OpenSceneGraph Offscreen Renderer

Efficient object rendering engine for offscreen rendering using OpenSceneGraph 3

The renderer contains python and matlab bindings. The renderer is easy to use and caches CAD models so that it does not load the CAD model every time it renders.

The C++ object is cached using Mexplus, and the matlab wrapper holds the C++ class instance until a user destroys the instance. The Renderer object remains on the memory, and it contains all the loaded CAD models and returns data to MATLAB or python directly. Thus it is optimal for on-the-fly rendering or visualization.

There are two modes for installation: one that require OSG installation, which is recommended, and one that works without OSG installation using prebuilt OSG libraries provided in this repo.

Example

IPython Notebook Demo

http://nbviewer.ipython.org/gist/chrischoy/19f7765c401973d28243

Python

import numpy as np
import matplotlib.pyplot as plt
%matplotlib inline
from PyRenderer import Renderer

viewport_size_x = 700
viewport_size_y = 700

azimuth = 0
elevation = 0
yaw = 0
distance_ratio = 1
field_of_view = 25

x = Renderer()
x.initialize(['mesh/2012-VW-beetle-turbo.3ds','mesh/Honda-Accord.3ds'],
              viewport_size_x, viewport_size_y)

# Render 
x.setViewpoint(azimuth, elevation, yaw, distance_ratio, field_of_view)
rendering, depth = x.render()

# Flip dimension
rendering = rendering.transpose((2,1,0))
depth = depth.transpose((1,0))

# image show
plt.imshow(rendering)
plt.show()

# depth show
plt.imshow(1-depth)
plt.show()

Matlab

% Add binary path
addpath('./bin');

% Initialize the Matlab object.
rendering_size_x = 700; rendering_size_y = 700; % pixels

azimuth = 90; elevation = 10; yaw = 0;
% Modify distance ratio to control distance from the object
% distance_ratio = 1 is the default
distance_ratio = 0; field_of_view = 25; 

% Setup Renderer
renderer = Renderer();
renderer.initialize({'mesh/2012-VW-beetle-turbo.3ds', ...
        'mesh/Honda-Accord.3ds'},...
        rendering_size_x, rendering_size_y)

% If the output is only the rendering, it renders more efficiently
renderer.setModelIndex(1);
renderer.setViewpoint(azimuth,elevation,yaw,distance_ratio,field_of_view);
[rendering]= renderer.render();
subplot(221);
imagesc(rendering); axis equal; axis tight; axis off;


% Once you initialized the renderer, you can just set 
% the viewpoint and render without loading CAD model again.
renderer.setModelIndex(2);
renderer.setViewpoint(azimuth,elevation,yaw,distance_ratio,field_of_view);
[rendering]= renderer.render();
subplot(222);
imagesc(rendering); axis equal; axis tight; axis off;



% If you give the second output, it renders depth too.
renderer.setModelIndex(1);
renderer.setViewpoint(45,20,0,2,25);

[rendering, depth]= renderer.render();
subplot(223);imagesc(rendering); axis equal; axis off;
subplot(224);imagesc(1-depth); axis equal; axis off; colormap hot;

% Return viewmatrix
renderer.getViewMatrix()

% Return projection matrix
renderer.getProjectionMatrix()

% You must clear the memory before you exit
renderer.delete(); clear renderer;

Output

Install : MATLAB Binding

Install : Standard (Linux/Mac)

Note Prebuilt OSG library only works for Linux.

Install Open Scene Graph from https://github.com/openscenegraph/osg

git clone https://github.com/openscenegraph/osg
cd osg
make all
sudo make install

Clone the OSGRenderer repo

git clone https://github.com/chrischoy/OSGRenderer.git

Go to the OSGRenderer folder and run compile.m

Install : Prebuild (Linux Only)

Clone the OSGRenderer repo

git clone https://github.com/chrischoy/OSGRenderer.git

Add compile library path and runtime library path. Note that LD_LIBRARY_PATH is for application library search path and LIBRARY_PATH is for compiler library search path. If you open new command line session, you must these lines every time unless you add the ld library path to .bashrc
```
cd OSGRenderer
export LIBRARY_PATH=$LIBRARY_PATH:path/to/OSGRenderer/lib/osg/:path/to/OSGRenderer/lib/boost/
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:path/to/OSGRenderer/lib/osg:path/to/OSGRenderer/lib/boost/
```
Go to the OSGRenderer folder and run compile.m

Other IDE (Eclipse)

Use OpenSceneGraph https://github.com/openscenegraph/osg to download latest OSG.
Eclipse Setting

Library to include

GL, GLU, osg, osgDB, osgGA, osgViewer, osgUtil, boost_program_options

If you installed OSG on /usr/local/lib64 (which is default) go to Run Configuration, add Environment variable LD_LIBRARY_PATH and value /usr/local/lib64

Compile

g++ -o OSGRenderer OSGRenderer.cpp -lGL -losg -losgViewer -losgDB -losgGA -losgUtil -lboost_program_options -O3

Install : Python Binding

Install Boost http://www.boost.org

Modify Makefile variables

# Run numpy.get_include() in python to get the following path
NUMPY_INCLUDE = /path/to/anaconda/lib/python2.7/site-packages/numpy/core/include
# PYCONFIG_PATH = /usr/local/python2.7/
PYCONFIG_PATH = /path/to/anaconda/include/python2.7

make it
```
make
```

ISSUE

Update gcc version to < 4.8.
If you use MATLAB < 2012b, make sure to use matlab libstdc++ library when compiling OSG.

Input CAD format

List of available formats http://trac.openscenegraph.org/projects/osg//wiki/Support/UserGuides/Plugins

To get free models, use Google 3D Warehouse and use Sketchup to edit models. Rotate the model and export it to the format that you will use.

COLLADA (DAE) format support

Follow the direction of https://github.com/openscenegraph/osg/tree/master/src/osgPlugins/dae

Specifically, http://collada.org/mediawiki/index.php/DOM_guide:_Setting_up

download COLLADA from

svn co https://collada-dom.svn.sourceforge.net/svnroot/collada-dom/trunk colladadom
compile COLLADA

cd colladadom ccmake .

and configure and generate Makefile. and

make
download openscenegraph

cd /to/your/osg/directory/ git clone https://github.com/openscenegraph/osg
go to the downloaded osg and ccmake the folder

cd osg ccmake .

and configure and make sure that COLLADA_DOM_ROOT, COLLADA_BOOST_FILESYSTEM_LIBRARY, COLLADA_DYNAMIC_LIBRARY, COLLADA_INCLUDE_DIR have been set correctly.

COLLADA_DOM_ROOT : COLLADA_BOOST_FILESYSTEM_LIBRARY : Boost library. something like /usr/local/lib/libboost_filesystem.dylib COLLADA_BOOST_SYSTEM_LIBRARY : Boost library. something like /usr/local/lib/libboost_system.dylib COLLADA_DYNAMIC_LIBRARY : /path/to/colladadom/dom/libcollada-dom2.4-dp.dylib COLLADA_INCLUDE_DIR : /path/to/colladadom/dom/include where dae.h resides

make

The precompiled library contains osgPlugin for collada format. (LINUX)

COLLADA MAC INSTALL (DOM 2.2 Install Fail on 10.10)

Install DOM2.2 export COLLADA_DIR=/path/to/collada/; cmake . make

ISSUE

Q: Warning: could not find plugin to read objects from file .

A: The reason that it fails to load is that the renderer fails to load appropriate shared library. In the prebuilt ./OSG/lib/osgPlugins-3.3.2, yoou can see several plugins. Add the plugin path to 'LD_L IBRARY_PATH`.

You must either install complete OSG package or download from http://trac.openscenegraph.org/projects/osg//wiki/Downloads/Dependencies

Q: Your MEX-file “path/OSGRenderer/Renderer_mexa64” is locked and must be unlocked before recompiling

The binary file is in use. Restart the matlab which will clear the memory.

TODO

Windows installation
Add dylib for prebuilt OS X

http://stackoverflow.com/questions/3146274/is-it-ok-to-use-dyld-library-path-on-mac-os-x-and-whats-the-dynamic-library-s

Written with StackEdit.

sir-avinash/OSGRenderer

OpenSceneGraph Offscreen Renderer

Example

IPython Notebook Demo

Python

Matlab

Install : MATLAB Binding

Install : Standard (Linux/Mac)

Install : Prebuild (Linux Only)

Other IDE (Eclipse)

Install : Python Binding

ISSUE

Input CAD format

COLLADA (DAE) format support

COLLADA MAC INSTALL (DOM 2.2 Install Fail on 10.10)

ISSUE

Q: Warning: could not find plugin to read objects from file .

Q: Your MEX-file “path/OSGRenderer/Renderer_mexa64” is locked and must be unlocked before recompiling

TODO