def __init__()

in utilities/rendering.py [0:0]

• 35 lines of code
• 6 McCabe index (conditional complexity)

  def __init__(self, object_name_or_mesh, K, camera_name, mesh_scale=1.0):
    """
    object_name_or_mesh: either object name string (for objects),
    or {'vertices': ..., 'faces': ...} (for hand mesh)
    K: 3x3 intrinsics matrix 
    mesh_scale: scale factor applied to the mesh (1.0 for hand, 1e-3 for object)
    """
    self.K = K
    self.camera_name = camera_name
    if camera_name == 'kinect2_middle':
        self.flip_fn = lambda x: cv2.flip(cv2.flip(x, 0), 1)
        self.out_imsize = (960, 540)
    elif camera_name == 'kinect2_left':
        self.flip_fn = lambda x: cv2.flip(cv2.transpose(x), 1)
        self.out_imsize = (540, 960)
    elif camera_name == 'kinect2_right':
        self.flip_fn = lambda x: cv2.flip(cv2.transpose(x), 0)
        self.out_imsize = (540, 960)
    else:
        raise NotImplementedError
    
    # mesh
    if isinstance(object_name_or_mesh, str):
      filename = osp.join('data', 'object_models',
                          '{:s}.ply'.format(object_name_or_mesh))
      mesh_t = trimesh.load_mesh(filename)
    elif isinstance(object_name_or_mesh, dict):
      mesh_t = trimesh.Trimesh(vertices=object_name_or_mesh['vertices'],
                               faces=object_name_or_mesh['faces'])
    else:
      raise NotImplementedError
    mesh_t.apply_transform(np.diag([mesh_scale, mesh_scale, mesh_scale, 1]))
    self.oX = mesh_t.vertices
    mesh = pyrender.Mesh.from_trimesh(mesh_t)
    
    self.scene = pyrender.Scene()
    self.scene.add(mesh, pose=np.eye(4))

    # camera
    camera = pyrender.IntrinsicsCamera(K[0, 0], K[1, 1], K[0, 2], K[1, 2],
                                       znear=0.1, zfar=2.0)
    self.camera_node = pyrender.Node(camera=camera, matrix=np.eye(4))
    self.scene.add_node(self.camera_node)
    self.cTopengl = np.eye(4)
    self.cTopengl[:3, :3] = txe.euler2mat(np.pi, 0, 0)

    # renderer object
    self.renderer = pyrender.OffscreenRenderer(960, 540)