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Fabien Servantservantftransperfect
Fabien Servant
authored and
servantftransperfect
committed
Create USD Exporter
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9 files changed

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-316
lines changed

9 files changed

+708
-316
lines changed

‎.gitignore‎

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@@ -80,4 +80,4 @@ Production
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/vcpkg_installed/
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/export/
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/.cache/
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/compile_commands.json
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/compile_commands.json

‎meshroom/aliceVision/ExportMeshUSD.py‎

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__version__ = "1.0"
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from meshroom.core import desc
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from meshroom.core.utils import VERBOSE_LEVEL
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class exportMeshUSD(desc.AVCommandLineNode):
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commandLine = "aliceVision_exportMeshUSD {allParams}"
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size = desc.DynamicNodeSize("input")
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category = "Utils"
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documentation = """ Export a mesh (OBJ file) to USD format. """
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inputs = [
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desc.File(
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name="input",
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label="Input",
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description="Input mesh file.",
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value="",
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),
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desc.ChoiceParam(
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name="fileType",
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label="USD File Format",
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description="Output USD file format.",
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value="usda",
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values=["usda", "usdc", "usdz"]
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),
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desc.ChoiceParam(
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name="verboseLevel",
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label="Verbose Level",
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description="Verbosity level (fatal, error, warning, info, debug, trace).",
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values=VERBOSE_LEVEL,
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value="info",
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),
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]
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outputs = [
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desc.File(
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name="output",
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label="Output",
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description="Path to the output file.",
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value="{nodeCacheFolder}/output.{fileTypeValue}",
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),
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]

‎meshroom/aliceVision/ExportUSD.py‎

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Original file line numberDiff line numberDiff line change
@@ -8,22 +8,25 @@ class ExportUSD(desc.AVCommandLineNode):
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commandLine = "aliceVision_exportUSD {allParams}"
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size = desc.DynamicNodeSize("input")
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category = "Utils"
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documentation = """ Export a mesh (OBJ file) to USD format. """
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category = "Export"
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documentation = """
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Convert cameras from an SfM scene into an animated cameras in USD file format.
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Based on the input image filenames, it will recognize the input video sequence to create an animated camera.
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"""
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inputs = [
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desc.File(
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name="input",
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label="Input",
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description="Input mesh file.",
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label="Input SfMData",
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description="SfMData file containing a complete SfM.",
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value="",
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),
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desc.ChoiceParam(
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name="fileType",
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label="USD File Format",
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description="Output USD file format.",
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value="usda",
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values=["usda", "usdc", "usdz"]
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desc.FloatParam(
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name="frameRate",
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label="Camera Frame Rate",
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description="Define the camera's Frames per seconds.",
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value=24.0,
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range=(1.0, 60.0, 1.0),
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),
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desc.ChoiceParam(
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name="verboseLevel",
@@ -37,8 +40,8 @@ class ExportUSD(desc.AVCommandLineNode):
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outputs = [
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desc.File(
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name="output",
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label="Output",
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description="Path to the output file.",
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value="{nodeCacheFolder}/output.{fileTypeValue}",
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),
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label="USD filename",
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description="Output usd filename",
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value="{nodeCacheFolder}/animated.usda",
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)
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]

‎src/aliceVision/sfmDataIO/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -37,6 +37,16 @@ if (ALICEVISION_HAVE_ALEMBIC)
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)
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endif()
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if (ALICEVISION_HAVE_USD)
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list(APPEND sfmDataIO_files_headers
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UsdExporter.hpp
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)
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list(APPEND sfmDataIO_files_sources
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UsdExporter.cpp
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)
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endif()
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alicevision_add_library(aliceVision_sfmDataIO
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SOURCES ${sfmDataIO_files_headers} ${sfmDataIO_files_sources}
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PUBLIC_LINKS
@@ -60,6 +70,17 @@ if (ALICEVISION_HAVE_ALEMBIC)
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)
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endif()
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if (ALICEVISION_HAVE_USD)
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target_link_libraries(aliceVision_sfmDataIO
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PRIVATE usd
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usdGeom
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gf
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tf
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vt
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sdf
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)
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endif()
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# Unit tests
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alicevision_add_test(sfmDataIO_test.cpp

‎src/aliceVision/sfmDataIO/UsdExporter.cpp‎

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// This file is part of the AliceVision project.
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// Copyright (c) 2025 AliceVision contributors.
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// This Source Code Form is subject to the terms of the Mozilla Public License,
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// v. 2.0. If a copy of the MPL was not distributed with this file,
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// You can obtain one at https://mozilla.org/MPL/2.0/.
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#include <aliceVision/sfmDataIO/UsdExporter.hpp>
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#include <aliceVision/camera/IntrinsicScaleOffset.hpp>
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#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>
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#include <pxr/usd/usdGeom/points.h>
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#include <pxr/usd/usdGeom/camera.h>
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#include <pxr/base/gf/vec3f.h>
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#include <pxr/base/vt/array.h>
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PXR_NAMESPACE_USING_DIRECTIVE
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namespace aliceVision {
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namespace sfmDataIO {
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UsdExporter::UsdExporter(const std::string & filename, double frameRate)
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{
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_stage = UsdStage::CreateNew(filename);
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UsdGeomXform worldPrim = UsdGeomXform::Define(_stage, SdfPath("/World"));
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_stage->SetTimeCodesPerSecond(frameRate);
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_stage->SetFramesPerSecond(frameRate);
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_startTimeCode = std::numeric_limits<IndexT>::max();
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_endTimeCode = 0;
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}
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void UsdExporter::terminate()
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{
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_stage->SetStartTimeCode(_startTimeCode);
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_stage->SetEndTimeCode(_endTimeCode);
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_stage->Save();
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}
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void UsdExporter::createNewCamera(const std::string & cameraName)
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{
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SdfPath cameraPath("/World/" + cameraName);
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UsdGeomCamera camera = UsdGeomCamera::Define(_stage, cameraPath);
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UsdAttribute projectionAttr = camera.GetProjectionAttr();
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projectionAttr.Set(UsdGeomTokens->perspective);
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UsdGeomXformable xformable(camera);
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UsdGeomXformOp motion = xformable.MakeMatrixXform();
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GfMatrix4d identity(1.0);
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motion.Set(identity);
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}
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void UsdExporter::addFrame(const std::string & cameraName, const sfmData::CameraPose & pose, const camera::Pinhole & intrinsic, IndexT frameId)
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{
63+
SdfPath cameraPath("/World/" + cameraName);
64+
UsdGeomCamera camera = UsdGeomCamera::Get(_stage, cameraPath);
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_startTimeCode = std::min(_startTimeCode, frameId);
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_endTimeCode = std::max(_endTimeCode, frameId);
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UsdAttribute focalLengthAttr = camera.GetFocalLengthAttr();
70+
UsdAttribute horizontalApertureAttr = camera.GetHorizontalApertureAttr();
71+
UsdAttribute verticalApertureAttr = camera.GetVerticalApertureAttr();
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UsdAttribute horizontalApertureOffsetAttr = camera.GetHorizontalApertureOffsetAttr();
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UsdAttribute verticalApertureOffsetAttr = camera.GetVerticalApertureOffsetAttr();
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horizontalApertureAttr.Set(static_cast<float>(intrinsic.sensorWidth()));
76+
verticalApertureAttr.Set(static_cast<float>(intrinsic.sensorHeight()));
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UsdTimeCode t(frameId);
79+
double pixToMillimeters = intrinsic.sensorWidth() / intrinsic.w();
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horizontalApertureOffsetAttr.Set(static_cast<float>(intrinsic.getOffset().x() * pixToMillimeters), t);
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verticalApertureOffsetAttr.Set(static_cast<float>(intrinsic.getOffset().y() * pixToMillimeters), t);
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focalLengthAttr.Set(static_cast<float>(intrinsic.getFocalLength()), t);
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//Transform sfmData pose to usd pose
88+
Eigen::Matrix4d glTransform = Eigen::Matrix4d::Identity();
89+
glTransform(1, 1) = -1.0;
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glTransform(2, 2) = -1.0;
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// Inverse the pose and change the geometric frame
93+
Eigen::Matrix4d camera_T_world = pose.getTransform().getHomogeneous();
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Eigen::Matrix4d world_T_camera = camera_T_world.inverse();
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Eigen::Matrix4d world_gl_T_camera_gl = glTransform * world_T_camera * glTransform;
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//Copy element by element while transposing
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GfMatrix4d usdT;
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for (int i = 0; i < 4; i++)
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{
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for (int j = 0; j < 4; j++)
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{
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usdT[j][i] = world_gl_T_camera_gl(i, j);
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}
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}
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//Assign pose to motion
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UsdGeomXformable xformable(camera);
109+
bool dummy = false;
110+
std::vector<UsdGeomXformOp> xformOps = xformable.GetOrderedXformOps(&dummy);
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if (!xformOps.empty()) {
114+
UsdGeomXformOp motion = xformOps[0];
115+
motion.Set(usdT, t);
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}
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}
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} // namespace sfmDataIO
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} // namespace aliceVision

‎src/aliceVision/sfmDataIO/UsdExporter.hpp‎

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// This file is part of the AliceVision project.
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// Copyright (c) 2025 AliceVision contributors.
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// This Source Code Form is subject to the terms of the Mozilla Public License,
4+
// v. 2.0. If a copy of the MPL was not distributed with this file,
5+
// You can obtain one at https://mozilla.org/MPL/2.0/.
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#pragma once
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#include <aliceVision/sfmData/SfMData.hpp>
10+
#include <aliceVision/camera/Pinhole.hpp>
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#include <pxr/usd/usd/stage.h>
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13+
namespace aliceVision {
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namespace sfmDataIO {
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class UsdExporter
17+
{
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public:
19+
UsdExporter(const std::string & filename, double frameRate);
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21+
void createNewCamera(const std::string & cameraName);
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23+
void addFrame(const std::string & cameraName, const sfmData::CameraPose & pose, const camera::Pinhole & camera, IndexT frameId);
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void terminate();
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private:
28+
pxr::UsdStageRefPtr _stage;
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IndexT _startTimeCode;
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IndexT _endTimeCode;
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};
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} // namespace sfmDataIO
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} // namespace aliceVision

‎src/software/export/CMakeLists.txt‎

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@@ -202,8 +202,8 @@ if (ALICEVISION_BUILD_SFM)
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# Export geometry and textures as USD
204204
if (ALICEVISION_HAVE_USD)
205-
alicevision_add_software(aliceVision_exportUSD
206-
SOURCE main_exportUSD.cpp
205+
alicevision_add_software(aliceVision_exportMeshUSD
206+
SOURCE main_exportMeshUSD.cpp
207207
FOLDER ${FOLDER_SOFTWARE_EXPORT}
208208
LINKS aliceVision_system
209209
aliceVision_cmdline
@@ -214,6 +214,18 @@ if (ALICEVISION_BUILD_SFM)
214214
usdImaging
215215
usdShade
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)
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alicevision_add_software(aliceVision_exportUSD
219+
SOURCE main_exportUSD.cpp
220+
FOLDER ${FOLDER_SOFTWARE_EXPORT}
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LINKS aliceVision_system
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aliceVision_cmdline
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aliceVision_sfmData
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aliceVision_sfmDataIO
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Boost::program_options
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Boost::boost
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usd
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)
217229
endif()
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# Export distortion to be used in external tools

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