chore: import upstream snapshot with attribution
This commit is contained in:
wehub-resource-sync
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<!--[metadata]
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title = "Raw mesh"
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tags = ["Mesh"]
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thumbnail = "https://static.rerun.io/raw-mesh/7731418dda47e15dbfc0f9a2c32673909071cb40/480w.png"
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thumbnail_dimensions = [480, 480]
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channel = "release"
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include_in_manifest = true
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-->
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Demonstrates logging of raw 3D mesh data (so-called "triangle soups") with simple material properties and their transform hierarchy.
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Note that while this example loads GLTF meshes to illustrate [`Mesh3D`](https://rerun.io/docs/reference/types/archetypes/mesh3d)'s abilitites, you can also send various kinds of mesh assets
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directly via [`Asset3D`](https://rerun.io/docs/reference/types/archetypes/asset3d).
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<!-- TODO(#1957): How about we load something elseto avoid confusion? -->
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<picture data-inline-viewer="examples/raw_mesh">
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<img src="https://static.rerun.io/raw_mesh/d5d008b9f1b53753a86efe2580443a9265070b77/full.png" alt="">
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<source media="(max-width: 480px)" srcset="https://static.rerun.io/raw_mesh/d5d008b9f1b53753a86efe2580443a9265070b77/480w.png">
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<source media="(max-width: 768px)" srcset="https://static.rerun.io/raw_mesh/d5d008b9f1b53753a86efe2580443a9265070b77/768w.png">
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<source media="(max-width: 1024px)" srcset="https://static.rerun.io/raw_mesh/d5d008b9f1b53753a86efe2580443a9265070b77/1024w.png">
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<source media="(max-width: 1200px)" srcset="https://static.rerun.io/raw_mesh/d5d008b9f1b53753a86efe2580443a9265070b77/1200w.png">
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</picture>
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## Used Rerun types
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[`Transform3D`](https://www.rerun.io/docs/reference/types/archetypes/transform3d), [`Mesh3D`](https://www.rerun.io/docs/reference/types/archetypes/mesh3d)
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## Background
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Raw 3D mesh data refers to the basic geometric representation of a three-dimensional object, typically composed of interconnected triangles.
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These triangles collectively form the surface of the object, defining its shape and structure in a digital environment.
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Rerun was employed to visualize and manage this raw mesh data, along with its associated simple material properties and transform hierarchy.
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## Logging and visualizing with Rerun
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The visualizations in this example were created with the following Rerun code:
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### 3D mesh data
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The raw 3D mesh data are logged as [`Mesh3D`](https://www.rerun.io/docs/reference/types/archetypes/mesh3d) objects, and includes details about vertex positions, colors, normals, texture coordinates, material properties, and face indices for an accurate reconstruction and visualization.
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```python
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rr.log(
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path,
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rr.Mesh3D(
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vertex_positions=mesh.vertices,
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vertex_colors=vertex_colors,
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vertex_normals=mesh.vertex_normals,
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vertex_texcoords=vertex_texcoords,
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albedo_texture=albedo_texture,
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triangle_indices=mesh.faces,
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albedo_factor=albedo_factor,
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),
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)
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```
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Through Rerun's [`Transform3D`](https://www.rerun.io/docs/reference/types/archetypes/transform3d) archetype, essential details are captured to ensure precise positioning and orientation of meshes within the 3D scene.
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```python
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rr.log(
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path,
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rr.Transform3D(
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translation=trimesh.transformations.translation_from_matrix(world_from_mesh),
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mat3x3=world_from_mesh[0:3, 0:3],
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),
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)
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```
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## Run the code
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To run this example, make sure you have the Rerun repository checked out and the latest SDK installed:
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```bash
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pip install --upgrade rerun-sdk # install the latest Rerun SDK
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git clone git@github.com:rerun-io/rerun.git # Clone the repository
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cd rerun
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git checkout latest # Check out the commit matching the latest SDK release
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```
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Install the necessary libraries specified in the requirements file:
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```bash
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pip install -e examples/python/raw_mesh
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```
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To experiment with the provided example, simply execute the main Python script:
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```bash
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python -m raw_mesh # run the example
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```
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You can specify scene:
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```bash
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python -m raw_mesh --scene {lantern,avocado,buggy,brain_stem}
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```
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If you wish to customize it, explore additional features, or save it use the CLI with the `--help` option for guidance:
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```bash
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python -m raw_mesh --help
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```
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[project]
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name = "raw_mesh"
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version = "0.1.0"
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readme = "README.md"
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dependencies = ["numpy", "requests>=2.31,<3", "rerun-sdk", "trimesh"]
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[project.scripts]
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raw_mesh = "raw_mesh.__main__:main"
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[build-system]
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requires = ["hatchling"]
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build-backend = "hatchling.build"
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+155
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#!/usr/bin/env python3
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"""
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Shows how to use the Rerun SDK to log raw 3D meshes (so-called "triangle soups") and their transform hierarchy.
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Note that while this example loads GLTF meshes to illustrate
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[`Mesh3D`](https://rerun.io/docs/reference/types/archetypes/mesh3d)'s abilitites,
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you can also send various kinds of mesh assets directly via
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[`Asset3D`](https://rerun.io/docs/reference/types/archetypes/asset3d).
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"""
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from __future__ import annotations
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import argparse
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from pathlib import Path
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from typing import cast
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import numpy as np
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import trimesh
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import rerun as rr # pip install rerun-sdk
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import rerun.blueprint as rrb
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from .download_dataset import AVAILABLE_MESHES, ensure_mesh_downloaded
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DESCRIPTION = """
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# Raw meshes
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This example shows how you can log a hierarchical 3D mesh, including its transform hierarchy.
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The full source code for this example is available [on GitHub](https://github.com/rerun-io/rerun/blob/latest/examples/python/raw_mesh).
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"""
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def load_scene(path: Path) -> trimesh.Scene:
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print(f"loading scene {path}…")
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mesh = trimesh.load(path, force="scene")
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return cast("trimesh.Scene", mesh)
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# NOTE: The scene hierarchy will look different compared to the Rust example, as this is using the
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# trimesh hierarchy, not the raw glTF hierarchy.
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def log_scene(scene: trimesh.Scene, node: str, path: str | None = None) -> None:
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path = path + "/" + node if path else node
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parent = scene.graph.transforms.parents.get(node)
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children = scene.graph.transforms.children.get(node)
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node_data = scene.graph.get(frame_to=node, frame_from=parent)
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if node_data:
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# Log the transform between this node and its direct parent (if it has one!).
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if parent:
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# TODO(#3559): We should support 4x4 matrices directly
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world_from_mesh = node_data[0]
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rr.log(
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path,
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rr.Transform3D(
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translation=trimesh.transformations.translation_from_matrix(world_from_mesh),
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mat3x3=world_from_mesh[0:3, 0:3],
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),
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)
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# Log this node's mesh, if it has one.
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mesh = cast("trimesh.Trimesh", scene.geometry.get(node_data[1]))
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if mesh is not None:
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vertex_colors = None
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vertex_texcoords = None
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albedo_factor = None
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albedo_texture = None
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try:
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vertex_texcoords = mesh.visual.uv # type: ignore[union-attr]
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# trimesh uses the OpenGL convention for UV coordinates, so we need to flip the V coordinate
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# since Rerun uses the Vulkan/Metal/DX12/WebGPU convention.
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vertex_texcoords[:, 1] = 1.0 - vertex_texcoords[:, 1]
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except Exception:
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pass
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try:
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albedo_texture = mesh.visual.material.baseColorTexture # type: ignore[union-attr]
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if mesh.visual.material.baseColorTexture is None: # type: ignore[union-attr]
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raise ValueError()
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except Exception:
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# Try vertex colors instead.
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try:
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colors = mesh.visual.to_color().vertex_colors # type: ignore[union-attr]
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if len(colors) == 4:
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# If trimesh gives us a single vertex color for the entire mesh, we can interpret that
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# as an albedo factor for the whole primitive.
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albedo_factor = np.array(colors)
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else:
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vertex_colors = colors
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except Exception:
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pass
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rr.log(
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path,
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rr.Mesh3D(
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vertex_positions=mesh.vertices,
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vertex_colors=vertex_colors,
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vertex_normals=mesh.vertex_normals,
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vertex_texcoords=vertex_texcoords,
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albedo_texture=albedo_texture,
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triangle_indices=mesh.faces,
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albedo_factor=albedo_factor,
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),
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)
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if children:
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for child in children:
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log_scene(scene, child, path)
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def main() -> None:
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parser = argparse.ArgumentParser(
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description="Logs raw 3D meshes and their transform hierarchy using the Rerun SDK.",
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)
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parser.add_argument(
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"--scene",
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type=str,
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choices=AVAILABLE_MESHES,
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default=AVAILABLE_MESHES[0],
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help="The name of the scene to load",
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)
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parser.add_argument(
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"--scene-path",
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type=Path,
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help="Path to a scene to analyze. If set, overrides the `--scene` argument.",
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)
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rr.script_add_args(parser)
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args = parser.parse_args()
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scene_path = args.scene_path
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if scene_path is None:
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scene_path = ensure_mesh_downloaded(args.scene)
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scene = load_scene(scene_path)
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root = next(iter(scene.graph.nodes))
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blueprint = rrb.Horizontal(
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rrb.Spatial3DView(name="Mesh", origin="/world"),
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rrb.TextDocumentView(name="Description", origin="/description"),
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column_shares=[3, 1],
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)
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rr.script_setup(args, "rerun_example_raw_mesh", default_blueprint=blueprint)
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rr.log("description", rr.TextDocument(DESCRIPTION, media_type=rr.MediaType.MARKDOWN), static=True)
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# glTF always uses a right-handed coordinate system when +Y is up and meshes face +Z.
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rr.log(root, rr.ViewCoordinates.RUB, static=True)
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log_scene(scene, root)
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rr.script_teardown(args)
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if __name__ == "__main__":
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main()
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+80
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#!/usr/bin/env python3
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from __future__ import annotations
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import os
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from pathlib import Path
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from typing import Final
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import requests
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DATASET_URL_BASE: Final = "https://storage.googleapis.com/rerun-example-datasets/raw_mesh"
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# TODO(cmc): re-enable obj meshes when we support those on the viewer's side
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AVAILABLE_MESHES: Final = [
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"lantern",
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"avocado",
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"buggy",
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"brain_stem",
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# "buddha",
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# "bunny",
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# "dragon",
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# "mori_knob",
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]
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# Maps mesh name to list of (remote_filename, local_filename) pairs.
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MESH_FILES: Final = {
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"avocado": [("avocado.glb", "avocado.glb")],
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"brain_stem": [("brain_stem.glb", "brain_stem.glb")],
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"buddha": [("buddha.obj", "buddha.obj")],
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"buggy": [("buggy.glb", "buggy.glb")],
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"bunny": [("bunny.obj", "bunny.obj")],
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"dragon": [("dragon.obj", "dragon.obj")],
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"lantern": [("lantern.glb", "lantern.glb")],
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"mori_knob": [
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("testObj.obj", "testObj.obj"),
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("testObj.mtl", "testObj.mtl"),
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],
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}
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DOWNLOADED_DIR: Final = Path(__file__).parent.parent / "dataset"
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def ensure_mesh_downloaded(mesh_name: str) -> Path:
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path = find_mesh_path_if_downloaded(mesh_name)
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if path is not None:
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return path
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return download_mesh(mesh_name)
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def find_mesh_path_if_downloaded(name: str) -> Path | None:
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for mesh_format in ("obj", "glb"):
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for path in DOWNLOADED_DIR.glob(f"{name}/**/*.{mesh_format}"):
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return path
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return None
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def download_mesh(name: str) -> Path:
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"""Downloads a mesh from the Rerun example datasets bucket and returns the path to the main mesh file."""
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if name not in MESH_FILES:
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raise RuntimeError(f"Unknown mesh named: {name}")
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mesh_dir = DOWNLOADED_DIR / name
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os.makedirs(mesh_dir, exist_ok=True)
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main_path = None
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for remote_name, local_name in MESH_FILES[name]:
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local_path = mesh_dir / local_name
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if not local_path.exists():
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url = f"{DATASET_URL_BASE}/{name}/{remote_name}"
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print(f"downloading {url}…")
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resp = requests.get(url)
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resp.raise_for_status()
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with open(local_path, "wb") as f:
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f.write(resp.content)
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# The main mesh file is the first one listed (obj or glb).
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if main_path is None:
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main_path = local_path
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assert main_path is not None
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return main_path
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