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Create USD Exporter #2009
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Create USD Exporter #2009
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| Original file line number | Diff line number | Diff line change |
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| __version__ = "1.0" | ||
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| from meshroom.core import desc | ||
| from meshroom.core.utils import VERBOSE_LEVEL | ||
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| class ExportMeshUSD(desc.AVCommandLineNode): | ||
| commandLine = "aliceVision_exportMeshUSD {allParams}" | ||
| size = desc.DynamicNodeSize("input") | ||
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| category = "Export" | ||
| documentation = """ Export a mesh (OBJ file) to USD format. """ | ||
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| inputs = [ | ||
| desc.File( | ||
| name="input", | ||
| label="Input", | ||
| description="Input mesh file.", | ||
| value="", | ||
| ), | ||
| desc.ChoiceParam( | ||
| name="fileType", | ||
| label="USD File Format", | ||
| description="Output USD file format.", | ||
| value="usda", | ||
| values=["usda", "usdc", "usdz"] | ||
| ), | ||
| desc.ChoiceParam( | ||
| name="verboseLevel", | ||
| label="Verbose Level", | ||
| description="Verbosity level (fatal, error, warning, info, debug, trace).", | ||
| values=VERBOSE_LEVEL, | ||
| value="info", | ||
| ), | ||
| ] | ||
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| outputs = [ | ||
| desc.File( | ||
| name="output", | ||
| label="Output", | ||
| description="Path to the output file.", | ||
| value="{nodeCacheFolder}/output.{fileTypeValue}", | ||
| ), | ||
| ] |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,134 @@ | ||
| // This file is part of the AliceVision project. | ||
| // Copyright (c) 2025 AliceVision contributors. | ||
| // This Source Code Form is subject to the terms of the Mozilla Public License, | ||
| // v. 2.0. If a copy of the MPL was not distributed with this file, | ||
| // You can obtain one at https://mozilla.org/MPL/2.0/. | ||
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| #include <aliceVision/sfmDataIO/UsdExporter.hpp> | ||
| #include <aliceVision/camera/IntrinsicScaleOffset.hpp> | ||
| #include <aliceVision/system/Logger.hpp> | ||
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| #include <pxr/usd/usd/stage.h> | ||
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| #include <pxr/usd/usdGeom/xform.h> | ||
| #include <pxr/usd/usdGeom/points.h> | ||
| #include <pxr/usd/usdGeom/camera.h> | ||
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| #include <pxr/base/gf/vec3f.h> | ||
| #include <pxr/base/vt/array.h> | ||
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| PXR_NAMESPACE_USING_DIRECTIVE | ||
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| namespace aliceVision { | ||
| namespace sfmDataIO { | ||
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| UsdExporter::UsdExporter(const std::string & filename, double frameRate) | ||
| { | ||
| _stage = UsdStage::CreateNew(filename); | ||
| if (!_stage) | ||
| { | ||
| ALICEVISION_THROW_ERROR("UsdStage::CreateNew failed"); | ||
| } | ||
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| UsdGeomXform worldPrim = UsdGeomXform::Define(_stage, SdfPath("/World")); | ||
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| _stage->SetTimeCodesPerSecond(frameRate); | ||
| _stage->SetFramesPerSecond(frameRate); | ||
| _startTimeCode = std::numeric_limits<IndexT>::max(); | ||
| _endTimeCode = 0; | ||
| } | ||
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| void UsdExporter::terminate() | ||
| { | ||
| // If no frames have been exported, _startTimeCode will still be at its sentinel value. | ||
| // In that case, avoid writing invalid start/end time codes to the USD stage. | ||
| if (_startTimeCode == std::numeric_limits<IndexT>::max()) | ||
| { | ||
| ALICEVISION_LOG_WARNING("UsdExporter::terminate called but no frames have been exported; " | ||
| "skipping start/end time code settings."); | ||
| } | ||
| else | ||
| { | ||
| _stage->SetStartTimeCode(_startTimeCode); | ||
| _stage->SetEndTimeCode(_endTimeCode); | ||
| } | ||
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| _stage->Save(); | ||
| } | ||
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| void UsdExporter::createNewCamera(const std::string & cameraName) | ||
| { | ||
| SdfPath cameraPath("/World/" + cameraName); | ||
| UsdGeomCamera camera = UsdGeomCamera::Define(_stage, cameraPath); | ||
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| UsdAttribute projectionAttr = camera.GetProjectionAttr(); | ||
| projectionAttr.Set(UsdGeomTokens->perspective); | ||
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| UsdGeomXformable xformable(camera); | ||
| UsdGeomXformOp motion = xformable.MakeMatrixXform(); | ||
| GfMatrix4d identity(1.0); | ||
| motion.Set(identity); | ||
| } | ||
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| void UsdExporter::addFrame(const std::string & cameraName, const sfmData::CameraPose & pose, const camera::Pinhole & intrinsic, IndexT frameId) | ||
| { | ||
| SdfPath cameraPath("/World/" + cameraName); | ||
| UsdGeomCamera camera = UsdGeomCamera::Get(_stage, cameraPath); | ||
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| _startTimeCode = std::min(_startTimeCode, frameId); | ||
| _endTimeCode = std::max(_endTimeCode, frameId); | ||
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| UsdAttribute focalLengthAttr = camera.GetFocalLengthAttr(); | ||
| UsdAttribute horizontalApertureAttr = camera.GetHorizontalApertureAttr(); | ||
| UsdAttribute verticalApertureAttr = camera.GetVerticalApertureAttr(); | ||
| UsdAttribute horizontalApertureOffsetAttr = camera.GetHorizontalApertureOffsetAttr(); | ||
| UsdAttribute verticalApertureOffsetAttr = camera.GetVerticalApertureOffsetAttr(); | ||
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| horizontalApertureAttr.Set(static_cast<float>(intrinsic.sensorWidth())); | ||
| verticalApertureAttr.Set(static_cast<float>(intrinsic.sensorHeight())); | ||
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| UsdTimeCode t(frameId); | ||
| double pixToMillimeters = intrinsic.sensorWidth() / intrinsic.w(); | ||
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| horizontalApertureOffsetAttr.Set(static_cast<float>(intrinsic.getOffset().x() * pixToMillimeters), t); | ||
| verticalApertureOffsetAttr.Set(static_cast<float>(intrinsic.getOffset().y() * pixToMillimeters), t); | ||
| focalLengthAttr.Set(static_cast<float>(intrinsic.getFocalLength()), t); | ||
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| //Transform sfmData pose to usd pose | ||
| Eigen::Matrix4d glTransform = Eigen::Matrix4d::Identity(); | ||
| glTransform(1, 1) = -1.0; | ||
| glTransform(2, 2) = -1.0; | ||
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| // Inverse the pose and change the geometric frame | ||
| Eigen::Matrix4d camera_T_world = pose.getTransform().getHomogeneous(); | ||
| Eigen::Matrix4d world_T_camera = camera_T_world.inverse(); | ||
| Eigen::Matrix4d world_gl_T_camera_gl = glTransform * world_T_camera * glTransform; | ||
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| //Copy element by element while transposing | ||
| GfMatrix4d usdT; | ||
| for (int i = 0; i < 4; i++) | ||
| { | ||
| for (int j = 0; j < 4; j++) | ||
| { | ||
| usdT[j][i] = world_gl_T_camera_gl(i, j); | ||
| } | ||
| } | ||
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| //Assign pose to motion | ||
| UsdGeomXformable xformable(camera); | ||
| bool dummy = false; | ||
| std::vector<UsdGeomXformOp> xformOps = xformable.GetOrderedXformOps(&dummy); | ||
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| if (!xformOps.empty()) { | ||
| UsdGeomXformOp motion = xformOps[0]; | ||
| motion.Set(usdT, t); | ||
| } | ||
| } | ||
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| } // namespace sfmDataIO | ||
| } // namespace aliceVision | ||
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