move atexit to pybind

manualtest/stereodepth.py

@@ -1,13 +1,13 @@
 import sapien
-from sapien import Scene, Entity, Pose, ActorBuilder, VisualMaterialRecord
+from sapien import Scene, Entity, Pose, ActorBuilder
 from sapien.physx import PhysxSystem
 from sapien.render import RenderSystem
 from sapien.utils.viewer import Viewer
 from sapien.sensor import StereoDepthSensor, StereoDepthSensorConfig
 
 import numpy as np
 import matplotlib.pyplot as plt
-import open3d as o3d
+import trimesh
 import torch
 
 
@@ -20,7 +20,7 @@ def build_scene(render_system, physx_system):
         .add_plane_visual(
             Pose(q=[0.7071068, 0, -0.7071068, 0]),
             [10, 10, 10],
-            VisualMaterialRecord(
+            sapien.render.RenderMaterial(
                 base_color=np.array([202, 164, 114, 256]) / 256, specular=0.5
             ),
             "",
@@ -36,7 +36,7 @@ def build_scene(render_system, physx_system):
         .add_sphere_visual(
             Pose(),
             0.06,
-            VisualMaterialRecord(
+            sapien.render.RenderMaterial(
                 base_color=[0.2, 0.2, 0.8, 1.0], roughness=0.5, metallic=0.0
             ),
             "",
@@ -53,7 +53,7 @@ def build_scene(render_system, physx_system):
         .add_sphere_visual(
             Pose(),
             0.07,
-            VisualMaterialRecord(
+            sapien.render.RenderMaterial(
                 base_color=[1.0, 1.0, 1.0, 1.0],
                 roughness=0.3,
                 metallic=0.0,
@@ -75,7 +75,7 @@ def build_scene(render_system, physx_system):
             Pose(),
             0.02,
             0.1,
-            VisualMaterialRecord(
+            sapien.render.RenderMaterial(
                 base_color=[0.8, 0.7, 0.1, 1.0], roughness=0.01, metallic=0.95
             ),
             "",
@@ -92,7 +92,7 @@ def build_scene(render_system, physx_system):
         .add_box_visual(
             Pose(),
             [0.09, 0.09, 0.09],
-            VisualMaterialRecord(
+            sapien.render.RenderMaterial(
                 base_color=[0.8, 0.2, 0.2, 1.0], roughness=0.01, metallic=1.0
             ),
             "",
@@ -148,45 +148,27 @@ def main():
     ir_l, ir_r = sensor.get_ir()
     depth = sensor.get_depth()
 
-    # Testing cuda buffer for depth
-    # depth_cuda = sensor.get_depth_cuda()
-    # torch_tensor = torch.as_tensor(depth_cuda)
-    # depth = torch_tensor.numpy()
-
     plt.subplot(221)
     plt.title("RGB Image")
     plt.imshow((rgb * 255).astype(np.uint8))
     plt.subplot(222)
     plt.title("Left Infrared Image")
-    plt.imshow((ir_l * 255).astype(np.uint8), cmap='gray')
+    plt.imshow((ir_l * 255).astype(np.uint8), cmap="gray")
     plt.subplot(223)
     plt.title("Right Infrared Image")
-    plt.imshow((ir_r * 255).astype(np.uint8), cmap='gray')
+    plt.imshow((ir_r * 255).astype(np.uint8), cmap="gray")
     plt.subplot(224)
     plt.title("Depth Map")
     plt.imshow(depth)
     plt.show()
 
-    pc = sensor.get_pointcloud(with_rgb=True) # From RGB camera's view with x rightward, y downward, z forward
-    pcd = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(pc[..., :3] * np.array([1, -1, -1]))) # Change axis direction for easier view
-    pcd.colors = o3d.utility.Vector3dVector(pc[..., 3:])
-    o3d.visualization.draw_geometries([pcd])
-
-    # Testing cuda buffer for pointcloud
-    # pc = sensor.get_pointcloud_cuda(with_rgb=True) # From RGB camera's view with x rightward, y downward, z forward
-    # pc = torch.as_tensor(pc).numpy()
-    # pcd = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(pc[..., :3] * np.array([1, -1, -1]))) # Change axis direction for easier view
-    # pcd.colors = o3d.utility.Vector3dVector(pc[..., 3:])
-    # o3d.visualization.draw_geometries([pcd])
-
-    # viewer = Viewer(resolutions=(1920, 1080), shader_dir="../vulkan_shader/ibl")
-    # viewer.set_scene(scene)
-    # viewer.set_camera_pose(Pose([-0.420344, -0.218716, 0.339383], [0.927951, -0.0967264, 0.211487, 0.291245]))
-    # while not viewer.closed:
-    #     physx_system.step()
-    #     render_system.step()
-    #     viewer.render()
-    # viewer.close()
+    pc = sensor.get_pointcloud(
+        with_rgb=True
+    )  # From RGB camera's view with x rightward, y downward, z forward
+    pcd = trimesh.PointCloud(
+        pc[..., :3] * np.array([1, -1, -1]), pc[..., 3:]
+    )  # Change axis direction for easier view
+    pcd.show()
 
 
 if __name__ == "__main__":

python/py_package/__init__.py

@@ -34,7 +34,3 @@
 
 from . import utils
 from . import asset
-
-import atexit
-
-atexit.register(physx._unload)

python/py_package/__init__.pyi

@@ -15,7 +15,6 @@ from sapien.wrapper.renderer import SapienRenderer
 from sapien.wrapper.scene import Scene
 from sapien.pysapien import System
 from sapien.wrapper.scene import Widget
-import atexit
 import os
 import pkg_resources
 import platform
@@ -41,7 +40,6 @@ __all__ = [
     "System",
     "Widget",
     "asset",
-    "atexit",
     "internal_renderer",
     "math",
     "os",

python/py_package/pysapien/physx/__init__.pyi

@@ -1101,8 +1101,6 @@ class PhysxSystem(sapien.pysapien.System):
     def timestep(self, arg1: float) -> None:
         pass
     pass
-def _unload() -> None:
-    pass
 def get_default_material() -> PhysxMaterial:
     pass
 def set_default_material(static_friction: float, dynamic_friction: float, restitution: float) -> None:

python/pybind/physx.cpp

@@ -176,8 +176,6 @@ template <> struct type_caster<physx::PxForceMode::Enum> {
 Generator<int> init_physx(py::module &sapien) {
   auto m = sapien.def_submodule("physx");
 
-  m.def("_unload", []() { MeshManager::Clear(); });
-
   auto PyPhysxSceneConfig = py::class_<PhysxSceneConfig>(m, "PhysxSceneConfig");
   PyPhysxSceneConfig.def(py::init<>())
       .def_readwrite("gravity", &PhysxSceneConfig::gravity)
@@ -855,4 +853,7 @@ set some motion axes of the dynamic rigid body to be locked
       .def("get_default_material", &PhysxDefault::getDefaultMaterial);
 
   ////////// end global //////////
+
+  auto atexit = py::module_::import("atexit");
+  atexit.attr("register")(py::cpp_function([]() { MeshManager::Clear(); }));
 }