Rendering LineMod Dataset and Models

[kalperenctnr]

I want to render LineMod dataset models and datapoints using pytorch3d but I wasn't able to succeed so far can you help me to point out what part I'm doing wrong?

Thanks.

`import torch import numpy as np import matplotlib.pyplot as plt from pytorch3d.io import load_ply from pytorch3d.structures import Meshes from pytorch3d.renderer import ( MeshRenderer, MeshRasterizer, SoftPhongShader, RasterizationSettings, PointLights, PerspectiveCameras, TexturesVertex )

device = torch.device("cuda" if torch.cuda.is_available() else "cpu")

ply_path = "/home/alperenc/Projects/PoseDatasets/Datasets/lm/lm/models/obj_000001.ply" verts, faces = load_ply(ply_path)

verts = torch.tensor(verts, dtype=torch.float32, device=device) faces = torch.tensor(faces, dtype=torch.int64, device=device)

fixed_color = torch.tensor([[0.0, 0.0, 1.0]], dtype=torch.float32, device=device) # Blue color textures = TexturesVertex(verts_features=fixed_color.expand(verts.shape[0], -1).unsqueeze(0))

mesh = Meshes(verts=[verts], faces=[faces], textures=textures)

R = torch.eye(3, device=device).unsqueeze(0)
T = torch.zeros(1, 3, device=device)

cameras = PerspectiveCameras(device=device, R=R, T=T)

lights = PointLights(device=device, location=[[0.0, 0.0, 3.0]])

raster_settings = RasterizationSettings(image_size=640, blur_radius=0.0, faces_per_pixel=1)

renderer = MeshRenderer( rasterizer=MeshRasterizer(cameras=cameras, raster_settings=raster_settings), shader=SoftPhongShader(device=device, cameras=cameras, lights=lights) )

image = renderer(mesh) image = image[0, ..., :3].cpu().numpy()

plt.imshow(image) plt.axis("off") plt.show() `

Output is all blue image