diff --git a/LICENSE b/LICENSE
index f288702..5385cfe 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,674 +1,21 @@
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-reviewing courts shall apply local law that most closely approximates
-an absolute waiver of all civil liability in connection with the
-Program, unless a warranty or assumption of liability accompanies a
-copy of the Program in return for a fee.
-
- END OF TERMS AND CONDITIONS
-
- How to Apply These Terms to Your New Programs
-
- If you develop a new program, and you want it to be of the greatest
-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
-
- To do so, attach the following notices to the program. It is safest
-to attach them to the start of each source file to most effectively
-state the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
-
-
- Copyright (C)
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see .
-
-Also add information on how to contact you by electronic and paper mail.
-
- If the program does terminal interaction, make it output a short
-notice like this when it starts in an interactive mode:
-
- Copyright (C)
- This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
- This is free software, and you are welcome to redistribute it
- under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License. Of course, your program's commands
-might be different; for a GUI interface, you would use an "about box".
-
- You should also get your employer (if you work as a programmer) or school,
-if any, to sign a "copyright disclaimer" for the program, if necessary.
-For more information on this, and how to apply and follow the GNU GPL, see
-.
-
- The GNU General Public License does not permit incorporating your program
-into proprietary programs. If your program is a subroutine library, you
-may consider it more useful to permit linking proprietary applications with
-the library. If this is what you want to do, use the GNU Lesser General
-Public License instead of this License. But first, please read
-.
+MIT License
+
+Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
\ No newline at end of file
diff --git a/README.md b/README.md
index 24af9b1..b2fbfc4 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@ For more advanced installation and for installing SMPL body models, please refer
## Features
* Native Python interface, easy to use and hack.
-* Load [SMPL[-H/-X]](https://smpl.is.tue.mpg.de/) / [MANO](https://mano.is.tue.mpg.de/) / [FLAME](https://flame.is.tue.mpg.de/) / [STAR](https://github.com/ahmedosman/STAR) sequences and display them in an interactive viewer.
+* Load [SMPL[-H/-X]](https://smpl.is.tue.mpg.de/) / [MANO](https://mano.is.tue.mpg.de/) / [FLAME](https://flame.is.tue.mpg.de/) / [STAR](https://github.com/ahmedosman/STAR) / [SUPR](https://github.com/ahmedosman/SUPR) sequences and display them in an interactive viewer.
* Headless mode for server rendering of videos/images.
* Remote mode for non-blocking integration of visualization code.
* Render 3D data on top of images via weak-perspective or OpenCV camera models.
diff --git a/aitviewer/aitvconfig.yaml b/aitviewer/aitvconfig.yaml
index 5ca1658..283f25d 100644
--- a/aitviewer/aitvconfig.yaml
+++ b/aitviewer/aitvconfig.yaml
@@ -36,6 +36,9 @@ backface_culling: True
background_color: [1.0, 1.0, 1.0, 1.0]
window_type: "pyqt5"
+# Viewer defaults to Y up, set to true for Z up.
+z_up: False
+
# Server for remote connections.
server_enabled: False
server_port: 8417
diff --git a/aitviewer/configuration.py b/aitviewer/configuration.py
index cd38026..b68668a 100644
--- a/aitviewer/configuration.py
+++ b/aitviewer/configuration.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import torch
diff --git a/aitviewer/headless.py b/aitviewer/headless.py
index 8ae9e2b..22069fb 100644
--- a/aitviewer/headless.py
+++ b/aitviewer/headless.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
from typing import Dict, Tuple
diff --git a/aitviewer/models/smpl.py b/aitviewer/models/smpl.py
index f8baa54..711423c 100644
--- a/aitviewer/models/smpl.py
+++ b/aitviewer/models/smpl.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import collections
from abc import ABC
diff --git a/aitviewer/models/star.py b/aitviewer/models/star.py
index 96aa4de..5b0ae66 100644
--- a/aitviewer/models/star.py
+++ b/aitviewer/models/star.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import collections
import os
diff --git a/aitviewer/models/supr.py b/aitviewer/models/supr.py
index 37a9665..f1bf61e 100644
--- a/aitviewer/models/supr.py
+++ b/aitviewer/models/supr.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import collections
import os
diff --git a/aitviewer/remote/message.py b/aitviewer/remote/message.py
index 255fe5e..c567d2d 100644
--- a/aitviewer/remote/message.py
+++ b/aitviewer/remote/message.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import enum
diff --git a/aitviewer/remote/node.py b/aitviewer/remote/node.py
index 41815fc..56e41ba 100644
--- a/aitviewer/remote/node.py
+++ b/aitviewer/remote/node.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from .message import Message
from .viewer import RemoteViewer
diff --git a/aitviewer/remote/renderables/arrows.py b/aitviewer/remote/renderables/arrows.py
index 7c673ad..71f4c24 100644
--- a/aitviewer/remote/renderables/arrows.py
+++ b/aitviewer/remote/renderables/arrows.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from ..message import Message
from ..node import RemoteNode
diff --git a/aitviewer/remote/renderables/lines.py b/aitviewer/remote/renderables/lines.py
index 0850d12..bbbacc4 100644
--- a/aitviewer/remote/renderables/lines.py
+++ b/aitviewer/remote/renderables/lines.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from ..message import Message
from ..node import RemoteNode
diff --git a/aitviewer/remote/renderables/meshes.py b/aitviewer/remote/renderables/meshes.py
index d30a551..a2d1dda 100644
--- a/aitviewer/remote/renderables/meshes.py
+++ b/aitviewer/remote/renderables/meshes.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from ..message import Message
from ..node import RemoteNode
diff --git a/aitviewer/remote/renderables/rigid_bodies.py b/aitviewer/remote/renderables/rigid_bodies.py
index d5b26cc..18819ae 100644
--- a/aitviewer/remote/renderables/rigid_bodies.py
+++ b/aitviewer/remote/renderables/rigid_bodies.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from ..message import Message
from ..node import RemoteNode
diff --git a/aitviewer/remote/renderables/smpl.py b/aitviewer/remote/renderables/smpl.py
index a8f9c30..1d182ac 100644
--- a/aitviewer/remote/renderables/smpl.py
+++ b/aitviewer/remote/renderables/smpl.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from ..message import Message
from ..node import RemoteNode
diff --git a/aitviewer/remote/renderables/spheres.py b/aitviewer/remote/renderables/spheres.py
index 07a3853..e11340d 100644
--- a/aitviewer/remote/renderables/spheres.py
+++ b/aitviewer/remote/renderables/spheres.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from ..message import Message
from ..node import RemoteNode
diff --git a/aitviewer/remote/viewer.py b/aitviewer/remote/viewer.py
index ba19aca..12be88b 100644
--- a/aitviewer/remote/viewer.py
+++ b/aitviewer/remote/viewer.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import asyncio
import pickle
import queue
diff --git a/aitviewer/renderables/arrows.py b/aitviewer/renderables/arrows.py
index 50cd2f6..509fa88 100644
--- a/aitviewer/renderables/arrows.py
+++ b/aitviewer/renderables/arrows.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.renderables.lines import Lines
diff --git a/aitviewer/renderables/billboard.py b/aitviewer/renderables/billboard.py
index 29da0c9..9d9a0ed 100644
--- a/aitviewer/renderables/billboard.py
+++ b/aitviewer/renderables/billboard.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import pickle
from typing import List, Union
diff --git a/aitviewer/renderables/bounding_boxes.py b/aitviewer/renderables/bounding_boxes.py
index 9503892..5de78b4 100644
--- a/aitviewer/renderables/bounding_boxes.py
+++ b/aitviewer/renderables/bounding_boxes.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.renderables.lines import Lines
diff --git a/aitviewer/renderables/coordinate_system.py b/aitviewer/renderables/coordinate_system.py
index e5ecec3..8d1b19c 100644
--- a/aitviewer/renderables/coordinate_system.py
+++ b/aitviewer/renderables/coordinate_system.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.renderables.rigid_bodies import RigidBodies
diff --git a/aitviewer/renderables/lines.py b/aitviewer/renderables/lines.py
index 21a4ad4..be14441 100644
--- a/aitviewer/renderables/lines.py
+++ b/aitviewer/renderables/lines.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import moderngl
import numpy as np
import trimesh
@@ -33,6 +18,7 @@
compute_vertex_and_face_normals,
set_lights_in_program,
set_material_properties,
+ usd,
)
from aitviewer.utils.decorators import hooked
from aitviewer.utils.so3 import aa2rot_numpy as aa2rot
@@ -447,6 +433,47 @@ def remove_frames(self, frames):
self.lines = np.delete(self.lines, frames, axis=0)
self.redraw()
+ def export_usd(self, stage, usd_path: str, directory: str = None, verbose=False):
+ name = f"{self.name}_{self.uid:03}".replace(" ", "_")
+ usd_path = f"{usd_path}/{name}"
+
+ if self.mode == "lines":
+ v0s = self.lines[:, ::2]
+ v1s = self.lines[:, 1::2]
+ else:
+ v0s = self.lines[:, :-1]
+ v1s = self.lines[:, 1:]
+
+ print(self.lines.shape)
+ print(v0s.shape)
+
+ # Data is in the form of (F, N_LINES, 3), convert it to (F*N_LINES, 3)
+ v0s = np.reshape(v0s, (-1, 3))
+ v1s = np.reshape(v1s, (-1, 3))
+
+ self.r_tip = self.r_base if self.r_tip is None else self.r_tip
+
+ # If r_tip is below a certain threshold, we create a proper cone, i.e. with just a single vertex at the top.
+ if self.r_tip < 10e-6:
+ data = _create_cone_from_to(v0s, v1s, radius=self.r_base)
+ else:
+ data = _create_cylinder_from_to(v0s, v1s, radius1=self.r_base, radius2=self.r_tip)
+
+ L = self.n_lines
+ V = data["vertices"].shape[1]
+
+ vertices = data["vertices"].reshape((self.n_frames, -1, 3))
+ faces = data["faces"]
+
+ fs = faces[np.newaxis].repeat(L, 0).reshape((L, -1))
+ offsets = (np.arange(L) * V).reshape((L, 1))
+ faces = (fs + offsets).reshape((-1, 3))
+
+ mesh = usd.add_mesh(stage, usd_path, self.name, vertices, faces, self.get_local_transform())
+ usd.add_color(stage, mesh, usd_path, self.color[:3])
+
+ self._export_usd_recursively(stage, usd_path, directory, verbose)
+
class Lines2D(Node):
"""Render 2D lines."""
diff --git a/aitviewer/renderables/meshes.py b/aitviewer/renderables/meshes.py
index 591a823..4e3161c 100644
--- a/aitviewer/renderables/meshes.py
+++ b/aitviewer/renderables/meshes.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import pickle
import re
@@ -24,6 +9,7 @@
import tqdm
import trimesh
import trimesh.geometry
+import trimesh.visual
from moderngl_window.opengl.vao import VAO
from PIL import Image
from pxr import Gf, Sdf, UsdGeom
@@ -128,7 +114,7 @@ def _maybe_unsqueeze(x):
self.face_colors = _maybe_unsqueeze(face_colors)
# Texture handling.
- self.has_texture = uv_coords is not None
+ self.has_texture = (uv_coords is not None) and (path_to_texture is not None)
self.uv_coords = uv_coords
self.texture_path = path_to_texture
@@ -206,6 +192,35 @@ def check_array(a, dim):
transforms[:, :, 3, 3] = 1.0
return cls(*args, **kwargs, instance_transforms=transforms)
+ @classmethod
+ def from_file(cls, file, **kwargs):
+ """
+ Loads a mesh from a file that can be loaded by trimesh (e.g. ".obj", ".ply", ...)
+ See trimesh.available_formats() for a complete list.
+ """
+ mesh = trimesh.load(file)
+
+ uvs = None
+ vertex_colors = None
+ face_colors = None
+ if isinstance(mesh.visual, trimesh.visual.ColorVisuals):
+ if mesh.visual.kind == "vertex_colors":
+ vertex_colors = mesh.visual.vertex_colors
+ elif mesh.visual.kind == "face_colors":
+ face_colors = mesh.visual.vertex_colors
+ elif isinstance(mesh.visual, trimesh.visual.TextureVisuals):
+ uvs = mesh.visual.uv
+
+ return Meshes(
+ mesh.vertices,
+ mesh.faces,
+ vertex_normals=mesh.vertex_normals,
+ face_colors=face_colors,
+ vertex_colors=vertex_colors,
+ uv_coords=uvs,
+ **kwargs,
+ )
+
@property
def vertices(self):
return self._vertices
@@ -731,19 +746,7 @@ def export_usd(self, stage, usd_path: str, directory: str = None, verbose=False)
name = f"{self.name}_{self.uid:03}".replace(" ", "_")
usd_path = f"{usd_path}/{name}"
- # Transform.
- xform = UsdGeom.Xform.Define(stage, usd_path)
- a_xform = xform.AddTransformOp()
- a_xform.Set(Gf.Matrix4d(self.get_local_transform().astype(np.float64).T))
-
- # Geometry.
- mesh = UsdGeom.Mesh.Define(stage, usd_path + "/" + self.name.replace(" ", "_"))
- a_vertices = mesh.CreatePointsAttr()
- for i in range(self.n_frames):
- a_vertices.Set(time=i + 1, value=self.vertices[i])
- mesh.CreateFaceVertexCountsAttr(np.full(self.faces.shape[0], 3))
- mesh.CreateFaceVertexIndicesAttr(self.faces)
-
+ mesh = usd.add_mesh(stage, usd_path, self.name, self.vertices, self.faces, self.get_local_transform())
if self.has_texture and not self.use_pickle_texture:
# UVs.
a_uv = UsdGeom.PrimvarsAPI(mesh).CreatePrimvar(
@@ -756,6 +759,30 @@ def export_usd(self, stage, usd_path: str, directory: str = None, verbose=False)
else:
texture_path = usd.copy_texture(self.texture_path, name, directory)
usd.add_texture(stage, mesh, usd_path, texture_path)
+ else:
+ # NOTE: Per vertex and per face colors using usd displayColor are not currently
+ # loaded by Blender. This code path can be enabled once support is there.
+ if False:
+ a_colors = mesh.GetDisplayColorAttr()
+ if self._face_colors is not None:
+ # Per face colors.
+ if self._face_colors.shape[0] == 1:
+ a_colors.Set(self._face_colors[0, :, :3].astype(np.float32))
+ else:
+ for i in range(self.n_frames):
+ a_colors.Set(time=i + 1, value=self._face_colors[i, :, :3].astype(np.float32))
+ elif self._vertex_colors is not None:
+ # Per vertex colors.
+ if self._vertex_colors.shape[0] == 1:
+ a_colors.Set(self._vertex_colors[0, :, :3].astype(np.float32))
+ else:
+ for i in range(self.n_frames):
+ a_colors.Set(time=i + 1, value=self._vertex_colors[i, :, :3].astype(np.float32))
+ else:
+ # Uniform color.
+ a_colors.Set(np.array(self.color, np.float32)[:3])
+ else:
+ usd.add_color(stage, mesh, usd_path, self.color[:3])
self._export_usd_recursively(stage, usd_path, directory, verbose)
diff --git a/aitviewer/renderables/multi_view_system.py b/aitviewer/renderables/multi_view_system.py
index 85b3a2c..684b05d 100644
--- a/aitviewer/renderables/multi_view_system.py
+++ b/aitviewer/renderables/multi_view_system.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import re
from collections import OrderedDict
diff --git a/aitviewer/renderables/plane.py b/aitviewer/renderables/plane.py
index da2d525..2be3c81 100644
--- a/aitviewer/renderables/plane.py
+++ b/aitviewer/renderables/plane.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import moderngl
import numpy as np
from pxr import Gf, UsdGeom
@@ -187,8 +172,8 @@ def __init__(
v1 = np.array([1, 0, 0], dtype=np.float32)
v2 = np.array([0, 0, 1], dtype=np.float32)
elif plane == "xy":
- v1 = np.array([1, 0, 0], dtype=np.float32)
- v2 = np.array([0, 1, 0], dtype=np.float32)
+ v1 = np.array([0, 1, 0], dtype=np.float32)
+ v2 = np.array([1, 0, 0], dtype=np.float32)
else:
# plane == "yz"
v1 = np.array([0, 1, 0], dtype=np.float32)
diff --git a/aitviewer/renderables/point_clouds.py b/aitviewer/renderables/point_clouds.py
index e8298b9..dac1e3f 100644
--- a/aitviewer/renderables/point_clouds.py
+++ b/aitviewer/renderables/point_clouds.py
@@ -1,23 +1,9 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import moderngl
import numpy as np
from moderngl_window.opengl.vao import VAO
+from aitviewer.configuration import CONFIG as C
from aitviewer.scene.node import Node
from aitviewer.shaders import (
get_fragmap_program,
@@ -69,7 +55,7 @@ def __init__(
self.vao = VAO("points", mode=moderngl.POINTS)
- if z_up:
+ if z_up and not C.z_up:
self.rotation = np.matmul(np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]]), self.rotation)
@property
diff --git a/aitviewer/renderables/rigid_bodies.py b/aitviewer/renderables/rigid_bodies.py
index 338a715..d204b55 100644
--- a/aitviewer/renderables/rigid_bodies.py
+++ b/aitviewer/renderables/rigid_bodies.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.renderables.arrows import Arrows
diff --git a/aitviewer/renderables/sdf.py b/aitviewer/renderables/sdf.py
index d170402..54e69da 100644
--- a/aitviewer/renderables/sdf.py
+++ b/aitviewer/renderables/sdf.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from skimage import measure
diff --git a/aitviewer/renderables/skeletons.py b/aitviewer/renderables/skeletons.py
index e2c1174..cc33d1e 100644
--- a/aitviewer/renderables/skeletons.py
+++ b/aitviewer/renderables/skeletons.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.renderables.lines import Lines
diff --git a/aitviewer/renderables/smpl.py b/aitviewer/renderables/smpl.py
index d2bb9a2..4020ff0 100644
--- a/aitviewer/renderables/smpl.py
+++ b/aitviewer/renderables/smpl.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import pickle as pkl
from typing import IO, Union
@@ -181,7 +166,7 @@ def __init__(
else:
global_oris = np.tile(np.eye(3), self.joints.shape[:-1])[np.newaxis]
- if self._z_up:
+ if self._z_up and not C.z_up:
self.rotation = np.matmul(np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]]), self.rotation)
self.rbs = RigidBodies(self.joints, global_oris, length=0.1, gui_affine=False, name="Joint Angles")
diff --git a/aitviewer/renderables/spheres.py b/aitviewer/renderables/spheres.py
index ceb44ac..5c09392 100644
--- a/aitviewer/renderables/spheres.py
+++ b/aitviewer/renderables/spheres.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import moderngl
import numpy as np
from moderngl_window.opengl.vao import VAO
@@ -26,6 +11,7 @@
get_outline_program,
get_sphere_instanced_program,
)
+from aitviewer.utils import usd
from aitviewer.utils.decorators import hooked
from aitviewer.utils.utils import set_lights_in_program, set_material_properties
@@ -55,7 +41,7 @@ def _create_sphere(radius=1.0, rings=16, sectors=32):
v += 1
n += 1
- faces = np.zeros([rings * sectors * 2, 3], dtype=np.int32)
+ faces = np.zeros([(rings - 1) * (sectors - 1) * 2, 3], dtype=np.int32)
i = 0
for r in range(rings - 1):
for s in range(sectors - 1):
@@ -279,6 +265,28 @@ def remove_frames(self, frames):
self.sphere_positions = np.delete(self.sphere_positions, frames, axis=0)
self.redraw()
+ def export_usd(self, stage, usd_path: str, directory: str = None, verbose=False):
+ name = f"{self.name}_{self.uid:03}".replace(" ", "_")
+ usd_path = f"{usd_path}/{name}"
+
+ V = self.vertices.shape[0]
+ N = self.sphere_positions.shape[0]
+ M = self.n_spheres
+
+ vertices = np.empty((N, V * M, 3), np.float32)
+ for i in range(N):
+ vs = self.vertices[np.newaxis].repeat(M, 0)
+ vertices[i] = (vs * self.radius + self.sphere_positions[i].reshape(M, 1, 3)).reshape((-1, 3))
+
+ fs = self.faces[np.newaxis].repeat(M, 0).reshape((M, -1))
+ offsets = (np.arange(M) * V).reshape((M, 1))
+ faces = (fs + offsets).reshape((-1, 3))
+
+ mesh = usd.add_mesh(stage, usd_path, self.name, vertices, faces, self.get_local_transform())
+ usd.add_color(stage, mesh, usd_path, self.color[:3])
+
+ self._export_usd_recursively(stage, usd_path, directory, verbose)
+
class SpheresTrail(Spheres):
"""A sequence of spheres that leaves a trail, i.e. the past spheres keep being rendered."""
diff --git a/aitviewer/renderables/star.py b/aitviewer/renderables/star.py
index 260c94f..9675c5a 100644
--- a/aitviewer/renderables/star.py
+++ b/aitviewer/renderables/star.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
import torch
diff --git a/aitviewer/renderables/supr.py b/aitviewer/renderables/supr.py
index a961deb..b3e0a6d 100644
--- a/aitviewer/renderables/supr.py
+++ b/aitviewer/renderables/supr.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.configuration import CONFIG as C
diff --git a/aitviewer/renderables/volume.py b/aitviewer/renderables/volume.py
index 109695b..11fecc6 100644
--- a/aitviewer/renderables/volume.py
+++ b/aitviewer/renderables/volume.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import moderngl
import numpy as np
import trimesh
diff --git a/aitviewer/renderer.py b/aitviewer/renderer.py
index e124d2b..60015d9 100644
--- a/aitviewer/renderer.py
+++ b/aitviewer/renderer.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import struct
from typing import Dict, List, Tuple
diff --git a/aitviewer/scene/camera.py b/aitviewer/scene/camera.py
index 38a3cce..09de21d 100644
--- a/aitviewer/scene/camera.py
+++ b/aitviewer/scene/camera.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
from abc import ABC, abstractmethod
@@ -727,6 +712,7 @@ def __init__(
cols,
rows,
fov=45,
+ world_up=None,
near=None,
far=None,
viewer=None,
@@ -738,7 +724,11 @@ def __init__(
positions.shape[0] == 1 or targets.shape[0] == 1 or positions.shape[0] == targets.shape[0]
), f"position and target array shape mismatch: {positions.shape} and {targets.shape}"
- self._world_up = np.array([0.0, 1.0, 0.0])
+ if world_up:
+ self._world_up = world_up
+ else:
+ self._world_up = np.array([0.0, 0.0, 1.0]) if C.z_up else np.array([0.0, 1.0, 0.0])
+
self._targets = targets
super(PinholeCamera, self).__init__(position=position, n_frames=targets.shape[0], viewer=viewer, **kwargs)
@@ -877,9 +867,9 @@ def __init__(self, fov=45, orthographic=None, znear=None, zfar=None):
self.ortho_size = 1.0 if orthographic is None else orthographic
# Default camera settings.
- self._position = np.array([0.0, 0.0, 2.5])
+ self._position = np.array([0.0, 2.5, 0.0]) if C.z_up else np.array([0.0, 0.0, 2.5])
self._target = np.array([0.0, 0.0, 0.0])
- self._up = np.array([0.0, 1.0, 0.0])
+ self._up = np.array([0.0, 0.0, 1.0]) if C.z_up else np.array([0.0, 1.0, 0.0])
self.ZOOM_FACTOR = 4
self.ROT_FACTOR = 0.0025
@@ -919,7 +909,7 @@ def control_mode(self, mode):
if mode not in self._control_modes:
raise ValueError(f"Invalid camera mode: {mode}")
if mode == "first_person" or mode == "turntable":
- self.up = (0, 1, 0)
+ self.up = (0, 0, 1) if C.z_up else (0, 1, 0)
self._control_mode = mode
def copy(self):
@@ -1067,8 +1057,8 @@ def rotate_azimuth(self, angle):
if np.abs(angle) < 1e-8:
return
cam_pose = np.linalg.inv(self.view_matrix)
- y_axis = cam_pose[:3, 1]
- rot = rotation_matrix(angle, y_axis, self.target)
+ up_axis = cam_pose[:3, 1]
+ rot = rotation_matrix(angle, up_axis, self.target)
self.position = _transform_vector(rot, self.position)
def _rotation_from_mouse_delta(self, mouse_dx: int, mouse_dy: int):
diff --git a/aitviewer/scene/camera_utils.py b/aitviewer/scene/camera_utils.py
index 7c40c7a..f1bc051 100644
--- a/aitviewer/scene/camera_utils.py
+++ b/aitviewer/scene/camera_utils.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
diff --git a/aitviewer/scene/light.py b/aitviewer/scene/light.py
index 428d8d0..d030a9f 100644
--- a/aitviewer/scene/light.py
+++ b/aitviewer/scene/light.py
@@ -1,27 +1,12 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from functools import lru_cache
import numpy as np
+from pxr import Gf, UsdGeom, UsdLux
from aitviewer.renderables.lines import Lines
from aitviewer.renderables.rigid_bodies import RigidBodies
from aitviewer.scene.camera_utils import look_at, orthographic_projection
-from aitviewer.scene.material import Material
from aitviewer.scene.node import Node
from aitviewer.utils.utils import (
direction_from_spherical_coordinates,
@@ -73,6 +58,7 @@ def __init__(
self.mesh.spheres.material.diffuse = 0.0
self.mesh.spheres.material.ambient = 1.0
self.mesh.spheres.color = (*tuple(light_color), 1.0)
+ self.mesh.export_usd_enabled = False
self.add(self.mesh, show_in_hierarchy=False, enabled=False)
@classmethod
@@ -185,6 +171,7 @@ def _update_debug_lines(self):
if self._debug_lines is None:
self._debug_lines = Lines(lines, r_base=0.05, mode="lines", cast_shadow=False, is_selectable=False)
+ self._debug_lines.export_usd_enabled = False
self.add(self._debug_lines, show_in_hierarchy=False)
else:
self._debug_lines.lines = lines
@@ -296,3 +283,20 @@ def gui(self, imgui):
else:
if self._debug_lines:
self._debug_lines.enabled = False
+
+ def export_usd(self, stage, usd_path: str, directory: str = None, verbose=False):
+ name = f"{self.name}_{self.uid:03}".replace(" ", "_")
+ usd_path = f"{usd_path}/{name}"
+
+ # Transform.
+ xform = UsdGeom.Xform.Define(stage, usd_path)
+ a_xform = xform.AddTransformOp()
+ a_xform.Set(Gf.Matrix4d(self.get_local_transform().astype(np.float64).T))
+
+ # Light.
+ light = UsdLux.DistantLight.Define(stage, usd_path + "/" + name.replace(" ", "_"))
+ lightAPI = light.LightAPI()
+ lightAPI.GetInput("color").Set(self.light_color[:3])
+ lightAPI.GetInput("intensity").Set(self.strength)
+
+ self._export_usd_recursively(stage, usd_path, directory, verbose)
diff --git a/aitviewer/scene/material.py b/aitviewer/scene/material.py
index fadeb96..689cfc7 100644
--- a/aitviewer/scene/material.py
+++ b/aitviewer/scene/material.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
class Material(object):
diff --git a/aitviewer/scene/node.py b/aitviewer/scene/node.py
index bfbda4e..101b251 100644
--- a/aitviewer/scene/node.py
+++ b/aitviewer/scene/node.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from functools import lru_cache
from typing import List
@@ -727,7 +712,7 @@ def _export_usd_recursively(self, stage, usd_path, directory, verbose):
if verbose:
print(usd_path)
for n in self.nodes:
- if n.export_usd_enabled and n.show_in_hierarchy:
+ if n.export_usd_enabled:
n.export_usd(stage, usd_path, directory, verbose)
def export_usd(self, stage, usd_path: str, directory: str = None, verbose=False):
diff --git a/aitviewer/scene/scene.py b/aitviewer/scene/scene.py
index 4547d8d..855c09f 100644
--- a/aitviewer/scene/scene.py
+++ b/aitviewer/scene/scene.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import moderngl
import numpy as np
@@ -57,7 +42,7 @@ def __init__(self, **kwargs):
Light.facing_origin(
light_color=(1.0, 1.0, 1.0),
name="Back Light",
- position=(0.0, 10.0, -15.0),
+ position=(0.0, -15.0, 10.0) if C.z_up else (0.0, 10.0, -15.0),
shadow_enabled=False,
)
)
@@ -65,7 +50,7 @@ def __init__(self, **kwargs):
Light.facing_origin(
light_color=(1.0, 1.0, 1.0),
name="Front Light",
- position=(0.0, 10.0, 15.0),
+ position=(0.0, 15.0, 10.0) if C.z_up else (0.0, 10.0, 15.0),
)
)
self.add(*self.lights)
@@ -76,7 +61,9 @@ def __init__(self, **kwargs):
self.origin = CoordinateSystem(name="Origin", length=0.1, gui_affine=False, gui_material=False)
self.add(self.origin)
- self.floor = ChessboardPlane(100.0, 200, (0.9, 0.9, 0.9, 1.0), (0.82, 0.82, 0.82, 1.0), name="Floor")
+ self.floor = ChessboardPlane(
+ 100.0, 200, (0.9, 0.9, 0.9, 1.0), (0.82, 0.82, 0.82, 1.0), "xy" if C.z_up else "xz", name="Floor"
+ )
self.floor.material.diffuse = 0.1
self.add(self.floor)
@@ -95,6 +82,7 @@ def __init__(self, **kwargs):
color=(0.2, 0.2, 0.2, 1),
mode="lines",
)
+ self.camera_target.export_usd_enabled = False
self.add(self.camera_target, show_in_hierarchy=False, enabled=False)
# Camera trackball.
@@ -125,6 +113,7 @@ def __init__(self, **kwargs):
trackball_colors,
mode="lines",
)
+ self.trackball.export_usd_enabled = False
self.add(self.trackball, show_in_hierarchy=False, enabled=False)
self.custom_font = None
@@ -248,8 +237,9 @@ def bounds_without_floor(self):
def auto_set_floor(self):
"""Finds the minimum lower bound in the y coordinate from all the children bounds and uses that as the floor"""
if self.floor is not None and len(self.nodes) > 0:
- self.floor.position[1] = self.current_bounds[1, 0]
- self.floor.update_transform()
+ axis = 2 if C.z_up else 1
+ self.floor.position[axis] = self.current_bounds[axis, 0]
+ self.floor.update_transform(parent_transform=self.model_matrix)
def auto_set_camera_target(self):
"""Sets the camera target to the average of the center of all objects in the scene"""
diff --git a/aitviewer/server.py b/aitviewer/server.py
index 6fa11b1..6d25f7a 100644
--- a/aitviewer/server.py
+++ b/aitviewer/server.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import asyncio
import pickle
import queue
diff --git a/aitviewer/shaders.py b/aitviewer/shaders.py
index e8f54c3..74ce440 100644
--- a/aitviewer/shaders.py
+++ b/aitviewer/shaders.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import functools
import os
diff --git a/aitviewer/shaders/chessboard.glsl b/aitviewer/shaders/chessboard.glsl
index 2678451..7cccc52 100644
--- a/aitviewer/shaders/chessboard.glsl
+++ b/aitviewer/shaders/chessboard.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#include directional_lights.glsl
#if defined VERTEX_SHADER
diff --git a/aitviewer/shaders/clipping.glsl b/aitviewer/shaders/clipping.glsl
index 8e70afa..7d59e9c 100644
--- a/aitviewer/shaders/clipping.glsl
+++ b/aitviewer/shaders/clipping.glsl
@@ -1,3 +1,5 @@
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
uniform ivec3 clip_control = ivec3(0, 0, 0);
uniform vec3 clip_value;
diff --git a/aitviewer/shaders/cylinder.glsl b/aitviewer/shaders/cylinder.glsl
index f26a5ad..f9f071f 100644
--- a/aitviewer/shaders/cylinder.glsl
+++ b/aitviewer/shaders/cylinder.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#if defined VERTEX_SHADER
in vec3 in_position;
diff --git a/aitviewer/shaders/directional_lights.glsl b/aitviewer/shaders/directional_lights.glsl
index 962a4ba..a9b4952 100644
--- a/aitviewer/shaders/directional_lights.glsl
+++ b/aitviewer/shaders/directional_lights.glsl
@@ -1,3 +1,5 @@
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
struct DirLight {
vec3 direction;
vec3 color;
diff --git a/aitviewer/shaders/fragment_picking/frag_map.fs.glsl b/aitviewer/shaders/fragment_picking/frag_map.fs.glsl
index e54f1ff..665ad35 100644
--- a/aitviewer/shaders/fragment_picking/frag_map.fs.glsl
+++ b/aitviewer/shaders/fragment_picking/frag_map.fs.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#if defined FRAGMENT_SHADER
layout(location=0) out vec4 out_position;
diff --git a/aitviewer/shaders/fragment_picking/frag_pick.glsl b/aitviewer/shaders/fragment_picking/frag_pick.glsl
index fa4ed52..df6efca 100644
--- a/aitviewer/shaders/fragment_picking/frag_pick.glsl
+++ b/aitviewer/shaders/fragment_picking/frag_pick.glsl
@@ -1,4 +1,7 @@
#version 400
+
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
//
// Picks a point from the depth buffer and returns the position in camera space, along with the object and triangle id
// Adapted from https://github.com/moderngl/moderngl-window/blob/master/examples/resources/programs/fragment_picking/picker.glsl
diff --git a/aitviewer/shaders/lines_instanced.vs.glsl b/aitviewer/shaders/lines_instanced.vs.glsl
index c881505..efa1d6b 100644
--- a/aitviewer/shaders/lines_instanced.vs.glsl
+++ b/aitviewer/shaders/lines_instanced.vs.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#include directional_lights.glsl
#if defined VERTEX_SHADER
diff --git a/aitviewer/shaders/lines_instanced_positions.vs.glsl b/aitviewer/shaders/lines_instanced_positions.vs.glsl
index 932acde..953c732 100644
--- a/aitviewer/shaders/lines_instanced_positions.vs.glsl
+++ b/aitviewer/shaders/lines_instanced_positions.vs.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#include directional_lights.glsl
#if defined VERTEX_SHADER
diff --git a/aitviewer/shaders/lit_with_edges.glsl b/aitviewer/shaders/lit_with_edges.glsl
index 4006e8a..e60e216 100644
--- a/aitviewer/shaders/lit_with_edges.glsl
+++ b/aitviewer/shaders/lit_with_edges.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#define SMOOTH_SHADING 0
#define TEXTURE 0
#define FACE_COLOR 0
diff --git a/aitviewer/shaders/marching_cubes/check_surface.cs.glsl b/aitviewer/shaders/marching_cubes/check_surface.cs.glsl
index 2d919e1..356f18f 100644
--- a/aitviewer/shaders/marching_cubes/check_surface.cs.glsl
+++ b/aitviewer/shaders/marching_cubes/check_surface.cs.glsl
@@ -2,7 +2,7 @@
#extension GL_KHR_shader_subgroup_ballot : enable
#extension GL_KHR_shader_subgroup_arithmetic : enable
-/* Copyright (C) 2023 Dario Mylonopoulos */
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
#include marching_cubes/common.glsl
diff --git a/aitviewer/shaders/marching_cubes/common.glsl b/aitviewer/shaders/marching_cubes/common.glsl
index 3c07268..de76183 100644
--- a/aitviewer/shaders/marching_cubes/common.glsl
+++ b/aitviewer/shaders/marching_cubes/common.glsl
@@ -1,4 +1,4 @@
-/* Copyright (C) 2023 Dario Mylonopoulos */
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
#define BLOCK_SIZE_X 8
#define BLOCK_SIZE_Y 8
diff --git a/aitviewer/shaders/marching_cubes/compact.cs.glsl b/aitviewer/shaders/marching_cubes/compact.cs.glsl
index 85e55d4..79883e3 100644
--- a/aitviewer/shaders/marching_cubes/compact.cs.glsl
+++ b/aitviewer/shaders/marching_cubes/compact.cs.glsl
@@ -2,7 +2,7 @@
#extension GL_KHR_shader_subgroup_ballot : enable
#extension GL_KHR_shader_subgroup_arithmetic : enable
-/* Copyright (C) 2023 Dario Mylonopoulos */
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
#define COMPACT_GROUP_SIZE 128
diff --git a/aitviewer/shaders/marching_cubes/marching_cubes.cs.glsl b/aitviewer/shaders/marching_cubes/marching_cubes.cs.glsl
index 7878b28..45513df 100644
--- a/aitviewer/shaders/marching_cubes/marching_cubes.cs.glsl
+++ b/aitviewer/shaders/marching_cubes/marching_cubes.cs.glsl
@@ -2,7 +2,7 @@
#extension GL_KHR_shader_subgroup_ballot : enable
#extension GL_KHR_shader_subgroup_arithmetic : enable
-/* Copyright (C) 2023 Dario Mylonopoulos */
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
#include marching_cubes/common.glsl
#include marching_cubes/tables.glsl
diff --git a/aitviewer/shaders/marching_cubes/tables.glsl b/aitviewer/shaders/marching_cubes/tables.glsl
index 5c7d952..6608c78 100644
--- a/aitviewer/shaders/marching_cubes/tables.glsl
+++ b/aitviewer/shaders/marching_cubes/tables.glsl
@@ -1,4 +1,4 @@
-/* Copyright (C) 2023 Dario Mylonopoulos */
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
const uvec4 table_edge_mapping[12] =
{
diff --git a/aitviewer/shaders/mesh_positions.vs.glsl b/aitviewer/shaders/mesh_positions.vs.glsl
index eee776a..ab90742 100644
--- a/aitviewer/shaders/mesh_positions.vs.glsl
+++ b/aitviewer/shaders/mesh_positions.vs.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#define INSTANCED 0
#if defined VERTEX_SHADER
diff --git a/aitviewer/shaders/outline/outline_draw.glsl b/aitviewer/shaders/outline/outline_draw.glsl
index 6a23112..26ec44a 100644
--- a/aitviewer/shaders/outline/outline_draw.glsl
+++ b/aitviewer/shaders/outline/outline_draw.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#if defined VERTEX_SHADER
in vec3 in_position;
diff --git a/aitviewer/shaders/outline/outline_prepare.fs.glsl b/aitviewer/shaders/outline/outline_prepare.fs.glsl
index 29f1f89..9c944c3 100644
--- a/aitviewer/shaders/outline/outline_prepare.fs.glsl
+++ b/aitviewer/shaders/outline/outline_prepare.fs.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#if defined VERTEX_SHADER
in vec3 in_position;
diff --git a/aitviewer/shaders/screen_texture.glsl b/aitviewer/shaders/screen_texture.glsl
index 4911c62..5299e43 100644
--- a/aitviewer/shaders/screen_texture.glsl
+++ b/aitviewer/shaders/screen_texture.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#if defined VERTEX_SHADER
in vec3 in_position;
diff --git a/aitviewer/shaders/shadow_mapping/depth_only.fs.glsl b/aitviewer/shaders/shadow_mapping/depth_only.fs.glsl
index 0d9de6b..ff9ef41 100644
--- a/aitviewer/shaders/shadow_mapping/depth_only.fs.glsl
+++ b/aitviewer/shaders/shadow_mapping/depth_only.fs.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#if defined FRAGMENT_SHADER
#include clipping.glsl
diff --git a/aitviewer/shaders/shadow_mapping/raw_depth.glsl b/aitviewer/shaders/shadow_mapping/raw_depth.glsl
index 5d49e5d..b765aed 100644
--- a/aitviewer/shaders/shadow_mapping/raw_depth.glsl
+++ b/aitviewer/shaders/shadow_mapping/raw_depth.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#if defined VERTEX_SHADER
in vec3 in_position;
diff --git a/aitviewer/shaders/simple_unlit.glsl b/aitviewer/shaders/simple_unlit.glsl
index 88f4095..1503e27 100644
--- a/aitviewer/shaders/simple_unlit.glsl
+++ b/aitviewer/shaders/simple_unlit.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#if defined VERTEX_SHADER
in vec3 in_position;
diff --git a/aitviewer/shaders/sphere_instanced.vs.glsl b/aitviewer/shaders/sphere_instanced.vs.glsl
index 692bc3a..570ee53 100644
--- a/aitviewer/shaders/sphere_instanced.vs.glsl
+++ b/aitviewer/shaders/sphere_instanced.vs.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#include directional_lights.glsl
#if defined VERTEX_SHADER
diff --git a/aitviewer/shaders/sphere_instanced_positions.vs.glsl b/aitviewer/shaders/sphere_instanced_positions.vs.glsl
index fcacd36..d333d4a 100644
--- a/aitviewer/shaders/sphere_instanced_positions.vs.glsl
+++ b/aitviewer/shaders/sphere_instanced_positions.vs.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#if defined VERTEX_SHADER
uniform mat4 view_projection_matrix;
uniform mat4 model_matrix;
diff --git a/aitviewer/shaders/visualize.glsl b/aitviewer/shaders/visualize.glsl
index 3e2bc1c..81c8a6a 100644
--- a/aitviewer/shaders/visualize.glsl
+++ b/aitviewer/shaders/visualize.glsl
@@ -1,5 +1,7 @@
#version 400
+// Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
#if defined VERTEX_SHADER
in vec3 in_position;
diff --git a/aitviewer/streamables/streamable.py b/aitviewer/streamables/streamable.py
index 2899bca..819b9f1 100644
--- a/aitviewer/streamables/streamable.py
+++ b/aitviewer/streamables/streamable.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from aitviewer.scene.node import Node
diff --git a/aitviewer/streamables/webcam.py b/aitviewer/streamables/webcam.py
index 2ff8157..9eddc5d 100644
--- a/aitviewer/streamables/webcam.py
+++ b/aitviewer/streamables/webcam.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import cv2
import numpy as np
from moderngl_window import geometry
diff --git a/aitviewer/utils/decorators.py b/aitviewer/utils/decorators.py
index 99c27be..c1f9223 100644
--- a/aitviewer/utils/decorators.py
+++ b/aitviewer/utils/decorators.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
def requires_ctx(func):
diff --git a/aitviewer/utils/exceptions.py b/aitviewer/utils/exceptions.py
index 5afa816..f41e1ba 100644
--- a/aitviewer/utils/exceptions.py
+++ b/aitviewer/utils/exceptions.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
class ExceptionModule(object):
diff --git a/aitviewer/utils/imgui_integration.py b/aitviewer/utils/imgui_integration.py
index ea0ea00..49e4162 100644
--- a/aitviewer/utils/imgui_integration.py
+++ b/aitviewer/utils/imgui_integration.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import ctypes
diff --git a/aitviewer/utils/marching_cubes_table.py b/aitviewer/utils/marching_cubes_table.py
index 96556dd..ae86b82 100644
--- a/aitviewer/utils/marching_cubes_table.py
+++ b/aitviewer/utils/marching_cubes_table.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
X = 255
diff --git a/aitviewer/utils/path.py b/aitviewer/utils/path.py
index 579b088..7aed7cd 100644
--- a/aitviewer/utils/path.py
+++ b/aitviewer/utils/path.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
import scipy.ndimage
diff --git a/aitviewer/utils/perf_timer.py b/aitviewer/utils/perf_timer.py
index 71eb1e1..566b477 100644
--- a/aitviewer/utils/perf_timer.py
+++ b/aitviewer/utils/perf_timer.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import time
from typing import Tuple
diff --git a/aitviewer/utils/pyqt5_window.py b/aitviewer/utils/pyqt5_window.py
index ba198ae..4432969 100644
--- a/aitviewer/utils/pyqt5_window.py
+++ b/aitviewer/utils/pyqt5_window.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from moderngl_window.context.pyqt5 import Window
from PyQt5 import QtGui, QtOpenGL, QtWidgets
diff --git a/aitviewer/utils/pyqt6_window.py b/aitviewer/utils/pyqt6_window.py
new file mode 100644
index 0000000..41e4c36
--- /dev/null
+++ b/aitviewer/utils/pyqt6_window.py
@@ -0,0 +1,438 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+
+from typing import Tuple
+
+from moderngl_window.context.base import BaseKeys, BaseWindow
+from PyQt6 import QtCore, QtGui, QtWidgets
+from PyQt6.QtCore import Qt
+from PyQt6.QtOpenGL import QOpenGLWindow
+
+
+class Keys(BaseKeys):
+ """
+ Namespace mapping pyqt specific key constants
+ """
+
+ ESCAPE = Qt.Key.Key_Escape
+ SPACE = Qt.Key.Key_Space
+ ENTER = Qt.Key.Key_Return
+ # ENTER = Qt.Key.Key_Enter #This is numpad enter
+ PAGE_UP = Qt.Key.Key_PageUp
+ PAGE_DOWN = Qt.Key.Key_PageDown
+ LEFT = Qt.Key.Key_Left
+ RIGHT = Qt.Key.Key_Right
+ UP = Qt.Key.Key_Up
+ DOWN = Qt.Key.Key_Down
+
+ TAB = Qt.Key.Key_Tab
+ COMMA = Qt.Key.Key_Comma
+ MINUS = Qt.Key.Key_Minus
+ PERIOD = Qt.Key.Key_Period
+ SLASH = Qt.Key.Key_Slash
+ SEMICOLON = Qt.Key.Key_Semicolon
+ EQUAL = Qt.Key.Key_Equal
+ LEFT_BRACKET = Qt.Key.Key_BracketLeft
+ RIGHT_BRACKET = Qt.Key.Key_BracketRight
+ BACKSLASH = Qt.Key.Key_Backslash
+ BACKSPACE = Qt.Key.Key_Backspace
+ INSERT = Qt.Key.Key_Insert
+ DELETE = Qt.Key.Key_Delete
+ HOME = Qt.Key.Key_Home
+ END = Qt.Key.Key_End
+ CAPS_LOCK = Qt.Key.Key_CapsLock
+
+ F1 = Qt.Key.Key_F1
+ F2 = Qt.Key.Key_F2
+ F3 = Qt.Key.Key_F3
+ F4 = Qt.Key.Key_F4
+ F5 = Qt.Key.Key_F5
+ F6 = Qt.Key.Key_F6
+ F7 = Qt.Key.Key_F7
+ F8 = Qt.Key.Key_F8
+ F9 = Qt.Key.Key_F9
+ F10 = Qt.Key.Key_F10
+ F11 = Qt.Key.Key_F11
+ F12 = Qt.Key.Key_F12
+
+ NUMBER_0 = Qt.Key.Key_0
+ NUMBER_1 = Qt.Key.Key_1
+ NUMBER_2 = Qt.Key.Key_2
+ NUMBER_3 = Qt.Key.Key_3
+ NUMBER_4 = Qt.Key.Key_4
+ NUMBER_5 = Qt.Key.Key_5
+ NUMBER_6 = Qt.Key.Key_6
+ NUMBER_7 = Qt.Key.Key_7
+ NUMBER_8 = Qt.Key.Key_8
+ NUMBER_9 = Qt.Key.Key_9
+
+ # Uses a modifier for numpad. We just repeat the numbers for compatibility
+ NUMPAD_0 = Qt.Key.Key_0
+ NUMPAD_1 = Qt.Key.Key_1
+ NUMPAD_2 = Qt.Key.Key_2
+ NUMPAD_3 = Qt.Key.Key_3
+ NUMPAD_4 = Qt.Key.Key_4
+ NUMPAD_5 = Qt.Key.Key_5
+ NUMPAD_6 = Qt.Key.Key_6
+ NUMPAD_7 = Qt.Key.Key_7
+ NUMPAD_8 = Qt.Key.Key_8
+ NUMPAD_9 = Qt.Key.Key_9
+
+ A = Qt.Key.Key_A
+ B = Qt.Key.Key_B
+ C = Qt.Key.Key_C
+ D = Qt.Key.Key_D
+ E = Qt.Key.Key_E
+ F = Qt.Key.Key_F
+ G = Qt.Key.Key_G
+ H = Qt.Key.Key_H
+ I = Qt.Key.Key_I
+ J = Qt.Key.Key_J
+ K = Qt.Key.Key_K
+ L = Qt.Key.Key_L
+ M = Qt.Key.Key_M
+ N = Qt.Key.Key_N
+ O = Qt.Key.Key_O
+ P = Qt.Key.Key_P
+ Q = Qt.Key.Key_Q
+ R = Qt.Key.Key_R
+ S = Qt.Key.Key_S
+ T = Qt.Key.Key_T
+ U = Qt.Key.Key_U
+ V = Qt.Key.Key_V
+ W = Qt.Key.Key_W
+ X = Qt.Key.Key_X
+ Y = Qt.Key.Key_Y
+ Z = Qt.Key.Key_Z
+
+
+class GLWindow(QOpenGLWindow):
+ def __init__(self, gl_version, vsync, samples):
+ super().__init__()
+ fmt = QtGui.QSurfaceFormat()
+ fmt.setVersion(gl_version[0], gl_version[1])
+ fmt.setProfile(QtGui.QSurfaceFormat.OpenGLContextProfile.CoreProfile)
+ fmt.setDepthBufferSize(24)
+ fmt.setSwapBehavior(QtGui.QSurfaceFormat.SwapBehavior.DoubleBuffer)
+ fmt.setSwapInterval(1 if vsync else 0)
+ fmt.setAlphaBufferSize(8)
+ if samples > 1:
+ fmt.setSamples(int(samples))
+ self.setFormat(fmt)
+
+ def initializeGL(self):
+ pass
+
+ def paintGL(self) -> None:
+ pass
+
+
+class PyQt6Window(BaseWindow):
+ """
+ A basic window implementation using PyQt5 with the goal of
+ creating an OpenGL context and handle keyboard and mouse input.
+
+ This window bypasses Qt's own event loop to make things as flexible as possible.
+
+ If you need to use the event loop and are using other features
+ in Qt as well, this example can still be useful as a reference
+ when creating your own window.
+ """
+
+ #: Name of the window
+ name = "pyqt6"
+ #: PyQt6 specific key constants
+ keys = Keys
+
+ # PyQt supports mode buttons, but we are limited by other libraries
+ _mouse_button_map = {
+ QtCore.Qt.MouseButton.LeftButton: 1,
+ QtCore.Qt.MouseButton.RightButton: 2,
+ QtCore.Qt.MouseButton.MiddleButton: 3,
+ }
+
+ def __init__(self, **kwargs):
+ super().__init__(**kwargs)
+
+ # We need an application object, but we are bypassing the library's
+ # internal event loop to avoid unnecessary work
+ self._app = QtWidgets.QApplication([])
+ # Create the OpenGL window
+ self._widget = GLWindow(self.gl_version, self._vsync, self.samples)
+ self.title = self._title
+
+ if self.resizable:
+ self._widget.resize(self.width, self.height)
+ else:
+ self._widget.setMaximumSize(QtCore.QSize(self.width, self.height))
+ self._widget.setMinimumSize(QtCore.QSize(self.width, self.height))
+
+ # Needs to be set before show()
+ self._widget.resizeGL = self.resize
+
+ self.cursor = self._cursor
+
+ if self.fullscreen:
+ self._widget.showFullScreen()
+ else:
+ self._widget.show()
+
+ # Override event functions in qt
+ self._widget.keyPressEvent = self.key_pressed_event
+ self._widget.keyReleaseEvent = self.key_release_event
+ self._widget.mouseMoveEvent = self.mouse_move_event
+ self._widget.mousePressEvent = self.mouse_press_event
+ self._widget.mouseReleaseEvent = self.mouse_release_event
+ self._widget.wheelEvent = self.mouse_wheel_event
+ self._widget.closeEvent = self.close_event
+ self._widget.showEvent = self.show_event
+ self._widget.hideEvent = self.hide_event
+
+ # # Attach to the context
+ self.init_mgl_context()
+
+ # Ensure retina and 4k displays get the right viewport
+ self._buffer_width = int(self._width * self._widget.devicePixelRatio())
+ self._buffer_height = int(self._height * self._widget.devicePixelRatio())
+
+ self.set_default_viewport()
+
+ def _set_icon(self, icon_path: str) -> None:
+ self._widget.setIcon(QtGui.QIcon(str(icon_path)))
+ pass
+
+ def _set_fullscreen(self, value: bool) -> None:
+ if value:
+ self._widget.showFullScreen()
+ else:
+ self._widget.showNormal()
+
+ @property
+ def size(self) -> Tuple[int, int]:
+ """Tuple[int, int]: current window size.
+
+ This property also support assignment::
+
+ # Resize the window to 1000 x 1000
+ window.size = 1000, 1000
+ """
+ return self._width, self._height
+
+ @size.setter
+ def size(self, value: Tuple[int, int]):
+ pos = self.position
+ self._widget.setGeometry(pos[0], pos[1], value[0], value[1])
+
+ @property
+ def position(self) -> Tuple[int, int]:
+ """Tuple[int, int]: The current window position.
+
+ This property can also be set to move the window::
+
+ # Move window to 100, 100
+ window.position = 100, 100
+ """
+ geo = self._widget.geometry()
+ return geo.x(), geo.y()
+
+ @position.setter
+ def position(self, value: Tuple[int, int]):
+ self._widget.setGeometry(value[0], value[1], self._width, self._height)
+
+ def swap_buffers(self) -> None:
+ """Swap buffers, set viewport, trigger events and increment frame counter"""
+
+ # Trigger a redraw, equivalent to self._widget.swapBuffers for Qt5.
+ self._widget.event(QtGui.QPaintEvent(QtGui.QRegion()))
+ self.set_default_viewport()
+ QtWidgets.QApplication.processEvents()
+ self._frames += 1
+
+ @property
+ def cursor(self) -> bool:
+ """bool: Should the mouse cursor be visible inside the window?
+
+ This property can also be assigned to::
+
+ # Disable cursor
+ window.cursor = False
+ """
+ return self._cursor
+
+ @cursor.setter
+ def cursor(self, value: bool):
+ if value is True:
+ self._widget.setCursor(QtCore.Qt.CursorShape.ArrowCursor)
+ else:
+ self._widget.setCursor(QtCore.Qt.CursorShape.BlankCursor)
+
+ self._cursor = value
+
+ @property
+ def title(self) -> str:
+ """str: Window title.
+
+ This property can also be set::
+
+ window.title = "New Title"
+ """
+ return self._title
+
+ @title.setter
+ def title(self, value: str):
+ self._widget.setTitle(value)
+ self._title = value
+
+ def resize(self, width: int, height: int) -> None:
+ """Replacement for Qt's ``resizeGL`` method.
+
+ Args:
+ width: New window width
+ height: New window height
+ """
+ # NOTE(dario): Do not attempt to resize if the window is closing.
+ # This crashes if the OpenGL context has already been destroyed,
+ # which seems to be the case when manually closing the window from
+ # the cross on windows.
+ if self.is_closing:
+ return
+
+ self._width = width
+ self._height = height
+ self._buffer_width = int(width * self._widget.devicePixelRatio())
+ self._buffer_height = int(height * self._widget.devicePixelRatio())
+
+ if self._ctx:
+ self.set_default_viewport()
+
+ # Make sure we notify the example about the resize
+ super().resize(self._buffer_width, self._buffer_height)
+
+ def _handle_modifiers(self, mods) -> None:
+ """Update modifiers"""
+ self._modifiers.shift = bool(mods & QtCore.Qt.KeyboardModifier.ShiftModifier)
+ self._modifiers.ctrl = bool(mods & QtCore.Qt.KeyboardModifier.ControlModifier)
+ self._modifiers.alt = bool(mods & QtCore.Qt.KeyboardModifier.AltModifier)
+
+ def _set_icon(self, icon_path: str) -> None:
+ self._widget.setIcon(QtGui.QIcon(icon_path))
+
+ def key_pressed_event(self, event: QtGui.QKeyEvent) -> None:
+ """Process Qt key press events forwarding them to standard methods
+
+ Args:
+ event: The qtevent instance
+ """
+ if self._exit_key is not None and event.key() == self._exit_key:
+ self.close()
+
+ if self._fs_key is not None and event.key() == self._fs_key:
+ self.fullscreen = not self.fullscreen
+
+ self._handle_modifiers(event.modifiers())
+ self._key_pressed_map[event.key()] = True
+ self._key_event_func(event.key(), self.keys.ACTION_PRESS, self._modifiers)
+
+ text = event.text()
+ if text.strip() or event.key() == self.keys.SPACE:
+ self._unicode_char_entered_func(text)
+
+ def key_release_event(self, event: QtGui.QKeyEvent) -> None:
+ """Process Qt key release events forwarding them to standard methods
+
+ Args:
+ event: The qtevent instance
+ """
+ self._handle_modifiers(event.modifiers())
+ self._key_pressed_map[event.key()] = False
+ self._key_event_func(event.key(), self.keys.ACTION_RELEASE, self._modifiers)
+
+ def mouse_move_event(self, event: QtGui.QMouseEvent) -> None:
+ """Forward mouse cursor position events to standard methods
+
+ Args:
+ event: The qtevent instance
+ """
+ x, y = event.pos().x(), event.pos().y()
+ dx, dy = self._calc_mouse_delta(x, y)
+
+ if self.mouse_states.any:
+ self._mouse_drag_event_func(x, y, dx, dy)
+ else:
+ self._mouse_position_event_func(x, y, dx, dy)
+
+ def mouse_press_event(self, event: QtGui.QMouseEvent) -> None:
+ """Forward mouse press events to standard methods
+
+ Args:
+ event: The qtevent instance
+ """
+ self._handle_modifiers(event.modifiers())
+ button = self._mouse_button_map.get(event.button())
+ if button is None:
+ return
+ self._handle_mouse_button_state_change(button, True)
+ self._mouse_press_event_func(event.pos().x(), event.pos().y(), button)
+
+ def mouse_release_event(self, event: QtGui.QMouseEvent) -> None:
+ """Forward mouse release events to standard methods
+
+ Args:
+ event: The qtevent instance
+ """
+ self._handle_modifiers(event.modifiers())
+ button = self._mouse_button_map.get(event.button())
+ if button is None:
+ return
+
+ self._handle_mouse_button_state_change(button, False)
+ self._mouse_release_event_func(event.pos().x(), event.pos().y(), button)
+
+ def mouse_wheel_event(self, event: QtGui.QWheelEvent):
+ """Forward mouse wheel events to standard metods.
+
+ From Qt docs:
+
+ Returns the distance that the wheel is rotated, in eighths of a degree.
+ A positive value indicates that the wheel was rotated forwards away from the user;
+ a negative value indicates that the wheel was rotated backwards toward the user.
+
+ Most mouse types work in steps of 15 degrees, in which case the delta value is a
+ multiple of 120; i.e., 120 units * 1/8 = 15 degrees.
+
+ However, some mice have finer-resolution wheels and send delta values that are less
+ than 120 units (less than 15 degrees). To support this possibility, you can either
+ cumulatively add the delta values from events until the value of 120 is reached,
+ then scroll the widget, or you can partially scroll the widget in response to each
+ wheel event.
+
+ Args:
+ event (QWheelEvent): Mouse wheel event
+ """
+ self._handle_modifiers(event.modifiers())
+ point = event.angleDelta()
+ self._mouse_scroll_event_func(point.x() / 120.0, point.y() / 120.0)
+
+ def close_event(self, event) -> None:
+ """The standard PyQt close events
+
+ Args:
+ event: The qtevent instance
+ """
+ self.close()
+
+ def close(self):
+ """Close the window"""
+ super().close()
+ self._close_func()
+
+ def show_event(self, event):
+ """The standard Qt show event"""
+ self._iconify_func(False)
+
+ def hide_event(self, event):
+ """The standard Qt hide event"""
+ self._iconify_func(True)
+
+ def destroy(self) -> None:
+ """Quit the Qt application to exit the window gracefully"""
+ QtCore.QCoreApplication.instance().quit()
diff --git a/aitviewer/utils/so3.py b/aitviewer/utils/so3.py
index 75abc59..fd0d73d 100644
--- a/aitviewer/utils/so3.py
+++ b/aitviewer/utils/so3.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
import roma
import torch
diff --git a/aitviewer/utils/usd.py b/aitviewer/utils/usd.py
index 3b80333..61575ca 100644
--- a/aitviewer/utils/usd.py
+++ b/aitviewer/utils/usd.py
@@ -1,9 +1,10 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import shutil
import numpy as np
from PIL import Image
-from pxr import Sdf, UsdShade
+from pxr import Gf, Sdf, UsdGeom, UsdShade
def _get_texture_paths(path, name, directory):
@@ -27,6 +28,26 @@ def save_image_as_texture(img, img_name, name, directory):
return usd_path
+def add_color(stage, mesh, usd_path, color):
+ # Material.
+ mat_path = usd_path + "/material"
+ material = UsdShade.Material.Define(stage, mat_path)
+
+ # Shader.
+ shader = UsdShade.Shader.Define(stage, mat_path + "/shader")
+ shader.CreateIdAttr("UsdPreviewSurface")
+
+ # Connect the material to the shader.
+ material.CreateSurfaceOutput().ConnectToSource(shader.ConnectableAPI(), "surface")
+
+ # Create a uniform color.np.
+ shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set(tuple(color))
+
+ # Bind the Material to the mesh.
+ mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
+ UsdShade.MaterialBindingAPI(mesh).Bind(material)
+
+
def add_texture(stage, mesh, usd_path, texture_path):
# Material.
mat_path = usd_path + "/material"
@@ -57,3 +78,20 @@ def add_texture(stage, mesh, usd_path, texture_path):
# Bind the Material to the mesh.
mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
UsdShade.MaterialBindingAPI(mesh).Bind(material)
+
+
+def add_mesh(stage, usd_path, name, vertices, faces, transform):
+ # Transform.
+ xform = UsdGeom.Xform.Define(stage, usd_path)
+ a_xform = xform.AddTransformOp()
+ a_xform.Set(Gf.Matrix4d(transform.astype(np.float64).T))
+
+ # Geometry.
+ mesh = UsdGeom.Mesh.Define(stage, usd_path + "/" + name.replace(" ", "_"))
+ a_vertices = mesh.CreatePointsAttr()
+ for i in range(vertices.shape[0]):
+ a_vertices.Set(time=i + 1, value=vertices[i])
+ mesh.CreateFaceVertexCountsAttr(np.full(faces.shape[0], 3))
+ mesh.CreateFaceVertexIndicesAttr(faces)
+
+ return mesh
diff --git a/aitviewer/utils/utils.py b/aitviewer/utils/utils.py
index 6ead64c..f324223 100644
--- a/aitviewer/utils/utils.py
+++ b/aitviewer/utils/utils.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import subprocess
diff --git a/aitviewer/viewer.py b/aitviewer/viewer.py
index 4f657b9..779beb8 100644
--- a/aitviewer/viewer.py
+++ b/aitviewer/viewer.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import copy
import os
import sys
@@ -121,6 +106,10 @@ def __init__(
from aitviewer.utils.pyqt5_window import PyQt5Window
base_window_cls = PyQt5Window
+ elif self.window_type == "pyqt6":
+ from aitviewer.utils.pyqt6_window import PyQt6Window
+
+ base_window_cls = PyQt6Window
else:
base_window_cls = get_local_window_cls(self.window_type)
@@ -791,7 +780,6 @@ def menu_entry(text, name):
if clicked:
self.center_view_on_selection()
- # TODO (@Dario): correct to only use self.viewports[0] here?
is_ortho = False if self.viewports[0].using_temp_camera else self.scene.camera.is_ortho
_, is_ortho = imgui.menu_item(
"Orthographic Camera",
@@ -799,13 +787,12 @@ def menu_entry(text, name):
is_ortho,
True,
)
- # TODO (@Dario): correct to only use self.viewports[0] here?
+
if is_ortho and self.viewports[0].using_temp_camera:
self.reset_camera()
self.scene.camera.is_ortho = is_ortho
- # TODO (@Dario)
- if not self.viewports[0].using_temp_camera and imgui.begin_menu("Control modes"):
+ if imgui.begin_menu("Control modes", enabled=not self.viewports[0].using_temp_camera):
def mode(name, mode):
selected = imgui.menu_item(name, None, self.scene.camera.control_mode == mode)[1]
@@ -885,7 +872,9 @@ def mode(name, mode):
def gui_export_video(self):
imgui.set_next_window_size(570, 0)
- if imgui.begin_popup_modal("Export Video", flags=imgui.WINDOW_NO_RESIZE | imgui.WINDOW_NO_MOVE)[0]:
+ if imgui.begin_popup_modal(
+ "Export Video", flags=imgui.WINDOW_NO_RESIZE | imgui.WINDOW_NO_MOVE | imgui.WINDOW_NO_SAVED_SETTINGS
+ )[0]:
if self.scene.n_frames == 1:
imgui.push_style_var(imgui.STYLE_ALPHA, 0.2)
self.export_animation = False
@@ -1117,7 +1106,7 @@ def gui_export_video(self):
def gui_playback(self):
"""GUI to control playback settings."""
imgui.set_next_window_position(50, 100 + self.window_size[1] * 0.7, imgui.FIRST_USE_EVER)
- imgui.set_next_window_size(self.window_size[0] * 0.4, self.window_size[1] * 0.15, imgui.FIRST_USE_EVER)
+ imgui.set_next_window_size(self.window_size[0] * 0.4, self.window_size[1] * 0.175, imgui.FIRST_USE_EVER)
expanded, _ = imgui.begin("Playback", None)
if expanded:
u, run_animations = imgui.checkbox(
@@ -1164,6 +1153,10 @@ def gui_playback(self):
max_value=n_frames - 1,
)
self.prevent_background_interactions()
+ if imgui.collapsing_header("Advanced options")[0]:
+ _, self.playback_without_skipping = imgui.checkbox(
+ "Playback without skipping", self.playback_without_skipping
+ )
imgui.end()
def gui_shortcuts(self):
@@ -1198,7 +1191,10 @@ def gui_go_to_frame(self):
imgui.set_next_window_size(300, 0)
if imgui.begin_popup_modal(
"Go to frame##go-to-frame-popup",
- flags=imgui.WINDOW_NO_RESIZE | imgui.WINDOW_NO_MOVE | imgui.WINDOW_NO_TITLE_BAR,
+ flags=imgui.WINDOW_NO_RESIZE
+ | imgui.WINDOW_NO_MOVE
+ | imgui.WINDOW_NO_TITLE_BAR
+ | imgui.WINDOW_NO_SAVED_SETTINGS,
)[0]:
if self._go_to_frame_popup_open:
imgui.set_keyboard_focus_here()
@@ -1236,7 +1232,7 @@ def gui_screenshot(self):
imgui.set_next_window_size(250, 0)
if imgui.begin_popup_modal(
"Screenshot##screenshot-popup",
- flags=imgui.WINDOW_NO_RESIZE | imgui.WINDOW_NO_MOVE,
+ flags=imgui.WINDOW_NO_RESIZE | imgui.WINDOW_NO_MOVE | imgui.WINDOW_NO_SAVED_SETTINGS,
)[0]:
if self._screenshot_popup_open:
_, self.screenshot_transparent = imgui.checkbox("Transparent background", self.screenshot_transparent)
@@ -1293,7 +1289,7 @@ def gui_export_usd(self):
imgui.set_next_window_size(570, 0)
if imgui.begin_popup_modal(
"Export USD##export-usd-popup",
- flags=imgui.WINDOW_NO_RESIZE | imgui.WINDOW_NO_MOVE,
+ flags=imgui.WINDOW_NO_RESIZE | imgui.WINDOW_NO_MOVE | imgui.WINDOW_NO_SAVED_SETTINGS,
)[0]:
if self._export_usd_popup_open:
# Export selection tree.
@@ -1348,7 +1344,7 @@ def tree(nodes):
imgui.end_child()
if self.export_usd_name is None:
- self.export_usd_name = "frame_{:0>6}".format(self.scene.current_frame_id)
+ self.export_usd_name = "scene"
# HACK: we need to set the focus twice when the modal is first opened for it to take effect.
if self._modal_focus_count > 0:
@@ -1388,7 +1384,8 @@ def tree(nodes):
self.export_usd(
os.path.join(C.export_dir, "usd", f"{self.export_usd_name}"),
self.export_usd_directory,
- True,
+ False,
+ False,
)
imgui.close_current_popup()
self._export_usd_popup_open = False
@@ -1401,7 +1398,9 @@ def gui_exit(self):
if self._exit_popup_open:
imgui.open_popup("Exit##exit-popup")
- if imgui.begin_popup_modal("Exit##exit-popup", flags=imgui.WINDOW_NO_RESIZE | imgui.WINDOW_NO_MOVE)[0]:
+ if imgui.begin_popup_modal(
+ "Exit##exit-popup", flags=imgui.WINDOW_NO_RESIZE | imgui.WINDOW_NO_MOVE | imgui.WINDOW_NO_SAVED_SETTINGS
+ )[0]:
if self._exit_popup_open:
imgui.text("Are you sure you want to exit?")
imgui.spacing()
@@ -1491,9 +1490,13 @@ def center_view_on_node(self, node, with_animation=False):
diag = np.linalg.norm(bounds[:, 0] - bounds[:, 1])
dist = max(0.01, diag * 1.3)
- center = bounds.mean(-1)
- anim_time = 0.25 if with_animation else 0.0
- self.scene.camera.move_with_animation(center - forward * dist, center, anim_time)
+ target = bounds.mean(-1)
+ position = target - forward * dist
+ if with_animation:
+ self.scene.camera.move_with_animation(position, target, 0.25)
+ else:
+ self.scene.camera.position = position
+ self.scene.camera.target = target
def resize(self, width: int, height: int):
self.window_size = (width, height)
@@ -1770,20 +1773,21 @@ def export_frame(self, file_path, scale_factor: float = None, transparent_backgr
self.run_animations = run_animations
self._last_frame_rendered_at = self.timer.time
- def export_usd(self, path: str, export_as_directory=False, verbose=False):
+ def export_usd(self, path: str, export_as_directory=False, verbose=False, ascii=False):
from pxr import Usd, UsdGeom
+ extension = ".usd" if not ascii else ".usda"
if export_as_directory:
- if path.endswith(".usd"):
+ if path.endswith(extension):
directory = path[:-4]
else:
directory = path
os.makedirs(directory, exist_ok=True)
- path = os.path.join(directory, os.path.basename(directory) + ".usd")
+ path = os.path.join(directory, os.path.basename(directory) + extension)
else:
directory = None
- if not path.endswith(".usd"):
- path += ".usd"
+ if not path.endswith(extension):
+ path += extension
# Create a new file and setup scene parameters.
stage = Usd.Stage.CreateNew(path)
diff --git a/examples/animation.py b/examples/animation.py
index d809683..a520139 100644
--- a/examples/animation.py
+++ b/examples/animation.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
import trimesh
diff --git a/examples/camera_path.py b/examples/camera_path.py
index 57f67a2..441aad6 100644
--- a/examples/camera_path.py
+++ b/examples/camera_path.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.configuration import CONFIG as C
diff --git a/examples/headless_rendering.py b/examples/headless_rendering.py
index e1f43ed..7470fe4 100644
--- a/examples/headless_rendering.py
+++ b/examples/headless_rendering.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import numpy as np
diff --git a/examples/load_3DPW.py b/examples/load_3DPW.py
index 1df7e77..37323fb 100644
--- a/examples/load_3DPW.py
+++ b/examples/load_3DPW.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import glob
import os
diff --git a/examples/load_AMASS.py b/examples/load_AMASS.py
index 88e1d38..24a3add 100644
--- a/examples/load_AMASS.py
+++ b/examples/load_AMASS.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import numpy as np
diff --git a/examples/load_DIP_IMU.py b/examples/load_DIP_IMU.py
index 177e130..45dffe3 100644
--- a/examples/load_DIP_IMU.py
+++ b/examples/load_DIP_IMU.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import pickle as pkl
import torch
diff --git a/examples/load_DIP_TC.py b/examples/load_DIP_TC.py
index 5640fc8..6ff2da7 100644
--- a/examples/load_DIP_TC.py
+++ b/examples/load_DIP_TC.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import pickle as pkl
import torch
diff --git a/examples/load_GLAMR.py b/examples/load_GLAMR.py
index e7f6cf3..b1a2e32 100644
--- a/examples/load_GLAMR.py
+++ b/examples/load_GLAMR.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import pickle
import re
diff --git a/examples/load_ROMP.py b/examples/load_ROMP.py
index fda1d96..e2ad92b 100644
--- a/examples/load_ROMP.py
+++ b/examples/load_ROMP.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import cv2
import numpy as np
diff --git a/examples/load_STAR.py b/examples/load_STAR.py
index 2a06892..f01039f 100644
--- a/examples/load_STAR.py
+++ b/examples/load_STAR.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
from aitviewer.configuration import CONFIG as C
diff --git a/examples/load_SUPR.py b/examples/load_SUPR.py
index 667db32..f2fe3b3 100644
--- a/examples/load_SUPR.py
+++ b/examples/load_SUPR.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from aitviewer.renderables.supr import SUPRLayer, SUPRSequence
from aitviewer.viewer import Viewer
diff --git a/examples/load_VIBE.py b/examples/load_VIBE.py
index 3709e21..390c03a 100644
--- a/examples/load_VIBE.py
+++ b/examples/load_VIBE.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import re
diff --git a/examples/load_obj.py b/examples/load_obj.py
index 11b4443..146caa0 100644
--- a/examples/load_obj.py
+++ b/examples/load_obj.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import trimesh
from aitviewer.renderables.meshes import Meshes
diff --git a/examples/load_template.py b/examples/load_template.py
index f53d8ac..6358b38 100644
--- a/examples/load_template.py
+++ b/examples/load_template.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.configuration import CONFIG as C
diff --git a/examples/missing_frames.py b/examples/missing_frames.py
index 8fe2e07..7422f5e 100644
--- a/examples/missing_frames.py
+++ b/examples/missing_frames.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import joblib
import numpy as np
diff --git a/examples/quickstart.py b/examples/quickstart.py
index 921f811..1d723ac 100644
--- a/examples/quickstart.py
+++ b/examples/quickstart.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from aitviewer.renderables.smpl import SMPLSequence
from aitviewer.viewer import Viewer
diff --git a/examples/remote.py b/examples/remote.py
index 4244b09..5c51063 100644
--- a/examples/remote.py
+++ b/examples/remote.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
import trimesh
diff --git a/examples/remote_amass.py b/examples/remote_amass.py
index c121b7d..b43868a 100644
--- a/examples/remote_amass.py
+++ b/examples/remote_amass.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
from pathlib import Path
from random import random, shuffle
diff --git a/examples/remote_custom_viewer.py b/examples/remote_custom_viewer.py
index c2b5f23..8cc2e2f 100644
--- a/examples/remote_custom_viewer.py
+++ b/examples/remote_custom_viewer.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import argparse
from typing import Tuple
diff --git a/examples/remote_two_way_communication.py b/examples/remote_two_way_communication.py
index d7c421c..d2f66b8 100644
--- a/examples/remote_two_way_communication.py
+++ b/examples/remote_two_way_communication.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import argparse
# Parse command line arguments.
diff --git a/examples/render_primitives.py b/examples/render_primitives.py
index cb40634..abaeade 100644
--- a/examples/render_primitives.py
+++ b/examples/render_primitives.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.renderables.lines import Lines
diff --git a/examples/sdf_gpu_shader.py b/examples/sdf_gpu_shader.py
index d02d21e..a4f8cd0 100644
--- a/examples/sdf_gpu_shader.py
+++ b/examples/sdf_gpu_shader.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.renderables.volume import Volume
diff --git a/examples/sdf_skimage.py b/examples/sdf_skimage.py
index 3321d84..ffc0850 100644
--- a/examples/sdf_skimage.py
+++ b/examples/sdf_skimage.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.renderables.sdf import SDF
diff --git a/examples/stream.py b/examples/stream.py
index e1b9630..2147973 100644
--- a/examples/stream.py
+++ b/examples/stream.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
from aitviewer.streamables.webcam import Webcam
from aitviewer.viewer import Viewer
diff --git a/examples/vertex_clicking.py b/examples/vertex_clicking.py
index 1a43524..f941587 100644
--- a/examples/vertex_clicking.py
+++ b/examples/vertex_clicking.py
@@ -1,19 +1,4 @@
-"""
-Copyright (C) 2022 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program. If not, see .
-"""
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import numpy as np
from aitviewer.configuration import CONFIG as C
diff --git a/setup.py b/setup.py
index 4eddf59..4f6bb6f 100644
--- a/setup.py
+++ b/setup.py
@@ -1,7 +1,39 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
+import os
+
from setuptools import find_packages, setup
from aitviewer import __version__
+INSTALL_PYQT6 = os.getenv("AITVIEWER_INSTALL_PYQT6", 0)
+
+requirements = [
+ "torch>=1.6.0",
+ "numpy>=1.18,<2",
+ "opencv-contrib-python-headless>=4.5.1.48",
+ "smplx",
+ "moderngl-window>=2.4.3",
+ "moderngl>=5.8.2,<6",
+ "imgui==2.0.0",
+ "tqdm>=4.60.0",
+ "trimesh>=3.9.15,<4",
+ "scipy>=1.5.2",
+ "omegaconf>=2.1.1",
+ "roma>=1.2.3",
+ "joblib",
+ "scikit-image>=0.9.0",
+ "scikit-video",
+ "Pillow",
+ "websockets",
+ "usd-core>=23.5",
+]
+
+# Choose PyQt version depending on environment variable.
+if INSTALL_PYQT6:
+ requirements.append("PyQt6>=6.5.2")
+else:
+ requirements.append("PyQt5>=5.15.4")
+
setup(
name="aitviewer",
description="Viewing and rendering of sequences of 3D data.",
@@ -25,26 +57,6 @@
"visualization",
],
platforms=["any"],
- python_requires=">=3.7",
- install_requires=[
- "torch>=1.6.0",
- "numpy>=1.18,<2",
- "opencv-contrib-python-headless>=4.5.1.48",
- "smplx",
- "moderngl-window>=2.4.3",
- "moderngl>=5.8.2,<6",
- "PyQt5>=5.15.4",
- "imgui==2.0.0",
- "tqdm>=4.60.0",
- "trimesh>=3.9.15,<4",
- "scipy>=1.5.2,<1.8",
- "omegaconf>=2.1.1",
- "roma>=1.2.3",
- "joblib",
- "scikit-image>=0.9.0",
- "scikit-video",
- "Pillow",
- "websockets",
- "usd-core>=23.5",
- ],
+ python_requires=">=3.7,<3.11",
+ install_requires=requirements,
)
diff --git a/tests/conftest.py b/tests/conftest.py
index ebc7a28..ea5f56c 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import shutil
diff --git a/tests/gen_references.py b/tests/gen_references.py
index 1e3120d..fc6e438 100644
--- a/tests/gen_references.py
+++ b/tests/gen_references.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import importlib
import os
import sys
diff --git a/tests/test_misc.py b/tests/test_misc.py
index 72c1519..8d94680 100644
--- a/tests/test_misc.py
+++ b/tests/test_misc.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
from tempfile import TemporaryDirectory
diff --git a/tests/test_renderables.py b/tests/test_renderables.py
index ed2846b..180c077 100644
--- a/tests/test_renderables.py
+++ b/tests/test_renderables.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import os
import numpy as np
diff --git a/tests/utils.py b/tests/utils.py
index a11be36..cfa731d 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -1,3 +1,4 @@
+# Copyright (C) 2023 ETH Zurich, Manuel Kaufmann, Velko Vechev, Dario Mylonopoulos
import functools
import os
import shutil