Release feedback

examples/rendering/demo.py

@@ -143,69 +143,22 @@ def main():
     )
     ########################## cameras ##########################
     cam_0 = scene.add_camera(
-        pos=(8.5, 0.0, 4.5),
-        lookat=(3.0, 0.0, 0.5),
-        fov=50,
+        res=(1600, 900),
+        pos=(8.5, 0.0, 1.5),
+        lookat=(3.0, 0.0, 0.7),
+        fov=60,
         GUI=True,
         spp=512,
     )
     scene.build()
 
     ########################## forward + backward twice ##########################
     scene.reset()
-    horizon = 10
+    horizon = 2000
 
     for i in range(horizon):
         scene.step()
-        rgb, depth, _, _ = scene.batch_render()
-        output_rgb_and_depth('img_output/test', rgb, depth, i)
-
-
-import os
-import cv2
-import numpy as np
-
-# TODO: Dump image faster, e.g., asynchronously or generate a video instead of saving images.
-def output_rgb(output_dir, rgb, i_env, i_cam, i_step):
-    rgb = rgb.cpu().numpy()[i_env, i_cam]
-    cv2.imwrite(f'{output_dir}/rgb_env{i_env}_cam{i_cam}_{i_step:03d}.png', rgb)
-
-def output_depth(output_dir, depth, i_env, i_cam, i_step):
-    depth = depth.cpu().numpy()[i_env, i_cam]
-    depth = np.asarray(depth)
-    depth = np.clip(depth, 0, 100)
-    depth_normalized = cv2.normalize(depth, None, 0, 255, cv2.NORM_MINMAX)
-    depth_uint8 = depth_normalized.astype(np.uint8)
-    cv2.imwrite(f'{output_dir}/depth_env{i_env}_cam{i_cam}_{i_step:03d}.png', depth_uint8)
-
-def output_rgb_and_depth(output_dir, rgb, depth, i_step):
-    # loop over the first and second dimension of rgb and depth
-    for i_env in range(rgb.shape[0]):
-        for i_cam in range(rgb.shape[1]):
-            if not os.path.exists(output_dir):
-                os.makedirs(output_dir)
-            output_rgb(output_dir, rgb, i_env, i_cam, i_step)
-            output_depth(output_dir, depth, i_env, i_cam, i_step)
-
-def output_rgb_single_cam(output_dir, rgb, i_env, i_step, cam_idx):
-    rgb = rgb.cpu().numpy()[i_env]
-    cv2.imwrite(f'{output_dir}/rgb_env{i_env}_cam{cam_idx}_{i_step:03d}.png', rgb)
-
-def output_depth_single_cam(output_dir, depth, i_env, i_step, cam_idx):
-    depth = depth.cpu().numpy()[i_env]
-    depth = np.asarray(depth)
-    depth = np.clip(depth, 0, 100)
-    depth_normalized = cv2.normalize(depth, None, 0, 255, cv2.NORM_MINMAX)
-    depth_uint8 = depth_normalized.astype(np.uint8)
-    cv2.imwrite(f'{output_dir}/depth_env{i_env}_cam{cam_idx}_{i_step:03d}.png', depth_uint8)
-
-def output_rgb_and_depth_single_cam(output_dir, rgb, depth, i_step, cam_idx):
-    # loop over the first and second dimension of rgb and depth
-    for i_env in range(rgb.shape[0]):
-        if not os.path.exists(output_dir):
-            os.makedirs(output_dir)
-        output_rgb_single_cam(output_dir, rgb, i_env, i_step, cam_idx)
-        output_depth_single_cam(output_dir, depth, i_env, i_step, cam_idx)
+        cam_0.render()
 
 
 if __name__ == "__main__":

examples/rigid/single_franka.py

@@ -1,8 +1,7 @@
 import argparse
 
 import genesis as gs
-import numpy as np
-from genesis.utils.image_exporter import FrameImageExporter
+
 
 def main():
 
@@ -45,16 +44,11 @@ def main():
         GUI=True,
     )
     ########################## build ##########################
-
-    # Create an image exporter
-    output_dir = 'img_output/test'
-    exporter = FrameImageExporter(output_dir)
-
     scene.build()
-    for i in range(10):
+    for i in range(1000):
         scene.step()
-        rgb, depth, seg, normal = cam_0.render(rgb=True, depth=True)
-        exporter.export_frame_single_cam(i, cam_0.idx, rgb=rgb, depth=depth)
+        # cam_0.render()
+
 
 if __name__ == "__main__":
     main()

examples/rigid/single_franka_batch_render.py

@@ -76,12 +76,12 @@ def main():
     ########################## build ##########################
     n_envs = 3
     n_steps = 2
-    do_batch_export = True
+    is_render_all_cams = True
     scene.build(n_envs=n_envs)
 
     # Warmup
     scene.step()
-    rgb, depth, _, _ = scene.batch_render()
+    rgb, depth, _, _ = scene.render_all_cams()
 
     # Create an image exporter
     output_dir = 'img_output/test'
@@ -93,18 +93,19 @@ def main():
 
     for i in range(n_steps):
         scene.step()
-        if do_batch_export:
-            rgb, depth, _, _ = scene.batch_render()
-            exporter.export_frame_batch_cam(i, rgb=rgb, depth=depth)
+        if is_render_all_cams:
+            rgb, depth, _, _ = scene.render_all_cams()
+            exporter.export_frame_all_cams(i, rgb=rgb, depth=depth)
         else:
             rgb, depth, _, _ = cam_0.render()
             exporter.export_frame_single_cam(i, cam_0.idx, rgb=rgb, depth=depth)
 
     end_time = time()
+    actual_n_envs = n_envs if n_envs > 0 else 1
     print(f'n_envs: {n_envs}')
     print(f'Time taken: {end_time - start_time} seconds')
-    print(f'Time taken per env: {(end_time - start_time) / n_envs} seconds')
-    print(f'FPS: {n_envs * n_steps / (end_time - start_time)}')
+    print(f'Time taken per env: {(end_time - start_time) / actual_n_envs} seconds')
+    print(f'FPS: {actual_n_envs * n_steps / (end_time - start_time)}')
     print(f'FPS per env: {n_steps / (end_time - start_time)}')