demo_trimesh_render.py

 # Make use of the codebase from https://github.com/Jianghanxiao/3DHelper
from trimesh_render import lookAt, getSpherePositions
from trimesh_URDF import getURDF
import numpy as np
from PIL import Image
import trimesh
import io
import os

MODELID = "7265"

URDFPATH = f"/local-scratch/localhome/hja40/Desktop/Dataset/data/models3d/partnetsim/mobility_v1_alpha5/{MODELID}/mobility.urdf"
OUTPUTDIR = "/local-scratch/localhome/hja40/Desktop/Research/test"

if not os.path.exists(OUTPUTDIR):
    os.mkdir(OUTPUTDIR)


def getRGB(scene):
    data = scene.save_image()
    rgb = Image.open(io.BytesIO(data))
    return rgb


if __name__ == "__main__":
    urdf, controller = getURDF(URDFPATH)

    # Interact with the URDF
    # controller["link_0"].interact(-0.5235987755982988)

    mesh = urdf.getMesh()

    coordinate = trimesh.creation.axis()
    mesh.add_geometry(coordinate)

    # Define camera parameters
    resolution = (512, 512)
    fov = (90, 90)
    mesh.set_camera(resolution=resolution, fov=fov)

    # Get the positions of the cameras on a sphere centered at the object center
    center = mesh.centroid
    positions = getSpherePositions(center=center, radius=4)

    # Loop over the camera positions and render the images
    for i, pos in enumerate(positions):
        # Set the camera view and render the image
        matrix = lookAt(eye=pos, target=center, up=np.array([0.0, 0.0, 1.0]))
        mesh.camera_transform = matrix
        rgb = getRGB(mesh)
        rgb.save(f"{OUTPUTDIR}/{MODELID}_rgb_{i}.png")