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Minor backend improvements: better color and textured handling, smooth shading, better demo

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Yeicor
2025-07-19 12:43:05 +02:00
parent 41662944d6
commit 10ed5e2e9e
6 changed files with 126 additions and 74 deletions
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31
yacv_server/gltf.py
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@@ -4,10 +4,6 @@ import numpy as np
from build123d import Location, Plane, Vector
from pygltflib import *
# PNG file containing 1x1 while pixel
_default_tex = (b'iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAQAAAC1HAwCAAAAC0lEQVR42mP8/x8AAwMCAO+ip1sAAAAASUVORK5CYII=')
_default_color = (1.0, 0.75, 0.0, 1.0)
def get_version() -> str:
try:
@@ -25,6 +21,7 @@ class GLTFMgr:
# - Face data
face_indices: List[int] # 3 indices per triangle
face_positions: List[float] # x, y, z
face_normals: List[float] # x, y, z
face_tex_coords: List[float] # u, v
face_colors: List[float] # r, g, b, a
image: Optional[Tuple[bytes, str]] # image/png
@@ -37,7 +34,7 @@ class GLTFMgr:
vertex_positions: List[float] # x, y, z
vertex_colors: List[float] # r, g, b, a
def __init__(self, image: Optional[Tuple[bytes, str]] = (_default_tex, 'image/png')):
def __init__(self, image: Optional[Tuple[bytes, str]] = None):
self.gltf = GLTF2(
asset=Asset(generator=f"yacv_server@{get_version()}"),
scene=0,
@@ -55,6 +52,7 @@ class GLTFMgr:
)
self.face_indices = []
self.face_positions = []
self.face_normals = []
self.face_tex_coords = []
self.face_colors = []
self.image = image
@@ -77,24 +75,23 @@ class GLTFMgr:
def _vertices_primitive(self) -> Primitive:
return [p for p in self.gltf.meshes[0].primitives if p.mode == POINTS][0]
def add_face(self, vertices_raw: List[Vector], indices_raw: List[Tuple[int, int, int]],
tex_coord_raw: List[Tuple[float, float]], color: Optional[Tuple[float, float, float, float]] = None):
def add_face(self, vertices_raw: List[Vector], normals: List[Vector], indices_raw: List[Tuple[int, int, int]],
tex_coord_raw: List[Tuple[float, float]], color: Tuple[float, float, float, float]):
"""Add a face to the GLTF mesh"""
if color is None: color = _default_color
# assert len(vertices_raw) == len(tex_coord_raw), f"Vertices and texture coordinates have different lengths"
# assert min([i for t in indices_raw for i in t]) == 0, f"Face indices start at {min(indices_raw)}"
# assert max([e for t in indices_raw for e in t]) < len(vertices_raw), f"Indices have non-existing vertices"
base_index = len(self.face_positions) // 3 # All the new indices reference the new vertices
self.face_indices.extend([base_index + i for t in indices_raw for i in t])
self.face_positions.extend([v for t in vertices_raw for v in t])
self.face_normals.extend([n for t in normals for n in t])
self.face_tex_coords.extend([c for t in tex_coord_raw for c in t])
self.face_colors.extend([col for _ in range(len(vertices_raw)) for col in color])
self._faces_primitive.extras["face_triangles_end"].append(len(self.face_indices))
def add_edge(self, vertices_raw: List[Tuple[Tuple[float, float, float], Tuple[float, float, float]]],
color: Optional[Tuple[float, float, float, float]] = None):
color: Tuple[float, float, float, float]):
"""Add an edge to the GLTF mesh"""
if color is None: color = (0.1, 0.1, 1.0, 1.0)
vertices_flat = [v for t in vertices_raw for v in t] # Line from 0 to 1, 2 to 3, 4 to 5, etc.
base_index = len(self.edge_positions) // 3
self.edge_indices.extend([base_index + i for i in range(len(vertices_flat))])
@@ -102,9 +99,8 @@ class GLTFMgr:
self.edge_colors.extend([col for _ in range(len(vertices_flat)) for col in color])
self._edges_primitive.extras["edge_points_end"].append(len(self.edge_indices))
def add_vertex(self, vertex: Tuple[float, float, float], color: Optional[Tuple[float, float, float, float]] = None):
def add_vertex(self, vertex: Tuple[float, float, float], color: Tuple[float, float, float, float]):
"""Add a vertex to the GLTF mesh"""
if color is None: color = (0.1, 0.1, 0.1, 1.0)
base_index = len(self.vertex_positions) // 3
self.vertex_indices.append(base_index)
self.vertex_positions.extend(vertex)
@@ -118,10 +114,11 @@ class GLTFMgr:
return v.X, v.Y, v.Z
# Add 1 origin vertex and 3 edges with custom colors to identify the X, Y and Z axis
self.add_vertex(vert(pl.origin))
self.add_edge([(vert(pl.origin), vert(pl.origin + pl.x_dir))], color=(0.97, 0.24, 0.24, 1))
self.add_edge([(vert(pl.origin), vert(pl.origin + pl.y_dir))], color=(0.42, 0.8, 0.15, 1))
self.add_edge([(vert(pl.origin), vert(pl.origin + pl.z_dir))], color=(0.09, 0.55, 0.94, 1))
# The colors are hardcoded. You can add vertices and edges manually to change them.
self.add_vertex(vert(pl.origin), color=(0.1, 0.1, 0.1, 1.0))
self.add_edge([(vert(pl.origin), vert(pl.origin + pl.x_dir))], color=(0.97, 0.24, 0.24, 1.0))
self.add_edge([(vert(pl.origin), vert(pl.origin + pl.y_dir))], color=(0.42, 0.8, 0.15, 1.0))
self.add_edge([(vert(pl.origin), vert(pl.origin + pl.z_dir))], color=(0.09, 0.55, 0.94, 1.0))
def build(self) -> GLTF2:
"""Merge the intermediate data into the GLTF object and return it"""
@@ -132,6 +129,8 @@ class GLTFMgr:
buffers_list.append(_gen_buffer_metadata(self.face_indices, 1))
self._faces_primitive.attributes.POSITION = len(buffers_list)
buffers_list.append(_gen_buffer_metadata(self.face_positions, 3))
self._faces_primitive.attributes.NORMAL = len(buffers_list)
buffers_list.append(_gen_buffer_metadata(self.face_normals, 3))
self._faces_primitive.attributes.TEXCOORD_0 = len(buffers_list)
buffers_list.append(_gen_buffer_metadata(self.face_tex_coords, 2))
self._faces_primitive.attributes.COLOR_0 = len(buffers_list)