsx +++ b/web_renderer/xrnerf/src/modules/SidePanel/SidePanel.jsx @@ -11,12 +11,8 @@ import { Menu, MenuItem } from 'react-pro-sidebar'; import { sendMessage } from '../../actions' import { UPDATE_CAMERA_FOV, UPDATE_RENDER_TYPE, UPDATE_RESOLUTION } from "../../actions"; import { WebSocketContext } from "../WebSocket/WebSocket"; -// import * as BABYLON from '@babylonjs/core'; export function SidePanel(){ - // const { - // webSocket - // } = props; const webSocket = React.useContext(WebSocketContext).socket; const dispatch = useDispatch(); diff --git a/web_renderer/xrnerf/src/modules/ViewerPanel/ViewerWindow.jsx b/web_renderer/xrnerf/src/modules/ViewerPanel/ViewerWindow.jsx index 654e3d3..1625851 100644 --- a/web_renderer/xrnerf/src/modules/ViewerPanel/ViewerWindow.jsx +++ b/web_renderer/xrnerf/src/modules/ViewerPanel/ViewerWindow.jsx @@ -1,5 +1,6 @@ import {useContext, useRef} from "react"; - +import { connect } from "react-redux"; +import { Scene, Engine, SceneEventArgs} from 'react-babylonjs'; import { Color3, Color4, Vector3, Matrix, StandardMaterial, ArcRotateCamera, Quaternion, Mesh, MeshBuilder, HemisphericLight, TransformNode, Viewport, ActionManager, ExecuteCodeAction @@ -7,33 +8,18 @@ import { import * as BABYLON from '@babylonjs/core'; import '@babylonjs/loaders'; import { GridMaterial } from "@babylonjs/materials"; - import { RenderResContainer } from "../RenderResContainer/RenderResContainer"; - -import { connect } from "react-redux"; - - -import { - Scene, Engine, SceneEventArgs, -} from 'react-babylonjs'; +import { WebSocketContext } from "../WebSocket/WebSocket"; import { sendMessage, - updateCameraTranslation, updateCameraRotation, updateCanvasSize, UPDATE_CAMERA_TRANSLATION, UPDATE_CAMERA_ROTATION, UPDATE_CAMERA_FOV, UPDATE_RENDER_TYPE, UPDATE_RESOLUTION } from "../../actions"; -import { WebSocketContext } from "../WebSocket/WebSocket"; - function ViewerWindow(props){ const { cameraFOV, renderType, resolution, - onUpdateCameraTranslation, - onUpdateCameraRotation, - onUpdateCanvasSize, } = props; - const webSocket = useContext(WebSocketContext).socket; - const cameraRef = useRef(null); const onSceneMount = (e: SceneEventArgs) => { @@ -80,12 +66,12 @@ function ViewerWindow(props){ const canvasSizeYDiv = document.getElementById('canvasSizeY'); canvasSizeXDiv.innerText = canvas.width.toFixed(0); canvasSizeYDiv.innerText = canvas.height.toFixed(0); - onUpdateCanvasSize([canvas.width, canvas.height]); + // onUpdateCanvasSize([canvas.width, canvas.height]); function callback(){ const width = canvas.width; const height = canvas.height; - onUpdateCanvasSize([width, height]); + // onUpdateCanvasSize([width, height]); canvasSizeXDiv.innerText = width.toFixed(0); canvasSizeYDiv.innerText = height.toFixed(0); } @@ -190,8 +176,8 @@ function ViewerWindow(props){ // send camera extrinsic to bridge server let trans_arr = camera_translation.asArray(); let rot_arr = Array.from(Matrix.GetAsMatrix3x3(camera_rotation)); - onUpdateCameraTranslation(trans_arr); - onUpdateCameraRotation(rot_arr); + // onUpdateCameraTranslation(trans_arr); + // onUpdateCameraRotation(rot_arr); sendMessage(webSocket, UPDATE_CAMERA_TRANSLATION, trans_arr); sendMessage(webSocket, UPDATE_CAMERA_ROTATION, rot_arr); }); @@ -371,8 +357,6 @@ function ViewerWindow(props){ let camera_extrinsic = get_camera_translation_and_rotation(camera); let trans_arr = camera_extrinsic.trans_vec.asArray(); let rot_arr = Array.from(Matrix.GetAsMatrix3x3(camera_extrinsic.rot_mat)); - onUpdateCameraTranslation(trans_arr); - onUpdateCameraRotation(rot_arr); let bSent = sendMessage(webSocket, UPDATE_CAMERA_TRANSLATION, trans_arr); sendMessage(webSocket, UPDATE_CAMERA_ROTATION, rot_arr); @@ -380,6 +364,7 @@ function ViewerWindow(props){ sendMessage(webSocket, UPDATE_RENDER_TYPE, renderType); sendMessage(webSocket, UPDATE_RESOLUTION, resolution); + // make sure the camera params are successfully sent to the backend if(bSent){ bInitialStateSent = true; } @@ -417,15 +402,6 @@ function ViewerWindow(props){ const mapDispatchToProps = (dispatch) => { return { - onUpdateCameraTranslation: (cameraTranslation) => { - dispatch(updateCameraTranslation(cameraTranslation)) - }, - onUpdateCameraRotation: (cameraRotation) => { - dispatch(updateCameraRotation(cameraRotation)) - }, - onUpdateCanvasSize: (canvasSize) => { - dispatch(updateCanvasSize(canvasSize)) - } } } diff --git a/web_renderer/xrnerf/src/reducer.js b/web_renderer/xrnerf/src/reducer.js index 7fed0dd..be57f1e 100644 --- a/web_renderer/xrnerf/src/reducer.js +++ b/web_renderer/xrnerf/src/reducer.js @@ -1,14 +1,6 @@ import * as Actions from './actions' const initialState = { - cameraRotation: [ - 1.0, 0.0, 0.0, - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0 - ], - - cameraTranslation: [0.0, 0.0, 0.0], - cameraFOV: 60, resolution: "720", @@ -19,25 +11,11 @@ const initialState = { renderType: 'rgb', - canvasSize: [1920, 1080], - renderResult: null, }; const rootReducer = (state = initialState, action) => { switch(action.type){ - case Actions.UPDATE_CAMERA_TRANSLATION:{ - return{ - ...state, - cameraTranslation: action.data - } - } - case Actions.UPDATE_CAMERA_ROTATION:{ - return{ - ...state, - cameraRotation: action.data - } - } case Actions.UPDATE_CAMERA_FOV: { return{ ...state, @@ -68,12 +46,6 @@ const rootReducer = (state = initialState, action) => { render_result: action.data } } - case Actions.UPDATE_CANVAS_SIZE: { - return{ - ...state, - canvasSize: action.data - } - } default: { // never return state; } From 3198d9b01cc7533c46fefcb66202742c2db4a146 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Tue, 6 Jun 2023 14:52:03 +0800 Subject: [PATCH 06/18] [improvement] renamed page title from 'React App' to 'XRNeRF' --- web_renderer/xrnerf/public/index.html | 2 +- web_renderer/xrnerf/public/manifest.json | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/web_renderer/xrnerf/public/index.html b/web_renderer/xrnerf/public/index.html index 0819d74..9395031 100644 --- a/web_renderer/xrnerf/public/index.html +++ b/web_renderer/xrnerf/public/index.html @@ -24,7 +24,7 @@ work correctly both with client-side routing and a non-root public URL. Learn how to configure a non-root public URL by running `npm run build`. --> - React App + XRNeRF diff --git a/web_renderer/xrnerf/public/manifest.json b/web_renderer/xrnerf/public/manifest.json index 1f2f141..e6fa33e 100644 --- a/web_renderer/xrnerf/public/manifest.json +++ b/web_renderer/xrnerf/public/manifest.json @@ -1,6 +1,6 @@ { - "short_name": "React App", - "name": "Create React App Sample", + "short_name": "XRNeRF", + "name": "XRNeRF Web Renderer", "icons": [ { "src": "favicon.ico", From 75e9ecf15beaf3ee46f73b34eef88fdec579b26d Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Tue, 6 Jun 2023 16:07:55 +0800 Subject: [PATCH 07/18] [feature] add web renderer startup script --- web_renderer/xrnerf/start.bat | 1 + 1 file changed, 1 insertion(+) create mode 100644 web_renderer/xrnerf/start.bat diff --git a/web_renderer/xrnerf/start.bat b/web_renderer/xrnerf/start.bat new file mode 100644 index 0000000..7512a7e --- /dev/null +++ b/web_renderer/xrnerf/start.bat @@ -0,0 +1 @@ +npm start \ No newline at end of file From af5a7df19ad8d125cfaae622dedf812ae939226f Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Tue, 6 Jun 2023 16:11:25 +0800 Subject: [PATCH 08/18] 1.[bug] Fix port id input issue 2.[improvement] Introduced 'typer' for CLI parsing and better printing functionality --- python/xrprimer/services/xrnerf/actions.py | 7 ---- ..._server_subprocess.py => bridge_server.py} | 3 +- .../xrprimer/services/xrnerf/requirements.txt | 3 +- .../services/xrnerf/{run_viewer.py => run.py} | 0 python/xrprimer/services/xrnerf/server.py | 34 ++++++++----------- python/xrprimer/services/xrnerf/state.py | 2 +- .../xrprimer/services/xrnerf/viewer_state.py | 15 ++++---- python/xrprimer/services/xrnerf/visualizer.py | 7 ++-- 8 files changed, 32 insertions(+), 39 deletions(-) rename python/xrprimer/services/xrnerf/{bridge_server_subprocess.py => bridge_server.py} (95%) rename python/xrprimer/services/xrnerf/{run_viewer.py => run.py} (100%) diff --git a/python/xrprimer/services/xrnerf/actions.py b/python/xrprimer/services/xrnerf/actions.py index 60cb364..e75a6c8 100644 --- a/python/xrprimer/services/xrnerf/actions.py +++ b/python/xrprimer/services/xrnerf/actions.py @@ -3,21 +3,14 @@ """ """for viewer""" - UPDATE_CAMERA_TRANSLATION = "UPDATE_CAMERA_TRANSLATION" - UPDATE_CAMERA_ROTATION = "UPDATE_CAMERA_ROTATION" - UPDATE_CAMERA_FOV = "UPDATE_CAMERA_FOV" - UPDATE_RESOLUTION = "UPDATE_RESOLUTION" - UPDATE_RENDER_TYPE = "UPDATE_RENDER_TYPE" """for nerf backend""" - # update the scene state UPDATE_STATE = "UPDATE_STATE" - UPDATE_RENDER_RESULT = "UPDATE_RENDER_RESULT" diff --git a/python/xrprimer/services/xrnerf/bridge_server_subprocess.py b/python/xrprimer/services/xrnerf/bridge_server.py similarity index 95% rename from python/xrprimer/services/xrnerf/bridge_server_subprocess.py rename to python/xrprimer/services/xrnerf/bridge_server.py index d31bfa2..db2e922 100644 --- a/python/xrprimer/services/xrnerf/bridge_server_subprocess.py +++ b/python/xrprimer/services/xrnerf/bridge_server.py @@ -35,7 +35,7 @@ def get_free_port(default_port: int = None): return port -def run_bridge_server_as_subprocess( +def start_bridge_server( websocket_port: int, zmq_port: Optional[int] = None, ip_address: str = "127.0.0.1", @@ -73,6 +73,7 @@ def poll_process(): cleanup(process) # windows system do not have signal.SIGKILL + # TODO: make sure the kill operation still works on Linux systems # os.kill(os.getpid(), signal.SIGKILL) os.kill(os.getpid(), signal.SIGINT) diff --git a/python/xrprimer/services/xrnerf/requirements.txt b/python/xrprimer/services/xrnerf/requirements.txt index 19ab2d3..b949bfd 100644 --- a/python/xrprimer/services/xrnerf/requirements.txt +++ b/python/xrprimer/services/xrnerf/requirements.txt @@ -1,5 +1,6 @@ pyzmq==25.0.2 -pyngrok==5.2.1 tornado umsgpack==0.1.0 +typer==0.9.0 +rich==13.3.5 opencv-contrib-python==4.5.3.56 \ No newline at end of file diff --git a/python/xrprimer/services/xrnerf/run_viewer.py b/python/xrprimer/services/xrnerf/run.py similarity index 100% rename from python/xrprimer/services/xrnerf/run_viewer.py rename to python/xrprimer/services/xrnerf/run.py diff --git a/python/xrprimer/services/xrnerf/server.py b/python/xrprimer/services/xrnerf/server.py index 53d2fe4..f28d0c4b 100644 --- a/python/xrprimer/services/xrnerf/server.py +++ b/python/xrprimer/services/xrnerf/server.py @@ -13,16 +13,16 @@ # ZeroMQ: for messaging import zmq -import zmq.eventloop.ioloop +# import zmq.eventloop.ioloop from zmq.eventloop.zmqstream import ZMQStream -from pyngrok import ngrok - from actions import \ UPDATE_CAMERA_FOV, UPDATE_CAMERA_ROTATION, UPDATE_CAMERA_TRANSLATION, \ UPDATE_RENDER_TYPE, UPDATE_RESOLUTION, UPDATE_STATE, UPDATE_RENDER_RESULT from state import State +from typer import Option, run +from rich import print class WebSocketHandler(tornado.websocket.WebSocketHandler): # pylint: disable=abstract-method @@ -37,7 +37,7 @@ def check_origin(self, origin: str) -> bool: def open(self, *args: str, **kwargs: str): self.bridge.websocket_pool.add(self) - print("opened:", self, file=sys.stderr) + print(f"[bold green]Viewer connected.[/bold green]") async def on_message(self, message: bytearray): # pylint: disable=invalid-overridden-method """parses the message from viewer and calls the appropriate function""" @@ -65,7 +65,7 @@ async def on_message(self, message: bytearray): # pylint: disable=invalid-overri def on_close(self) -> None: self.bridge.websocket_pool.remove(self) - print("closed: ", self, file=sys.stderr) + print("[bold red]Viewer disconnected.[/bold red]") class ZMQWebSocketBridge: @@ -91,12 +91,7 @@ def __init__(self, zmq_port: int, websocket_port: int, ip_address: str): # state self.state = State() - def __str__(self) -> str: - class_name = self.__class__.__name__ - return f'{class_name} using zmq_port="{self.zmq_port}" and websocket_port="{self.websocket_port}"' - def make_app(self): - # create an application for the websocket server return tornado.web.Application([(r"/", WebSocketHandler, {"bridge": self})]) def handle_zmq(self, frames: List[bytes]): @@ -141,6 +136,7 @@ def setup_zmq(self, url: str): def run(self): """starts and runs the websocet bridge""" + print(f"[bold blue]Start bridge server, ZeroMQ port: {self.zmq_port}, websocket port: {self.websocket_port}[/bold blue]") self.ioloop.start() @@ -148,26 +144,26 @@ def run_bridge_server( zmq_port: int = 6000, websocket_port: int = 4567, ip_address: str = "127.0.0.1", - use_ngrok: bool = False ): - # whether expose the zmq port - if use_ngrok: - http_tunnel = ngrok.connect(addr=str(zmq_port), proto="tcp") - print(http_tunnel) - bridge = ZMQWebSocketBridge( zmq_port=zmq_port, websocket_port=websocket_port, ip_address=ip_address ) - print(bridge) - try: bridge.run() except KeyboardInterrupt: pass +def wrapper( + zmq_port: int = Option(6000, help="ZeroMQ port that exposed to the backend", exists=False), + websocket_port: int = Option(4567, help="websocket port that exposed to web renderer", exists=False), + ip_address: str = Option("127.0.0.1", help="ip address of the bridge server") +): + run_bridge_server(zmq_port=zmq_port, websocket_port=websocket_port, ip_address=ip_address) + + if __name__ == "__main__": - run_bridge_server() \ No newline at end of file + run(wrapper) diff --git a/python/xrprimer/services/xrnerf/state.py b/python/xrprimer/services/xrnerf/state.py index 60f5a36..3b7a642 100644 --- a/python/xrprimer/services/xrnerf/state.py +++ b/python/xrprimer/services/xrnerf/state.py @@ -8,4 +8,4 @@ def __init__(self): self.camera_translation = [0.0, 0.0, 0.0] self.camera_fov = 60 self.resolution = 720 - self.render_type = 'rgb' \ No newline at end of file + self.render_type = 'rgb' diff --git a/python/xrprimer/services/xrnerf/viewer_state.py b/python/xrprimer/services/xrnerf/viewer_state.py index 3bb675e..49ca122 100644 --- a/python/xrprimer/services/xrnerf/viewer_state.py +++ b/python/xrprimer/services/xrnerf/viewer_state.py @@ -6,18 +6,19 @@ import numpy as np import cv2 as cv from actions import UPDATE_STATE, UPDATE_RENDER_RESULT -from bridge_server_subprocess import run_bridge_server_as_subprocess +from bridge_server import start_bridge_server from visualizer import Viewer class ViewerState: - def __init__(self): + def __init__( + self, + websocket_port: int = 4567, + zmq_port: int = 6000, + ip_address: str = "127.0.0.1" + ): # launch the bridge server - websocket_port = 4567 - zmq_port = 6000 - ip_address = "127.0.0.1" - - zmq_port = run_bridge_server_as_subprocess( + zmq_port = start_bridge_server( websocket_port=websocket_port, zmq_port=zmq_port, ip_address=ip_address diff --git a/python/xrprimer/services/xrnerf/visualizer.py b/python/xrprimer/services/xrnerf/visualizer.py index cf2aadd..198711c 100644 --- a/python/xrprimer/services/xrnerf/visualizer.py +++ b/python/xrprimer/services/xrnerf/visualizer.py @@ -4,6 +4,7 @@ import umsgpack from threading import Thread import zmq +from rich import print class ViewerWindow: @@ -63,7 +64,7 @@ def wrapper_func(): thread.start() thread.join(timeout_in_sec) except Exception as e: - print("Failed to start thread") + print("[bold red]Failed to start thread[/bold red]") raise e ret = res[0] @@ -77,9 +78,9 @@ def assert_connected(self, timeout_in_sec: int = 10): Check whether the connection has been established properly """ try: - print("Sending ping to the bridge server") + print("[bold blue]Sending ping to the bridge server[bold blue]") _ = self.timeout_ping(timeout_in_sec) - print("Successfully connected to bridge server.") + print("[bold green]Successfully connected to bridge server.[/bold green]") except Exception as e: print(e) sys.exit() From 4f7406de9ef05f41e7df00e5398af842012c1da6 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Tue, 6 Jun 2023 19:22:27 +0800 Subject: [PATCH 09/18] 1.[improvement] moved the viewer and server docs to docs/en/web_renderer/xrnerf/, docs/en/services/xrnerf/ respectively; 2.[improvement] added an architecture diagram in the viewer doc; 3.[improvement] updated installation instructions --- docs/en/services/xrnerf/README.md | 29 ++++++++++ docs/en/web_renderer/xrnerf/README.md | 53 +++++++++++++++++++ docs/en/web_renderer/xrnerf/architecture.png | Bin 0 -> 53360 bytes requirements/service_xrnerf.txt | 6 +++ 4 files changed, 88 insertions(+) create mode 100644 docs/en/services/xrnerf/README.md create mode 100644 docs/en/web_renderer/xrnerf/README.md create mode 100644 docs/en/web_renderer/xrnerf/architecture.png create mode 100644 requirements/service_xrnerf.txt diff --git a/docs/en/services/xrnerf/README.md b/docs/en/services/xrnerf/README.md new file mode 100644 index 0000000..c277147 --- /dev/null +++ b/docs/en/services/xrnerf/README.md @@ -0,0 +1,29 @@ +# XRNeRF Serving + +## 1 Quick Start + +### 1.1 Install Dependencies + +```shell +# create a virtual environment +conda create -n BridgeServer python=3.7 +conda activate BridgeServer + +# make sure that your current working directory is xrprimer/requirements/ +cd xrprimer/requirements + +# install dependencies +pip install -r service_xrnerf.txt +``` + +### 1.2 Start Server + +Once you have dependencies installed, start the server using: + +```shell +# make sure that your current working directory is xrprimer/python/ +cd xrprimer/python/xrprimer/services/xrnerf + +# start the bridge server +python run.py +``` \ No newline at end of file diff --git a/docs/en/web_renderer/xrnerf/README.md b/docs/en/web_renderer/xrnerf/README.md new file mode 100644 index 0000000..da72076 --- /dev/null +++ b/docs/en/web_renderer/xrnerf/README.md @@ -0,0 +1,53 @@ +# XRNerf Viewer + +## 1 Overview + +The following figure illustrates how the XRNeRF viewer works: + +![alt architecture](./architecture.png) + +- ***Web Viewer***. This is where the users can view the XRNeRF render output in an interactive manner. Taking the user desired render config(e.g., camera extrinsic, render resolution) as input, the web viewer send the render config to the bridge server via WebSocket connection. Once the bridge server offers a rendered image, the web viewer receives and displays the image with overlayed scene components(e.g., grid, axis viewer). The web viewer is developed using [Babylon.js](https://www.babylonjs.com/) and packaged into a [React](https://react.dev/) application utilizing [Create React App](https://create-react-app.dev/). + +- ***Bridge Server***. The bridge server is designed and implemented to connect the XRNeRF backend and the viewer frontend. Specifically, the bridge server receives the render config from the web viewer and save it to the state. Then, the XRNeRF backend constantly infers images using the state. The render outputs are forwared to the web viewer by the bridge server. + +- ***XRNeRF Backend***. The XRNeRF backend is responsible for generating render result using the user-specified settings. It communicates with the bridge server by [ZeroMQ](https://zeromq.org/). + +## 2 Quick Start + +### 2.1 Start Server + +Please follow the instructions in [XRNeRF serving](../../services/xrnerf/README.md) to start the server. + + +### 2.2 Start Client + +#### 2.2.1 Install Dependencies + + +The `package.json` contains '' dependicies to build the viewer, which can be installed using Node Package Manager(`npm`). It's suggested to manage `Node.js` installations with Node Version Manager(`nvm`). The installation instructions of `nvm` can be found [here](https://heynode.com/tutorial/install-nodejs-locally-nvm/). + +The viewer is built using `Node.js 18.15`. Once you have `Node.js` correctly configured, install node packages: + +```shell +# make sure that your current working directory is 'xrprimer/web_renderer/xrnerf' +cd xrprimer/web_renderer/xrnerf + +# install node packages using configuration in package.json +npm install +``` + +#### 2.2.2 Start Viewer + +Build and run the viewer using: + +```shell +# start the viewer + +# Windows +.\start.bat + +# TODO: Linux +# .\start.sh +``` + +To open the viewer window, open the browser and visit http://localhost:3000/. 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d537654c453cff7c646c7740e7c4a58b8dc7ed11 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Tue, 6 Jun 2023 19:26:39 +0800 Subject: [PATCH 10/18] [improvement] moved server dependencies list from python/xrprimer/services/xrnerf/ to requirements/ --- .../xrprimer/services/xrnerf/requirements.txt | 6 -- web_renderer/xrnerf/README.md | 85 ------------------- 2 files changed, 91 deletions(-) delete mode 100644 python/xrprimer/services/xrnerf/requirements.txt delete mode 100644 web_renderer/xrnerf/README.md diff --git a/python/xrprimer/services/xrnerf/requirements.txt b/python/xrprimer/services/xrnerf/requirements.txt deleted file mode 100644 index b949bfd..0000000 --- a/python/xrprimer/services/xrnerf/requirements.txt +++ /dev/null @@ -1,6 +0,0 @@ -pyzmq==25.0.2 -tornado -umsgpack==0.1.0 -typer==0.9.0 -rich==13.3.5 -opencv-contrib-python==4.5.3.56 \ No newline at end of file diff --git a/web_renderer/xrnerf/README.md b/web_renderer/xrnerf/README.md deleted file mode 100644 index 4b921fa..0000000 --- a/web_renderer/xrnerf/README.md +++ /dev/null @@ -1,85 +0,0 @@ -# Nerf Viewer Quick Start - -## 1 Client - -### 1.1 Install Dependencies - -#### 1.1.1 Install NVM - -Please follow the instructions in: - -https://juejin.cn/post/7120267871950733320/ - -#### 1.1.2 Install Node - -Once you have nvm correctly configured, install node 18.15.0 using the commands below: - -```shell -# install node 18.15.0 -nvm install 18.15.0 - -# activate node 18.15.0 -nvm use 18.15.0 -``` - -#### 1.1.3 Install Node Packages - - -```shell -# make sure that your current working directory is 'client' -cd ./client - -# install node packages using configuration in client/package.json -npm install -``` - -### 1.2 Start Viewer - -Build and run the viewer using: - -```shell -# make sure that your current working directory is 'client' -cd ./client - -# start the viewer -npm start -``` - -Then, check whether viewer is successfully compiled: - -![alt viewer_compile_success](./doc/viewer_compile_success.png) - -Visit http://localhost:3000/ in the browser: - -![alt viewer](./doc/viewer.png) - -## 2 Bridge Server - -### 2.1 Install Dependencies - -```shell - -cd ./bridge_server - -# create a virtual environment -conda create -n BridgeServer python=3.7 - -conda activate BridgeServer - -# install dependencies -pip install -r ./requirements.txt -``` - -#### 2.2 Start Server - -``` -python ./run_viewer.py -``` - -Check whether server is successfully deployed: - -![alt run_viewer](./doc/run_viewer.png) - -Open the browser and visit http://localhost:3000/. Then, check whether the server is connected with the viewer: - -![alt viewer_connected](./doc/viewer_connected.png) \ No newline at end of file From 5b76711b953035e6e1fc3191efe19f66a4fbecf3 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Tue, 6 Jun 2023 19:36:08 +0800 Subject: [PATCH 11/18] [bug] fix grammar glitch: XRNerf -> XRNeRF --- docs/en/web_renderer/xrnerf/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/en/web_renderer/xrnerf/README.md b/docs/en/web_renderer/xrnerf/README.md index da72076..904d5a0 100644 --- a/docs/en/web_renderer/xrnerf/README.md +++ b/docs/en/web_renderer/xrnerf/README.md @@ -1,4 +1,4 @@ -# XRNerf Viewer +# XRNeRF Viewer ## 1 Overview From 028f0f35b6a5341045d8005cdab04ab1264c3d85 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Wed, 7 Jun 2023 10:53:25 +0800 Subject: [PATCH 12/18] [bug] fix doc glitches --- docs/en/services/xrnerf/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/en/services/xrnerf/README.md b/docs/en/services/xrnerf/README.md index c277147..61408aa 100644 --- a/docs/en/services/xrnerf/README.md +++ b/docs/en/services/xrnerf/README.md @@ -21,7 +21,7 @@ pip install -r service_xrnerf.txt Once you have dependencies installed, start the server using: ```shell -# make sure that your current working directory is xrprimer/python/ +# make sure that your current working directory is xrprimer/python/xrprimer/services/xrnerf cd xrprimer/python/xrprimer/services/xrnerf # start the bridge server From 08a019e91c66d2e2f366c9db55a05723d04004fb Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Wed, 7 Jun 2023 11:02:49 +0800 Subject: [PATCH 13/18] [improvement] move helper images to '/resources' --- docs/en/web_renderer/xrnerf/README.md | 2 +- .../web_renderer/xrnerf/architecture.png | Bin 2 files changed, 1 insertion(+), 1 deletion(-) rename {docs/en => resources}/web_renderer/xrnerf/architecture.png (100%) diff --git a/docs/en/web_renderer/xrnerf/README.md b/docs/en/web_renderer/xrnerf/README.md index 904d5a0..965ca5a 100644 --- a/docs/en/web_renderer/xrnerf/README.md +++ b/docs/en/web_renderer/xrnerf/README.md @@ -4,7 +4,7 @@ The following figure illustrates how the XRNeRF viewer works: -![alt architecture](./architecture.png) +![alt architecture](/resources/web_renderer/xrnerf/architecture.png) - ***Web Viewer***. This is where the users can view the XRNeRF render output in an interactive manner. Taking the user desired render config(e.g., camera extrinsic, render resolution) as input, the web viewer send the render config to the bridge server via WebSocket connection. Once the bridge server offers a rendered image, the web viewer receives and displays the image with overlayed scene components(e.g., grid, axis viewer). The web viewer is developed using [Babylon.js](https://www.babylonjs.com/) and packaged into a [React](https://react.dev/) application utilizing [Create React App](https://create-react-app.dev/). diff --git a/docs/en/web_renderer/xrnerf/architecture.png b/resources/web_renderer/xrnerf/architecture.png similarity index 100% rename from docs/en/web_renderer/xrnerf/architecture.png rename to resources/web_renderer/xrnerf/architecture.png From 0ffe214b2a595f21dc28ad55a5605d2bc29baa95 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Wed, 7 Jun 2023 11:03:48 +0800 Subject: [PATCH 14/18] [improvement] remove unused code blocks --- web_renderer/xrnerf/src/App.css | 38 ------ web_renderer/xrnerf/src/App.jsx | 1 - web_renderer/xrnerf/src/themes/theme.ts | 160 +----------------------- 3 files changed, 1 insertion(+), 198 deletions(-) delete mode 100644 web_renderer/xrnerf/src/App.css diff --git a/web_renderer/xrnerf/src/App.css b/web_renderer/xrnerf/src/App.css deleted file mode 100644 index 1a8c21d..0000000 --- a/web_renderer/xrnerf/src/App.css +++ /dev/null @@ -1,38 +0,0 @@ -/* .App { - text-align: center; -} - -.App-logo { - height: 40vmin; - pointer-events: none; -} - -@media (prefers-reduced-motion: no-preference) { - .App-logo { - animation: App-logo-spin infinite 20s linear; - } -} - -.App-header { - background-color: #282c34; - min-height: 100vh; - display: flex; - flex-direction: column; - align-items: center; - justify-content: center; - font-size: calc(10px + 2vmin); - color: white; -} - -.App-link { - color: #61dafb; -} - -@keyframes App-logo-spin { - from { - transform: rotate(0deg); - } - to { - transform: rotate(360deg); - } -} */ diff --git a/web_renderer/xrnerf/src/App.jsx b/web_renderer/xrnerf/src/App.jsx index 9a9dd87..ba1d649 100644 --- a/web_renderer/xrnerf/src/App.jsx +++ b/web_renderer/xrnerf/src/App.jsx @@ -1,4 +1,3 @@ -import './App.css'; // TODO: determine whether we need a banner // import Banner from './modules/Banner/Banner'; import { SidePanel } from './modules/SidePanel/SidePanel'; diff --git a/web_renderer/xrnerf/src/themes/theme.ts b/web_renderer/xrnerf/src/themes/theme.ts index d388c30..13922d6 100644 --- a/web_renderer/xrnerf/src/themes/theme.ts +++ b/web_renderer/xrnerf/src/themes/theme.ts @@ -17,164 +17,6 @@ export const appTheme = createTheme({ backgroundColor: '#222831', }, }, - }, - // MuiIcon: { - // styleOverrides: { - // root: { - // color: '#eeeeee', - // }, - // }, - // }, - // MuiTextField: { - // styleOverrides: { - // root: { - // '& label': { - // color: '#999999', - // }, - // '& label.Mui-focused': { - // color: '#FFD369', - // }, - // '& .MuiOutlinedInput-root': { - // '& fieldset': { - // borderColor: '#555555', - // }, - // '&:hover fieldset': { - // borderColor: '#dddddd', - // }, - // '&.Mui-focused fieldset': { - // borderColor: '#FFD369', - // }, - // }, - // }, - // }, - // }, - // MuiButton: { - // defaultProps: { - // disableRipple: true, - // }, - // styleOverrides: { - // root: { - // '&.Mui-disabled': { - // color: '#999999', - // backgroundColor: '#393e46', - // }, - // }, - // }, - // }, - // MuiIconButton: { - // styleOverrides: { - // root: { - // color: '#eeeeee', - // backgroundColor: '#393e46', - // '&:hover': { - // color: '#FFD369', - // backgroundColor: '#555555', - // }, - // }, - // }, - // }, - - // MuiTab: { - // styleOverrides: { - // root: { - // fontSize: '.8rem', - // }, - // }, - // }, - // MuiDivider: { - // styleOverrides: { - // root: { - // backgroundColor: '#555555', - // }, - // }, - // }, - // MuiFilledInput: { - // styleOverrides: { - // root: { - // backgroundColor: '#393e46', - // '&:hover': { - // backgroundColor: '#555555', - // }, - // }, - // }, - // }, - // MuiInput: { - // styleOverrides: { - // root: { - // '&:before': { - // borderBottom: '2px solid #555555', - // }, - // '&:after': { - // borderBottom: '2px solid #FFD369', - // }, - // }, - // }, - // }, - // MuiToggleButtonGroup: { - // styleOverrides: { - // root: { - // color: '#eeeeee', - // backgroundColor: '#393e46', - // '&.Mui-disabled': { - // color: '#999999', - // backgroundColor: '#393e46', - // }, - // }, - // }, - // }, - // MuiToggleButton: { - // styleOverrides: { - // root: { - // color: '#eeeeee', - // backgroundColor: 'FFD369', - // '&.Mui-selected': { - // color: '#222831', - // backgroundColor: '#FFD369', - // ':hover': { - // backgroundColor: '#FFD369', - // }, - // }, - // '&.Mui-disabled': { - // color: '#999999', - // backgroundColor: '#393e46', - // }, - // }, - // }, - // }, - // MuiList: { - // styleOverrides: { - // padding: { - // paddingTop: 4, - // paddingBottom: 4, - // }, - // }, - // }, - // MuiAccordionSummary: { - // styleOverrides: { - // root: { - // '& .MuiAccordionSummary-content': { - // margin: '0px', - // }, - // '& .MuiAccordionSummary-content.Mui-expanded': { - // margin: '0px', - // }, - // }, - // }, - // }, - // MuiAccordionDetails: { - // styleOverrides: { - // root: { - // paddingTop: '4px', - // paddingBottom: '8px', - // }, - // }, - // }, - // MuiSelect: { - // styleOverrides: { - // icon: { - // color: '#eeeeee', - // }, - // }, - // }, + } }, }); From caaf853827979bc16347b4825350a94805001730 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Wed, 7 Jun 2023 13:37:07 +0800 Subject: [PATCH 15/18] [improvement] reformatting --- python/xrprimer/services/xrnerf/actions.py | 21 ++- .../xrprimer/services/xrnerf/bridge_server.py | 29 +++-- python/xrprimer/services/xrnerf/run.py | 6 +- python/xrprimer/services/xrnerf/server.py | 123 +++++++++--------- python/xrprimer/services/xrnerf/state.py | 7 +- .../xrprimer/services/xrnerf/viewer_state.py | 83 ++++++------ python/xrprimer/services/xrnerf/visualizer.py | 95 +++++--------- setup.cfg | 2 +- 8 files changed, 163 insertions(+), 203 deletions(-) diff --git a/python/xrprimer/services/xrnerf/actions.py b/python/xrprimer/services/xrnerf/actions.py index e75a6c8..972343a 100644 --- a/python/xrprimer/services/xrnerf/actions.py +++ b/python/xrprimer/services/xrnerf/actions.py @@ -1,16 +1,11 @@ -""" -Actions are a series of keys that determine how data flows -""" - +"""Actions are a series of keys that determine how data flows.""" """for viewer""" -UPDATE_CAMERA_TRANSLATION = "UPDATE_CAMERA_TRANSLATION" -UPDATE_CAMERA_ROTATION = "UPDATE_CAMERA_ROTATION" -UPDATE_CAMERA_FOV = "UPDATE_CAMERA_FOV" -UPDATE_RESOLUTION = "UPDATE_RESOLUTION" -UPDATE_RENDER_TYPE = "UPDATE_RENDER_TYPE" - - +UPDATE_CAMERA_TRANSLATION = 'UPDATE_CAMERA_TRANSLATION' +UPDATE_CAMERA_ROTATION = 'UPDATE_CAMERA_ROTATION' +UPDATE_CAMERA_FOV = 'UPDATE_CAMERA_FOV' +UPDATE_RESOLUTION = 'UPDATE_RESOLUTION' +UPDATE_RENDER_TYPE = 'UPDATE_RENDER_TYPE' """for nerf backend""" # update the scene state -UPDATE_STATE = "UPDATE_STATE" -UPDATE_RENDER_RESULT = "UPDATE_RENDER_RESULT" +UPDATE_STATE = 'UPDATE_STATE' +UPDATE_RENDER_RESULT = 'UPDATE_RENDER_RESULT' diff --git a/python/xrprimer/services/xrnerf/bridge_server.py b/python/xrprimer/services/xrnerf/bridge_server.py index db2e922..f319ac2 100644 --- a/python/xrprimer/services/xrnerf/bridge_server.py +++ b/python/xrprimer/services/xrnerf/bridge_server.py @@ -6,17 +6,17 @@ import sys import threading import time +from typing import Optional import server - -from typing import Optional +from rich import print def is_port_open(port: int): # check whether the given port is open try: sock = socket.socket() - sock.bind(("", port)) + sock.bind(('', port)) sock.close() return True @@ -29,7 +29,7 @@ def get_free_port(default_port: int = None): if is_port_open(default_port): return default_port sock = socket.socket() - sock.bind(("", 0)) + sock.bind(('', 0)) port = sock.getsockname()[1] return port @@ -38,21 +38,21 @@ def get_free_port(default_port: int = None): def start_bridge_server( websocket_port: int, zmq_port: Optional[int] = None, - ip_address: str = "127.0.0.1", + ip_address: str = '127.0.0.1', ): # run bridge server as a sub-process - args = [sys.executable, "-u", "-m", server.__name__] + args = [sys.executable, '-u', '-m', server.__name__] # find an available port for zmq if zmq_port is None: zmq_port = get_free_port() - print(f"Using ZMQ port: {zmq_port}") + print(f'Using ZMQ port: {zmq_port}') - args.append("--zmq-port") + args.append('--zmq-port') args.append(str(zmq_port)) - args.append("--websocket-port") + args.append('--websocket-port') args.append(str(websocket_port)) - args.append("--ip-address") + args.append('--ip-address') args.append(str(ip_address)) process = subprocess.Popen(args, start_new_session=True) @@ -62,14 +62,17 @@ def cleanup(process): process.wait() def poll_process(): - """ - Continually check to see if the viewer bridge server process is still running and has not failed. + """Continually check to see if the viewer bridge server process is + still running and has not failed. + If it fails, alert the user and exit the entire program. """ while process.poll() is None: time.sleep(0.5) - message = "The bridge server subprocess failed." + print('[bold red]' + 'The bridge server subprocess failed.' + '[/bold red]') cleanup(process) # windows system do not have signal.SIGKILL diff --git a/python/xrprimer/services/xrnerf/run.py b/python/xrprimer/services/xrnerf/run.py index 59f39e0..063c4dc 100644 --- a/python/xrprimer/services/xrnerf/run.py +++ b/python/xrprimer/services/xrnerf/run.py @@ -2,13 +2,11 @@ def run_viewer(): - """ - start the viewer - """ + """start the viewer.""" viewer_state = ViewerState() while True: viewer_state.update_scene() -if __name__ == "__main__": +if __name__ == '__main__': run_viewer() diff --git a/python/xrprimer/services/xrnerf/server.py b/python/xrprimer/services/xrnerf/server.py index f28d0c4b..8d68d03 100644 --- a/python/xrprimer/services/xrnerf/server.py +++ b/python/xrprimer/services/xrnerf/server.py @@ -1,35 +1,35 @@ import pickle -import sys -from typing import List, Optional, Tuple +from typing import Awaitable, List, Optional, Tuple -# for web networking import tornado.gen import tornado.ioloop import tornado.web import tornado.websocket - -# for data conversion import umsgpack - -# ZeroMQ: for messaging import zmq -# import zmq.eventloop.ioloop -from zmq.eventloop.zmqstream import ZMQStream - -from actions import \ - UPDATE_CAMERA_FOV, UPDATE_CAMERA_ROTATION, UPDATE_CAMERA_TRANSLATION, \ - UPDATE_RENDER_TYPE, UPDATE_RESOLUTION, UPDATE_STATE, UPDATE_RENDER_RESULT - +from actions import ( + UPDATE_CAMERA_FOV, + UPDATE_CAMERA_ROTATION, + UPDATE_CAMERA_TRANSLATION, + UPDATE_RENDER_RESULT, + UPDATE_RENDER_TYPE, + UPDATE_RESOLUTION, + UPDATE_STATE, +) +from rich import print from state import State from typer import Option, run -from rich import print +from zmq.eventloop.zmqstream import ZMQStream + +class WebSocketHandler(tornado.websocket.WebSocketHandler): + """For receiving and sending commands from/to the viewer.""" -class WebSocketHandler(tornado.websocket.WebSocketHandler): # pylint: disable=abstract-method - """for receiving and sending commands from/to the viewer""" + def data_received(self, chunk: bytes) -> Optional[Awaitable[None]]: + pass def __init__(self, *args, **kwargs): - self.bridge = kwargs.pop("bridge") + self.bridge = kwargs.pop('bridge') super().__init__(*args, **kwargs) def check_origin(self, origin: str) -> bool: @@ -37,17 +37,15 @@ def check_origin(self, origin: str) -> bool: def open(self, *args: str, **kwargs: str): self.bridge.websocket_pool.add(self) - print(f"[bold green]Viewer connected.[/bold green]") + print('[bold green]Viewer connected.[/bold green]') - async def on_message(self, message: bytearray): # pylint: disable=invalid-overridden-method - """parses the message from viewer and calls the appropriate function""" - data = message + async def on_message(self, message: bytearray): + """parses the message from viewer and calls the appropriate + function.""" unpacked_message = umsgpack.unpackb(message) - type = unpacked_message["type"] - data = unpacked_message["data"] - # type_ = m["type"] - # path = list(filter(lambda x: len(x) > 0, m["path"].split("/"))) + type = unpacked_message['type'] + data = unpacked_message['data'] if type == UPDATE_CAMERA_TRANSLATION: self.bridge.state.camera_translation = data @@ -65,7 +63,7 @@ async def on_message(self, message: bytearray): # pylint: disable=invalid-overri def on_close(self) -> None: self.bridge.websocket_pool.remove(self) - print("[bold red]Viewer disconnected.[/bold red]") + print('[bold red]Viewer disconnected.[/bold red]') class ZMQWebSocketBridge: @@ -79,44 +77,45 @@ def __init__(self, zmq_port: int, websocket_port: int, ip_address: str): self.ioloop = tornado.ioloop.IOLoop.current() # zmq - zmq_url = f"tcp://{ip_address}:{self.zmq_port:d}" - self.zmq_socket, self.zmq_stream, self.zmq_url = self.setup_zmq(zmq_url) + zmq_url = f'tcp://{ip_address}:{self.zmq_port:d}' + self.zmq_socket, self.zmq_stream, self.zmq_url = \ + self.setup_zmq(zmq_url) # websocket - listen_kwargs = {"address" : "0.0.0.0"} + listen_kwargs = {'address': '0.0.0.0'} self.app.listen(websocket_port, **listen_kwargs) self.websocket_port = websocket_port - self.websocket_url = f"0.0.0.0:{self.websocket_port}" + self.websocket_url = f'0.0.0.0:{self.websocket_port}' # state self.state = State() def make_app(self): - return tornado.web.Application([(r"/", WebSocketHandler, {"bridge": self})]) + return tornado.web.Application([(r'/', WebSocketHandler, { + 'bridge': self + })]) def handle_zmq(self, frames: List[bytes]): - type_ = frames[0].decode("utf-8") - data = frames[1] + _type = frames[0].decode('utf-8') - if type_ == UPDATE_RENDER_RESULT: + if _type == UPDATE_RENDER_RESULT: self.forward_to_websockets(frames) - self.zmq_socket.send(umsgpack.packb(b"ok")) - elif type_ == UPDATE_STATE: + self.zmq_socket.send(umsgpack.packb(b'ok')) + elif _type == UPDATE_STATE: serialized = pickle.dumps(self.state) self.zmq_socket.send(serialized) - elif type_ == "ping": - self.zmq_socket.send(umsgpack.packb(b"ping received")) + elif _type == 'ping': + self.zmq_socket.send(umsgpack.packb(b'ping received')) else: - print("type: " + str(type_)) - self.zmq_socket.send(umsgpack.packb(b"error: unknown command")) + print('type: ' + str(_type)) + self.zmq_socket.send(umsgpack.packb(b'error: unknown command')) def forward_to_websockets( - self, - frames: Tuple[str, str, bytes], - websocket_to_skip: Optional[WebSocketHandler] = None - ): - """forward a zmq message to all websockets""" + self, + frames: Tuple[str, str, bytes], + websocket_to_skip: Optional[WebSocketHandler] = None): + """forward a zmq message to all websockets.""" """nerf backend -> viewer""" _type, _data = frames # cmd, data for websocket in self.websocket_pool: @@ -126,7 +125,7 @@ def forward_to_websockets( websocket.write_message(_data, binary=True) def setup_zmq(self, url: str): - """setup a zmq socket and connect it to the given url""" + """setup a zmq socket and connect it to the given url.""" zmq_socket = self.context.socket(zmq.REP) # pylint: disable=no-member zmq_socket.bind(url) zmq_stream = ZMQStream(zmq_socket) @@ -135,21 +134,22 @@ def setup_zmq(self, url: str): return zmq_socket, zmq_stream, url def run(self): - """starts and runs the websocet bridge""" - print(f"[bold blue]Start bridge server, ZeroMQ port: {self.zmq_port}, websocket port: {self.websocket_port}[/bold blue]") + """starts and runs the websocet bridge.""" + print(f'[bold blue]Start bridge server, ' + f'ZeroMQ port: {self.zmq_port}, ' + f'websocket port: {self.websocket_port}[/bold blue]') self.ioloop.start() def run_bridge_server( - zmq_port: int = 6000, - websocket_port: int = 4567, - ip_address: str = "127.0.0.1", + zmq_port: int = 6000, + websocket_port: int = 4567, + ip_address: str = '127.0.0.1', ): bridge = ZMQWebSocketBridge( zmq_port=zmq_port, websocket_port=websocket_port, - ip_address=ip_address - ) + ip_address=ip_address) try: bridge.run() @@ -157,13 +157,14 @@ def run_bridge_server( pass -def wrapper( - zmq_port: int = Option(6000, help="ZeroMQ port that exposed to the backend", exists=False), - websocket_port: int = Option(4567, help="websocket port that exposed to web renderer", exists=False), - ip_address: str = Option("127.0.0.1", help="ip address of the bridge server") -): - run_bridge_server(zmq_port=zmq_port, websocket_port=websocket_port, ip_address=ip_address) +def wrapper(zmq_port: int = Option(6000, exists=False), + websocket_port: int = Option(4567, exists=False), + ip_address: str = Option('127.0.0.1', exists=False)): + run_bridge_server( + zmq_port=zmq_port, + websocket_port=websocket_port, + ip_address=ip_address) -if __name__ == "__main__": +if __name__ == '__main__': run(wrapper) diff --git a/python/xrprimer/services/xrnerf/state.py b/python/xrprimer/services/xrnerf/state.py index 3b7a642..97442c3 100644 --- a/python/xrprimer/services/xrnerf/state.py +++ b/python/xrprimer/services/xrnerf/state.py @@ -1,10 +1,7 @@ class State: + def __init__(self): - self.camera_rotation = [ - 1.0, 0.0, 0.0, - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0 - ] + self.camera_rotation = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] self.camera_translation = [0.0, 0.0, 0.0] self.camera_fov = 60 self.resolution = 720 diff --git a/python/xrprimer/services/xrnerf/viewer_state.py b/python/xrprimer/services/xrnerf/viewer_state.py index 49ca122..b09f97d 100644 --- a/python/xrprimer/services/xrnerf/viewer_state.py +++ b/python/xrprimer/services/xrnerf/viewer_state.py @@ -1,57 +1,51 @@ -import time import base64 import pickle -import umsgpack +import time from typing import Tuple -import numpy as np + import cv2 as cv -from actions import UPDATE_STATE, UPDATE_RENDER_RESULT +import numpy as np +import umsgpack +from actions import UPDATE_RENDER_RESULT, UPDATE_STATE from bridge_server import start_bridge_server from visualizer import Viewer class ViewerState: - def __init__( - self, - websocket_port: int = 4567, - zmq_port: int = 6000, - ip_address: str = "127.0.0.1" - ): + + def __init__(self, + websocket_port: int = 4567, + zmq_port: int = 6000, + ip_address: str = '127.0.0.1'): # launch the bridge server zmq_port = start_bridge_server( websocket_port=websocket_port, zmq_port=zmq_port, - ip_address=ip_address - ) - websocket_url = f"ws://localhost:{websocket_port}" - self.viewer_url = f"https://localhost/?websocket_url={websocket_url}" + ip_address=ip_address) + websocket_url = f'ws://localhost:{websocket_port}' + self.viewer_url = f'https://localhost/?websocket_url={websocket_url}' self.viewer = Viewer(zmq_port=zmq_port, ip_address=ip_address) self.state = None def update_scene(self) -> None: - """ - update the scene using rendered results - """ + """update the scene using rendered results.""" while True: serialized_state = umsgpack.unpackb(self.viewer.read(UPDATE_STATE)) self.state = pickle.loads(serialized_state) self.render_image_in_viewer() def get_resolution(self) -> Tuple[int, int]: - if str(self.state.resolution) == "480": + if str(self.state.resolution) == '480': return 720, 480 - elif str(self.state.resolution) == "720": + elif str(self.state.resolution) == '720': return 1280, 720 - elif str(self.state.resolution) == "1080": + elif str(self.state.resolution) == '1080': return 1920, 1080 else: - print("invalid resolution") + print('invalid resolution') def render_image_in_viewer(self) -> None: - """ - Draw an image using current camera configuration. - """ - + """Draw an image using current camera configuration.""" """fetch data from state""" camera_translation = np.array(self.state.camera_translation) camera_rotation = np.array(self.state.camera_rotation) @@ -60,34 +54,37 @@ def render_image_in_viewer(self) -> None: camera_translation = np.round(camera_translation, 2) camera_rotation = np.round(camera_rotation, 2) - """generate a fake image""" img = np.zeros((1080, 1920, 3), np.uint8) img.fill(230) font = cv.FONT_HERSHEY_COMPLEX color = (10, 20, 20) - cv.putText(img, "translation: " + str(camera_translation), (10, 100), font, 1, color, 1) - cv.putText(img, "rotation: " + str(camera_rotation), (10, 200), font, 1, color, 1) - cv.putText(img, "fov: " + str(camera_fov), (10, 300), font, 1, color, 1) - cv.putText(img, "render type: " + str(render_type), (10, 400), font, 1, color, 1) + cv.putText(img, 'translation: ' + str(camera_translation), (10, 100), + font, 1, color, 1) + cv.putText(img, 'rotation: ' + str(camera_rotation), (10, 200), font, + 1, color, 1) + cv.putText(img, 'fov: ' + str(camera_fov), (10, 300), font, 1, color, + 1) + cv.putText(img, 'render type: ' + str(render_type), (10, 400), font, 1, + color, 1) scaled_resolution = self.get_resolution() - cv.putText(img, f"resolution: {scaled_resolution[0]}x{scaled_resolution[1]}", (10, 500), font, 1, color, 1) - scaled_image = cv.resize(img, scaled_resolution, interpolation=cv.INTER_AREA) + cv.putText( + img, 'resolution: {scaled_resolution[0]}x{scaled_resolution[1]}', + (10, 500), font, 1, color, 1) + scaled_image = cv.resize( + img, scaled_resolution, interpolation=cv.INTER_AREA) - image_format = "jpeg" + image_format = 'jpeg' data = cv.imencode( - ext=f".{image_format}", + ext=f'.{image_format}', img=scaled_image, - params=[ - cv.IMWRITE_JPEG_QUALITY, - 90 - ] - )[1].tobytes() - data = str(f"data:image/{image_format};base64," + base64.b64encode(data).decode("ascii")) + params=[cv.IMWRITE_JPEG_QUALITY, 90])[1].tobytes() + data = str(f'data:image/{image_format};base64,' + + base64.b64encode(data).decode('ascii')) self.viewer.write(UPDATE_RENDER_RESULT, data) - """ - Let the renderer relief for some time to avoid websocket blocking + Let the renderer relief for some time + to avoid websocket blocking """ - time.sleep(0.05) \ No newline at end of file + time.sleep(0.05) diff --git a/python/xrprimer/services/xrnerf/visualizer.py b/python/xrprimer/services/xrnerf/visualizer.py index 198711c..8d7e45a 100644 --- a/python/xrprimer/services/xrnerf/visualizer.py +++ b/python/xrprimer/services/xrnerf/visualizer.py @@ -1,8 +1,8 @@ import sys -from typing import Optional, Union, Dict +from threading import Thread +from typing import Dict, Optional, Union import umsgpack -from threading import Thread import zmq from rich import print @@ -10,50 +10,35 @@ class ViewerWindow: context = zmq.Context() # pylint: disable=abstract-class-instantiated - def __init__( - self, - zmq_port: int = 6000, - ip_address: str = "127.0.0.1" - ): + def __init__(self, zmq_port: int = 6000, ip_address: str = '127.0.0.1'): self.zmq_port = zmq_port self.client = self.context.socket(zmq.REQ) - zmq_url = f"tcp://{ip_address}:{self.zmq_port}" + zmq_url = f'tcp://{ip_address}:{self.zmq_port}' self.client.connect(zmq_url) self.assert_connected() def send(self, command): - """ - Send a message to bridge server - """ + """Send a message to bridge server.""" self.client.send_multipart( - [ - command["type"].encode("utf-8"), - umsgpack.packb(command) - ] - ) + [command['type'].encode('utf-8'), + umsgpack.packb(command)]) return umsgpack.packb(self.client.recv()) def send_ping(self): - """ - Ping to the bridge server - """ - type = "ping" - data = umsgpack.packb({ - "type": type - }) - self.client.send_multipart( - [ - type.encode("utf-8"), - data - ] - ) + """Ping to the bridge server.""" + type = 'ping' + data = umsgpack.packb({'type': type}) + self.client.send_multipart([type.encode('utf-8'), data]) res = self.client.recv() return umsgpack.unpackb(res) def timeout_ping(self, timeout_in_sec: int = 12): - res = [Exception(f"Failed to connect to bridge server in {timeout_in_sec} seconds.")] + res = [ + Exception(f'Failed to connect to bridge server in ' + f'{timeout_in_sec} seconds.') + ] def wrapper_func(): res[0] = self.send_ping() @@ -64,7 +49,7 @@ def wrapper_func(): thread.start() thread.join(timeout_in_sec) except Exception as e: - print("[bold red]Failed to start thread[/bold red]") + print('[bold red]Failed to start thread[/bold red]') raise e ret = res[0] @@ -74,30 +59,26 @@ def wrapper_func(): return ret def assert_connected(self, timeout_in_sec: int = 10): - """ - Check whether the connection has been established properly - """ + """Check whether the connection has been established properly.""" try: - print("[bold blue]Sending ping to the bridge server[bold blue]") + print('[bold blue]Sending ping to the bridge server[bold blue]') _ = self.timeout_ping(timeout_in_sec) - print("[bold green]Successfully connected to bridge server.[/bold green]") + print('[bold green]Successfully connected to the' + ' bridge server.[/bold green]') except Exception as e: print(e) sys.exit() class Viewer: - """ - for connecting to the bridge server - """ - def __init__( - self, - zmq_port: Optional[int] = None, - window: Optional[ViewerWindow] = None, - ip_address: str = "127.0.0.1" - ): + """for connecting to the bridge server.""" + + def __init__(self, + zmq_port: Optional[int] = None, + window: Optional[ViewerWindow] = None, + ip_address: str = '127.0.0.1'): if zmq_port is None and window is None: - raise ValueError("Must specify either zmq_port or window") + raise ValueError('Must specify either zmq_port or window') if window is None: self.window = ViewerWindow(zmq_port, ip_address) else: @@ -105,28 +86,16 @@ def __init__( @staticmethod def view_into(window: ViewerWindow): - """ - Returns a new viewer while keeping the same viewer window - """ + """Returns a new viewer while keeping the same viewer window.""" viewer = Viewer(window=window) return viewer def write(self, type: str, data: Union[Dict, str, None] = None): - """ - write data to bridge server - """ - return self.window.send({ - "type": type, - "data": data - }) + """write data to bridge server.""" + return self.window.send({'type': type, 'data': data}) def read(self, type: str): - """ - read data from bridge server - """ - res = self.window.send({ - "type": type - }) + """read data from bridge server.""" + res = self.window.send({'type': type}) return res - diff --git a/setup.cfg b/setup.cfg index 1f4f20c..d7416b7 100644 --- a/setup.cfg +++ b/setup.cfg @@ -11,6 +11,6 @@ line_length = 79 multi_line_output = 3 include_trailing_comma = true known_first_party = xrprimer,xrprimer_cpp -known_third_party = cv2,mmcv,numpy,pytest,scipy,setuptools,sphinx_rtd_theme,torch,tqdm +known_third_party = actions,bridge_server,cv2,mmcv,numpy,pytest,rich,scipy,server,setuptools,sphinx_rtd_theme,state,torch,tornado,tqdm,typer,umsgpack,viewer_state,visualizer,zmq no_lines_before = STDLIB,LOCALFOLDER default_section = THIRDPARTY From 2f73d9d213faa860884d0ca0e5f1a55ecec1d9fb Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Wed, 7 Jun 2023 18:57:35 +0800 Subject: [PATCH 16/18] [improvement] reformatting --- .gitignore | 119 ++++++++++++++++++ python/xrprimer/services/xrnerf/.gitignore | 1 - .../xrprimer/services/xrnerf/bridge_server.py | 5 + python/xrprimer/services/xrnerf/run.py | 12 -- .../services/xrnerf/run_xrnerf_server.py | 18 +++ python/xrprimer/services/xrnerf/server.py | 14 +++ .../xrprimer/services/xrnerf/viewer_state.py | 12 +- tools/web_renderer/run_xrnerf_viewer.bat | 2 + web_renderer/xrnerf/start.bat | 1 - 9 files changed, 169 insertions(+), 15 deletions(-) delete mode 100644 python/xrprimer/services/xrnerf/.gitignore delete mode 100644 python/xrprimer/services/xrnerf/run.py create mode 100644 python/xrprimer/services/xrnerf/run_xrnerf_server.py create mode 100644 tools/web_renderer/run_xrnerf_viewer.bat delete mode 100644 web_renderer/xrnerf/start.bat diff --git a/.gitignore b/.gitignore index 90c0ec6..e7db559 100644 --- a/.gitignore +++ b/.gitignore @@ -508,3 +508,122 @@ doxygen/ 3rdparty build_*/ /wheelhouse + + +# Created by https://www.toptal.com/developers/gitignore/api/pycharm +# Edit at https://www.toptal.com/developers/gitignore?templates=pycharm + +### PyCharm ### +# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider +# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839 + +# User-specific stuff +.idea/**/workspace.xml +.idea/**/tasks.xml +.idea/**/usage.statistics.xml +.idea/**/dictionaries +.idea/**/shelf + +# AWS User-specific +.idea/**/aws.xml + +# Generated files +.idea/**/contentModel.xml + +# Sensitive or high-churn files +.idea/**/dataSources/ +.idea/**/dataSources.ids +.idea/**/dataSources.local.xml +.idea/**/sqlDataSources.xml +.idea/**/dynamic.xml +.idea/**/uiDesigner.xml +.idea/**/dbnavigator.xml + +# Gradle +.idea/**/gradle.xml +.idea/**/libraries + +# Gradle and Maven with auto-import +# When using Gradle or Maven with auto-import, you should exclude module files, +# since they will be recreated, and may cause churn. Uncomment if using +# auto-import. +# .idea/artifacts +# .idea/compiler.xml +# .idea/jarRepositories.xml +# .idea/modules.xml +# .idea/*.iml +# .idea/modules +# *.iml +# *.ipr + +# CMake +cmake-build-*/ + +# Mongo Explorer plugin +.idea/**/mongoSettings.xml + +# File-based project format +*.iws + +# IntelliJ +out/ + +# mpeltonen/sbt-idea plugin +.idea_modules/ + +# JIRA plugin +atlassian-ide-plugin.xml + +# Cursive Clojure plugin +.idea/replstate.xml + +# SonarLint plugin +.idea/sonarlint/ + +# Crashlytics plugin (for Android Studio and IntelliJ) +com_crashlytics_export_strings.xml +crashlytics.properties +crashlytics-build.properties +fabric.properties + +# Editor-based Rest Client +.idea/httpRequests + +# Android studio 3.1+ serialized cache file +.idea/caches/build_file_checksums.ser + +### PyCharm Patch ### +# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721 + +# *.iml +# modules.xml +# .idea/misc.xml +# *.ipr + +# Sonarlint plugin +# https://plugins.jetbrains.com/plugin/7973-sonarlint +.idea/**/sonarlint/ + +# SonarQube Plugin +# https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin +.idea/**/sonarIssues.xml + +# Markdown Navigator plugin +# https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced +.idea/**/markdown-navigator.xml +.idea/**/markdown-navigator-enh.xml +.idea/**/markdown-navigator/ + +# Cache file creation bug +# See https://youtrack.jetbrains.com/issue/JBR-2257 +.idea/$CACHE_FILE$ + +# CodeStream plugin +# https://plugins.jetbrains.com/plugin/12206-codestream +.idea/codestream.xml + +# Azure Toolkit for IntelliJ plugin +# https://plugins.jetbrains.com/plugin/8053-azure-toolkit-for-intellij +.idea/**/azureSettings.xml + +# End of https://www.toptal.com/developers/gitignore/api/pycharm diff --git a/python/xrprimer/services/xrnerf/.gitignore b/python/xrprimer/services/xrnerf/.gitignore deleted file mode 100644 index 723ef36..0000000 --- a/python/xrprimer/services/xrnerf/.gitignore +++ /dev/null @@ -1 +0,0 @@ -.idea \ No newline at end of file diff --git a/python/xrprimer/services/xrnerf/bridge_server.py b/python/xrprimer/services/xrnerf/bridge_server.py index f319ac2..20bb740 100644 --- a/python/xrprimer/services/xrnerf/bridge_server.py +++ b/python/xrprimer/services/xrnerf/bridge_server.py @@ -8,6 +8,11 @@ import time from typing import Optional +# TODO: use import paths relative to `xrprimer` rather than the current parent +# TODO: directory to separate the entrypoint and libraries. Unfortunately, the +# TODO: xrprimer cannot be installed on a Windows machine. Need to be tested on +# TODO: MacOS later. +# import xrprimer.services.xrnerf.server as server import server from rich import print diff --git a/python/xrprimer/services/xrnerf/run.py b/python/xrprimer/services/xrnerf/run.py deleted file mode 100644 index 063c4dc..0000000 --- a/python/xrprimer/services/xrnerf/run.py +++ /dev/null @@ -1,12 +0,0 @@ -from viewer_state import ViewerState - - -def run_viewer(): - """start the viewer.""" - viewer_state = ViewerState() - while True: - viewer_state.update_scene() - - -if __name__ == '__main__': - run_viewer() diff --git a/python/xrprimer/services/xrnerf/run_xrnerf_server.py b/python/xrprimer/services/xrnerf/run_xrnerf_server.py new file mode 100644 index 0000000..6029258 --- /dev/null +++ b/python/xrprimer/services/xrnerf/run_xrnerf_server.py @@ -0,0 +1,18 @@ +from viewer_state import ViewerState + +# TODO: use import paths relative to `xrprimer` rather than the current parent +# TODO: directory to separate the entrypoint and libraries. Unfortunately, the +# TODO: xrprimer cannot be installed on a Windows machine. Need to be tested on +# TODO: MacOS later. +# from python.xrprimer.services.xrnerf.viewer_state import ViewerState + + +def run_viewer(): + """start the viewer.""" + viewer_state = ViewerState() + while True: + viewer_state.update_scene() + + +if __name__ == '__main__': + run_viewer() diff --git a/python/xrprimer/services/xrnerf/server.py b/python/xrprimer/services/xrnerf/server.py index 8d68d03..d3ec6fc 100644 --- a/python/xrprimer/services/xrnerf/server.py +++ b/python/xrprimer/services/xrnerf/server.py @@ -7,6 +7,20 @@ import tornado.websocket import umsgpack import zmq +# TODO: use import paths relative to `xrprimer` rather than the current parent +# TODO: directory to separate the entrypoint and libraries. Unfortunately, the +# TODO: xrprimer cannot be installed on a Windows machine. Need to be tested on +# TODO: MacOS later. +# from xrprimer.services.xrnerf.actions import ( +# UPDATE_CAMERA_FOV, +# UPDATE_CAMERA_ROTATION, +# UPDATE_CAMERA_TRANSLATION, +# UPDATE_RENDER_RESULT, +# UPDATE_RENDER_TYPE, +# UPDATE_RESOLUTION, +# UPDATE_STATE, +# ) +# from xrprimer.services.xrnerf.state import State from actions import ( UPDATE_CAMERA_FOV, UPDATE_CAMERA_ROTATION, diff --git a/python/xrprimer/services/xrnerf/viewer_state.py b/python/xrprimer/services/xrnerf/viewer_state.py index b09f97d..773ffbe 100644 --- a/python/xrprimer/services/xrnerf/viewer_state.py +++ b/python/xrprimer/services/xrnerf/viewer_state.py @@ -6,6 +6,16 @@ import cv2 as cv import numpy as np import umsgpack +# TODO: use import paths relative to `xrprimer` rather than the current parent +# TODO: directory to separate the entrypoint and libraries. Unfortunately, the +# TODO: xrprimer cannot be installed on a Windows machine. Need to be tested on +# TODO: MacOS later. +# from xrprimer.services.xrnerf.actions import ( +# UPDATE_RENDER_RESULT, +# UPDATE_STATE +# ) +# from xrprimer.services.xrnerf.bridge_server import start_bridge_server +# from xrprimer.services.xrnerf.visualizer import Viewer from actions import UPDATE_RENDER_RESULT, UPDATE_STATE from bridge_server import start_bridge_server from visualizer import Viewer @@ -69,7 +79,7 @@ def render_image_in_viewer(self) -> None: color, 1) scaled_resolution = self.get_resolution() cv.putText( - img, 'resolution: {scaled_resolution[0]}x{scaled_resolution[1]}', + img, f'resolution: {scaled_resolution[0]}x{scaled_resolution[1]}', (10, 500), font, 1, color, 1) scaled_image = cv.resize( img, scaled_resolution, interpolation=cv.INTER_AREA) diff --git a/tools/web_renderer/run_xrnerf_viewer.bat b/tools/web_renderer/run_xrnerf_viewer.bat new file mode 100644 index 0000000..7489963 --- /dev/null +++ b/tools/web_renderer/run_xrnerf_viewer.bat @@ -0,0 +1,2 @@ +cd ../../web_renderer/xrnerf +npm start diff --git a/web_renderer/xrnerf/start.bat b/web_renderer/xrnerf/start.bat deleted file mode 100644 index 7512a7e..0000000 --- a/web_renderer/xrnerf/start.bat +++ /dev/null @@ -1 +0,0 @@ -npm start \ No newline at end of file From cc9c561548b1e84aecc42a33b3160f9d34018297 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Wed, 7 Jun 2023 19:58:04 +0800 Subject: [PATCH 17/18] [improvement] updated port binding logics: if the user specified a port, the server will check whether the port is already in use and then create connections using zmq, otherwise the server will automatically find an available port --- .../xrprimer/services/xrnerf/bridge_server.py | 23 +++++++++++-------- .../services/xrnerf/run_xrnerf_server.py | 2 +- .../xrprimer/services/xrnerf/viewer_state.py | 4 ++-- python/xrprimer/services/xrnerf/visualizer.py | 8 +++---- 4 files changed, 20 insertions(+), 17 deletions(-) diff --git a/python/xrprimer/services/xrnerf/bridge_server.py b/python/xrprimer/services/xrnerf/bridge_server.py index 20bb740..2387526 100644 --- a/python/xrprimer/services/xrnerf/bridge_server.py +++ b/python/xrprimer/services/xrnerf/bridge_server.py @@ -29,10 +29,13 @@ def is_port_open(port: int): return False -def get_free_port(default_port: int = None): - if default_port: - if is_port_open(default_port): - return default_port +def bind_port(target_port: Optional[int] = None) -> int: + # the user specified a port + if target_port: + if is_port_open(target_port): + return target_port + + # no port specified, returns an available port sock = socket.socket() sock.bind(('', 0)) port = sock.getsockname()[1] @@ -50,7 +53,7 @@ def start_bridge_server( # find an available port for zmq if zmq_port is None: - zmq_port = get_free_port() + zmq_port = bind_port(zmq_port) print(f'Using ZMQ port: {zmq_port}') args.append('--zmq-port') @@ -60,7 +63,7 @@ def start_bridge_server( args.append('--ip-address') args.append(str(ip_address)) - process = subprocess.Popen(args, start_new_session=True) + bridge_server_process = subprocess.Popen(args, start_new_session=True) def cleanup(process): process.kill() @@ -72,13 +75,13 @@ def poll_process(): If it fails, alert the user and exit the entire program. """ - while process.poll() is None: + while bridge_server_process.poll() is None: time.sleep(0.5) print('[bold red]' - 'The bridge server subprocess failed.' + 'The bridge server subprocess dumped.' '[/bold red]') - cleanup(process) + cleanup(bridge_server_process) # windows system do not have signal.SIGKILL # TODO: make sure the kill operation still works on Linux systems @@ -89,6 +92,6 @@ def poll_process(): watcher_thread.daemon = True watcher_thread.start() # clean up process when it has shut down - atexit.register(cleanup, process) + atexit.register(cleanup, bridge_server_process) return zmq_port diff --git a/python/xrprimer/services/xrnerf/run_xrnerf_server.py b/python/xrprimer/services/xrnerf/run_xrnerf_server.py index 6029258..249f5cf 100644 --- a/python/xrprimer/services/xrnerf/run_xrnerf_server.py +++ b/python/xrprimer/services/xrnerf/run_xrnerf_server.py @@ -9,7 +9,7 @@ def run_viewer(): """start the viewer.""" - viewer_state = ViewerState() + viewer_state = ViewerState(zmq_port=6000, ip_address='127.0.0.1') while True: viewer_state.update_scene() diff --git a/python/xrprimer/services/xrnerf/viewer_state.py b/python/xrprimer/services/xrnerf/viewer_state.py index 773ffbe..88e0042 100644 --- a/python/xrprimer/services/xrnerf/viewer_state.py +++ b/python/xrprimer/services/xrnerf/viewer_state.py @@ -1,7 +1,7 @@ import base64 import pickle import time -from typing import Tuple +from typing import Optional, Tuple import cv2 as cv import numpy as np @@ -25,7 +25,7 @@ class ViewerState: def __init__(self, websocket_port: int = 4567, - zmq_port: int = 6000, + zmq_port: Optional[int] = None, ip_address: str = '127.0.0.1'): # launch the bridge server zmq_port = start_bridge_server( diff --git a/python/xrprimer/services/xrnerf/visualizer.py b/python/xrprimer/services/xrnerf/visualizer.py index 8d7e45a..eeb207c 100644 --- a/python/xrprimer/services/xrnerf/visualizer.py +++ b/python/xrprimer/services/xrnerf/visualizer.py @@ -91,11 +91,11 @@ def view_into(window: ViewerWindow): return viewer - def write(self, type: str, data: Union[Dict, str, None] = None): + def write(self, _type: str, _data: Union[Dict, str, None] = None): """write data to bridge server.""" - return self.window.send({'type': type, 'data': data}) + return self.window.send({'type': _type, 'data': _data}) - def read(self, type: str): + def read(self, _type: str): """read data from bridge server.""" - res = self.window.send({'type': type}) + res = self.window.send({'type': _type}) return res From e0641d598ec6675a6449a0edc6e799b5f12c7090 Mon Sep 17 00:00:00 2001 From: weiyukun1 Date: Thu, 8 Jun 2023 13:07:09 +0800 Subject: [PATCH 18/18] 1.[improvement] introduces enum to wrap server/client actions 2.[improvement] fix typos --- python/xrprimer/services/xrnerf/actions.py | 26 +++++++----- python/xrprimer/services/xrnerf/server.py | 38 +++++------------ .../xrprimer/services/xrnerf/viewer_state.py | 42 +++++++++---------- 3 files changed, 46 insertions(+), 60 deletions(-) diff --git a/python/xrprimer/services/xrnerf/actions.py b/python/xrprimer/services/xrnerf/actions.py index 972343a..9075f12 100644 --- a/python/xrprimer/services/xrnerf/actions.py +++ b/python/xrprimer/services/xrnerf/actions.py @@ -1,11 +1,15 @@ -"""Actions are a series of keys that determine how data flows.""" -"""for viewer""" -UPDATE_CAMERA_TRANSLATION = 'UPDATE_CAMERA_TRANSLATION' -UPDATE_CAMERA_ROTATION = 'UPDATE_CAMERA_ROTATION' -UPDATE_CAMERA_FOV = 'UPDATE_CAMERA_FOV' -UPDATE_RESOLUTION = 'UPDATE_RESOLUTION' -UPDATE_RENDER_TYPE = 'UPDATE_RENDER_TYPE' -"""for nerf backend""" -# update the scene state -UPDATE_STATE = 'UPDATE_STATE' -UPDATE_RENDER_RESULT = 'UPDATE_RENDER_RESULT' +from enum import Enum + + +class ViewerActionEnum(str, Enum): + UPDATE_CAMERA_TRANSLATION = 'UPDATE_CAMERA_TRANSLATION' + UPDATE_CAMERA_ROTATION = 'UPDATE_CAMERA_ROTATION' + UPDATE_CAMERA_FOV = 'UPDATE_CAMERA_FOV' + UPDATE_RESOLUTION = 'UPDATE_RESOLUTION' + UPDATE_RENDER_TYPE = 'UPDATE_RENDER_TYPE' + + +class BackendActionsEnum(str, Enum): + UPDATE_STATE = 'UPDATE_STATE' + UPDATE_RENDER_RESULT = 'UPDATE_RENDER_RESULT' + PING = 'ping' diff --git a/python/xrprimer/services/xrnerf/server.py b/python/xrprimer/services/xrnerf/server.py index d3ec6fc..4363d95 100644 --- a/python/xrprimer/services/xrnerf/server.py +++ b/python/xrprimer/services/xrnerf/server.py @@ -11,25 +11,9 @@ # TODO: directory to separate the entrypoint and libraries. Unfortunately, the # TODO: xrprimer cannot be installed on a Windows machine. Need to be tested on # TODO: MacOS later. -# from xrprimer.services.xrnerf.actions import ( -# UPDATE_CAMERA_FOV, -# UPDATE_CAMERA_ROTATION, -# UPDATE_CAMERA_TRANSLATION, -# UPDATE_RENDER_RESULT, -# UPDATE_RENDER_TYPE, -# UPDATE_RESOLUTION, -# UPDATE_STATE, -# ) +# from xrprimer.services.xrnerf.actions import ViewerActionEnum # from xrprimer.services.xrnerf.state import State -from actions import ( - UPDATE_CAMERA_FOV, - UPDATE_CAMERA_ROTATION, - UPDATE_CAMERA_TRANSLATION, - UPDATE_RENDER_RESULT, - UPDATE_RENDER_TYPE, - UPDATE_RESOLUTION, - UPDATE_STATE, -) +from actions import BackendActionsEnum, ViewerActionEnum from rich import print from state import State from typer import Option, run @@ -61,15 +45,15 @@ async def on_message(self, message: bytearray): type = unpacked_message['type'] data = unpacked_message['data'] - if type == UPDATE_CAMERA_TRANSLATION: + if type == ViewerActionEnum.UPDATE_CAMERA_TRANSLATION: self.bridge.state.camera_translation = data - elif type == UPDATE_CAMERA_ROTATION: + elif type == ViewerActionEnum.UPDATE_CAMERA_ROTATION: self.bridge.state.camera_rotation = data - elif type == UPDATE_RENDER_TYPE: + elif type == ViewerActionEnum.UPDATE_RENDER_TYPE: self.bridge.state.render_type = data - elif type == UPDATE_CAMERA_FOV: + elif type == ViewerActionEnum.UPDATE_CAMERA_FOV: self.bridge.state.camera_fov = data - elif type == UPDATE_RESOLUTION: + elif type == ViewerActionEnum.UPDATE_RESOLUTION: self.bridge.state.resolution = data else: # TODO: handle exception @@ -110,16 +94,15 @@ def make_app(self): })]) def handle_zmq(self, frames: List[bytes]): - _type = frames[0].decode('utf-8') - if _type == UPDATE_RENDER_RESULT: + if _type == BackendActionsEnum.UPDATE_RENDER_RESULT: self.forward_to_websockets(frames) self.zmq_socket.send(umsgpack.packb(b'ok')) - elif _type == UPDATE_STATE: + elif _type == BackendActionsEnum.UPDATE_STATE: serialized = pickle.dumps(self.state) self.zmq_socket.send(serialized) - elif _type == 'ping': + elif _type == BackendActionsEnum.PING: self.zmq_socket.send(umsgpack.packb(b'ping received')) else: print('type: ' + str(_type)) @@ -130,7 +113,6 @@ def forward_to_websockets( frames: Tuple[str, str, bytes], websocket_to_skip: Optional[WebSocketHandler] = None): """forward a zmq message to all websockets.""" - """nerf backend -> viewer""" _type, _data = frames # cmd, data for websocket in self.websocket_pool: if websocket_to_skip and websocket == websocket_to_skip: diff --git a/python/xrprimer/services/xrnerf/viewer_state.py b/python/xrprimer/services/xrnerf/viewer_state.py index 88e0042..f350579 100644 --- a/python/xrprimer/services/xrnerf/viewer_state.py +++ b/python/xrprimer/services/xrnerf/viewer_state.py @@ -3,7 +3,7 @@ import time from typing import Optional, Tuple -import cv2 as cv +import cv2 import numpy as np import umsgpack # TODO: use import paths relative to `xrprimer` rather than the current parent @@ -16,7 +16,7 @@ # ) # from xrprimer.services.xrnerf.bridge_server import start_bridge_server # from xrprimer.services.xrnerf.visualizer import Viewer -from actions import UPDATE_RENDER_RESULT, UPDATE_STATE +from actions import BackendActionsEnum from bridge_server import start_bridge_server from visualizer import Viewer @@ -40,7 +40,8 @@ def __init__(self, def update_scene(self) -> None: """update the scene using rendered results.""" while True: - serialized_state = umsgpack.unpackb(self.viewer.read(UPDATE_STATE)) + serialized_state = umsgpack.unpackb( + self.viewer.read(BackendActionsEnum.UPDATE_STATE)) self.state = pickle.loads(serialized_state) self.render_image_in_viewer() @@ -56,43 +57,42 @@ def get_resolution(self) -> Tuple[int, int]: def render_image_in_viewer(self) -> None: """Draw an image using current camera configuration.""" - """fetch data from state""" + # fetch data from state camera_translation = np.array(self.state.camera_translation) camera_rotation = np.array(self.state.camera_rotation) camera_fov = self.state.camera_fov render_type = self.state.render_type - camera_translation = np.round(camera_translation, 2) camera_rotation = np.round(camera_rotation, 2) - """generate a fake image""" + # generate a fake image img = np.zeros((1080, 1920, 3), np.uint8) img.fill(230) - font = cv.FONT_HERSHEY_COMPLEX + font = cv2.FONT_HERSHEY_COMPLEX color = (10, 20, 20) - cv.putText(img, 'translation: ' + str(camera_translation), (10, 100), - font, 1, color, 1) - cv.putText(img, 'rotation: ' + str(camera_rotation), (10, 200), font, - 1, color, 1) - cv.putText(img, 'fov: ' + str(camera_fov), (10, 300), font, 1, color, - 1) - cv.putText(img, 'render type: ' + str(render_type), (10, 400), font, 1, - color, 1) + cv2.putText(img, 'translation: ' + str(camera_translation), (10, 100), + font, 1, color, 1) + cv2.putText(img, 'rotation: ' + str(camera_rotation), (10, 200), font, + 1, color, 1) + cv2.putText(img, 'fov: ' + str(camera_fov), (10, 300), font, 1, color, + 1) + cv2.putText(img, 'render type: ' + str(render_type), (10, 400), font, + 1, color, 1) scaled_resolution = self.get_resolution() - cv.putText( + cv2.putText( img, f'resolution: {scaled_resolution[0]}x{scaled_resolution[1]}', (10, 500), font, 1, color, 1) - scaled_image = cv.resize( - img, scaled_resolution, interpolation=cv.INTER_AREA) + scaled_image = cv2.resize( + img, scaled_resolution, interpolation=cv2.INTER_AREA) image_format = 'jpeg' - data = cv.imencode( + data = cv2.imencode( ext=f'.{image_format}', img=scaled_image, - params=[cv.IMWRITE_JPEG_QUALITY, 90])[1].tobytes() + params=[cv2.IMWRITE_JPEG_QUALITY, 90])[1].tobytes() data = str(f'data:image/{image_format};base64,' + base64.b64encode(data).decode('ascii')) - self.viewer.write(UPDATE_RENDER_RESULT, data) + self.viewer.write(BackendActionsEnum.UPDATE_RENDER_RESULT, data) """ Let the renderer relief for some time to avoid websocket blocking