rend_point.py

import numpy as np
import open3d as o3d
import os
from PIL import Image
import Imath

import os 

# os.environ["LD_LIBRARY_PATH"] =  "/storage/ycli/anaconda3/envs/visual3d/lib"
import OpenEXR

# print(OpenEXR.__file__)
def standardize_bbox(pcl, points_per_object):
    pt_indices = np.random.choice(pcl.shape[0], points_per_object, replace=False)
    np.random.shuffle(pt_indices)
    pcl = pcl[pt_indices] # n by 3
    mins = np.amin(pcl, axis=0)
    maxs = np.amax(pcl, axis=0)
    center = ( mins + maxs ) / 2.
    scale = np.amax(maxs-mins)
    print("Center: {}, Scale: {}".format(center, scale))
    result = ((pcl - center)/scale).astype(np.float32) # [-0.5, 0.5]
    return result

xml_head = \
"""
<scene version="0.6.0">
    <integrator type="path">
        <integer name="maxDepth" value="-1"/>
    </integrator>
    <sensor type="perspective">
        <float name="farClip" value="100"/>
        <float name="nearClip" value="0.1"/>
        <transform name="toWorld">
            <lookat origin="3,3,3" target="0,0,0" up="0,0,1"/>
        </transform>
        <float name="fov" value="25"/>
        
        <sampler type="ldsampler">
            <integer name="sampleCount" value="256"/>
        </sampler>
        <film type="hdrfilm">
            <integer name="width" value="800"/>
            <integer name="height" value="800"/>
            <rfilter type="gaussian"/>
            <boolean name="banner" value="false"/>
        </film>
    </sensor>
    
    <bsdf type="roughplastic" id="surfaceMaterial">
        <string name="distribution" value="ggx"/>
        <float name="alpha" value="0.05"/>
        <float name="intIOR" value="1.46"/>
        <rgb name="diffuseReflectance" value="1,1,1"/> <!-- default 0.5 -->
    </bsdf>
    
"""

xml_ball_segment = \
"""
    <shape type="sphere">
        <float name="radius" value="0.025"/>
        <transform name="toWorld">
            <translate x="{}" y="{}" z="{}"/>
        </transform>
        <bsdf type="diffuse">
            <rgb name="reflectance" value="{},{},{}"/>
        </bsdf>
    </shape>
"""

xml_tail = \
"""
    <shape type="rectangle">
        <ref name="bsdf" id="surfaceMaterial"/>
        <transform name="toWorld">
            <scale x="10" y="10" z="1"/>
            <translate x="0" y="0" z="-0.5"/>
        </transform>
    </shape>
    
    <shape type="rectangle">
        <transform name="toWorld">
            <scale x="10" y="10" z="1"/>
            <lookat origin="-4,4,20" target="0,0,0" up="0,0,1"/>
        </transform>
        <emitter type="area">
            <rgb name="radiance" value="6,6,6"/>
        </emitter>
    </shape>
</scene>
"""

def render_point(render_path, save_path):
    with open(render_path, 'r') as f:
        files = f.readlines()
        for file in files:
            xml_segments = [xml_head]
            file = file.strip('\n')
            o3d_point = o3d.io.read_point_cloud(file)
            judge = (file.split('_')[-1]).split('.')[0]
            if judge != 'GT':
                o3d_point.translate((-2, 0, 0), relative=True)

            o3d_point.translate((0, 0.2, -0.3), relative=True)
            R = o3d_point.get_rotation_matrix_from_xyz((np.pi/6, 0, np.pi/3))
            o3d_point.rotate(R, center=(0,0,0))

            points_coordinate = np.asarray(o3d_point.points)
            points_color = np.asarray(o3d_point.colors)
            for i in range(points_coordinate.shape[0]):
                xml_segments.append(xml_ball_segment.format(points_coordinate[i,2], points_coordinate[i,0], points_coordinate[i,1], 
                points_color[i,0], points_color[i,1], points_color[i,2]))
            xml_segments.append(xml_tail)
            xml_content = str.join('', xml_segments)
            
            # print((file.split('/')[-1]).split('.ply'))
            xml_name = (file.split('/')[-1]).split('.ply')[0] + '.xml'
            xml_path = save_path + xml_name
            with open(xml_path, 'w') as m:
                m.write(xml_content)
                print(f'{xml_path} | finish!')
        f.close()

def ConvertEXRToJPG(exrfile, jpgfile):
    File = OpenEXR.InputFile(exrfile)
    PixType = Imath.PixelType(Imath.PixelType.FLOAT)
    DW = File.header()['dataWindow']
    Size = (DW.max.x - DW.min.x + 1, DW.max.y - DW.min.y + 1)

    rgb = [np.fromstring(File.channel(c, PixType), dtype=np.float32) for c in 'RGB']
    for i in range(3):
        rgb[i] = np.where(rgb[i] <= 0.0031308,
                          (rgb[i] * 12.92) * 255.0,
                          (1.055 * (rgb[i] ** (1.0 / 2.4)) - 0.055) * 255.0)

    rgb8 = [Image.frombytes("F", Size, c.tostring()).convert("L") for c in rgb]

    Image.merge("RGB", rgb8).save(jpgfile, "JPEG", quality=95)

def EXR_to_JPG_batch(exr_folder, img_folder):
    exr_files = os.listdir(exr_folder)
    for file in exr_files:
        exr_file = exr_folder + file
        img_path = img_folder + ''
        ConvertEXRToJPG(exr_file, img_path)
        print(f'{exr_file} | finish!')
    print(f'Saved in {img_folder}')


if __name__=='__main__':
    exr_file = '/storage_fast/ycli/3d_affordance/visualizer/xml_file/Bag_contain_0.355_abba6df6294f20c569ea850160c0b35_Pred.exr'
    jpg_file = '/storage_fast/ycli/3d_affordance/visualizer/jpg/image.jpg'
    rend_path = '/storage_fast/ycli/3d_affordance/visualizer/ply_file/path2all.text' # a txt file which contain all .ply file
    save_path = '/storage_fast/ycli/3d_affordance/visualizer/xml_file/'
    # render_point(rend_path, save_path)
    ConvertEXRToJPG(exr_file, jpg_file)