Loading and Configuring Models

The first step to any rendering application is loading your models. Pyrender implements the GLTF 2.0 specification, which means that all models are composed of a hierarchy of objects.

At the top level, we have a Mesh. The Mesh is basically a wrapper of any number of Primitive types, which actually represent geometry that can be drawn to the screen.

Primitives are composed of a variety of parameters, including vertex positions, vertex normals, color and texture information, and triangle indices if smooth rendering is desired. They can implement point clouds, triangular meshes, or lines depending on how you configure their data and set their Primitive.mode parameter.

Although you can create primitives yourself if you want to, it’s probably easier to just use the utility functions provided in the Mesh class.

Creating Triangular Meshes

Simple Construction

Pyrender allows you to create a Mesh containing a triangular mesh model directly from a Trimesh object using the Mesh.from_trimesh() static method.

>>> import trimesh
>>> import pyrender
>>> import numpy as np
>>> tm = trimesh.load('examples/models/fuze.obj')
>>> m = pyrender.Mesh.from_trimesh(tm)
>>> m.primitives
[<pyrender.primitive.Primitive at 0x7fbb0af60e50>]

You can also create a single Mesh from a list of Trimesh objects:

>>> tms = [trimesh.creation.icosahedron(), trimesh.creation.cylinder()]
>>> m = pyrender.Mesh.from_trimesh(tms)
[<pyrender.primitive.Primitive at 0x7fbb0c2b74d0>,
 <pyrender.primitive.Primitive at 0x7fbb0c2b7550>]

Vertex Smoothing

The Mesh.from_trimesh() method has a few additional optional parameters. If you want to render the mesh without interpolating face normals, which can be useful for meshes that are supposed to be angular (e.g. a cube), you can specify smooth=False.

>>> m = pyrender.Mesh.from_trimesh(tm, smooth=False)

Per-Face or Per-Vertex Coloration

If you have an untextured trimesh, you can color it in with per-face or per-vertex colors:

>>> tm.visual.vertex_colors = np.random.uniform(size=tm.vertices.shape)
>>> tm.visual.face_colors = np.random.uniform(size=tm.faces.shape)
>>> m = pyrender.Mesh.from_trimesh(tm)

Instancing

If you want to render many copies of the same mesh at different poses, you can statically create a vast array of them in an efficient manner. Simply specify the poses parameter to be a list of N 4x4 homogenous transformation matrics that position the meshes relative to their common base frame:

>>> tfs = np.tile(np.eye(4), (3,1,1))
>>> tfs[1,:3,3] = [0.1, 0.0, 0.0]
>>> tfs[2,:3,3] = [0.2, 0.0, 0.0]
>>> tfs
array([[[1. , 0. , 0. , 0. ],
        [0. , 1. , 0. , 0. ],
        [0. , 0. , 1. , 0. ],
        [0. , 0. , 0. , 1. ]],
       [[1. , 0. , 0. , 0.1],
        [0. , 1. , 0. , 0. ],
        [0. , 0. , 1. , 0. ],
        [0. , 0. , 0. , 1. ]],
       [[1. , 0. , 0. , 0.2],
        [0. , 1. , 0. , 0. ],
        [0. , 0. , 1. , 0. ],
        [0. , 0. , 0. , 1. ]]])

>>> m = pyrender.Mesh.from_trimesh(tm, poses=tfs)

Custom Materials

You can also specify a custom material for any triangular mesh you create in the material parameter of Mesh.from_trimesh(). The main material supported by Pyrender is the MetallicRoughnessMaterial. The metallic-roughness model supports rendering highly-realistic objects across a wide gamut of materials.

For more information, see the documentation of the MetallicRoughnessMaterial constructor or look at the Khronos documentation for more information.

Creating Point Clouds

Point Sprites

Pyrender also allows you to create a Mesh containing a point cloud directly from numpy.ndarray instances using the Mesh.from_points() static method.

Simply provide a list of points and optional per-point colors and normals.

>>> pts = tm.vertices.copy()
>>> colors = np.random.uniform(size=pts.shape)
>>> m = pyrender.Mesh.from_points(pts, colors=colors)

Point clouds created in this way will be rendered as square point sprites.

../_images/points.png

Point Spheres

If you have a monochromatic point cloud and would like to render it with spheres, you can render it by instancing a spherical trimesh:

>>> sm = trimesh.creation.uv_sphere(radius=0.1)
>>> sm.visual.vertex_colors = [1.0, 0.0, 0.0]
>>> tfs = np.tile(np.eye(4), (len(pts), 1, 1))
>>> tfs[:,:3,3] = pts
>>> m = pyrender.Mesh.from_trimesh(m, poses=poses)
../_images/points2.png