render install

MarcToussaint · Oct 19, 2023 · 446adfb · 446adfb
1 parent 8939ca5
commit 446adfb
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Showing 3 changed files with 9 additions and 5 deletions.
diff --git a/_build_utils/CMakeLists-ubuntu.txt b/_build_utils/CMakeLists-ubuntu.txt
@@ -213,7 +213,7 @@ install(
   DESTINATION ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE}/robotic)
 
 install(
-  FILES robotic/__init__.py robotic/version.py ${CMAKE_BINARY_DIR}/ry.pyi
+  FILES robotic/__init__.py robotic/version.py robotic/render.py ${CMAKE_BINARY_DIR}/ry.pyi
   DESTINATION ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE}/robotic)
 
 install(

diff --git a/rai b/rai
diff --git a/robotic/render.py b/robotic/render.py
@@ -48,6 +48,7 @@ def __init__(self, width, height, focalLength=1.):
         # nvisii.disable_dome_light_sampling()
 
     def __del__(self):
+        print('-- shutting down Nvisii')
         nvisii.deinitialize()
 
     def addConfig(self, C):
@@ -65,12 +66,12 @@ def addConfig(self, C):
                 col = F['color']
                 if len(col) == 4:
                     continue
-                if len(col) == 1:
-                    col = [col[0], col[0], col[0]]
                 pos = f.getPosition()
                 quat = f.getQuaternion()
 
                 if not 'temperature' in F:
+                    if len(col) == 1:
+                        col = [col[0], col[0], col[0]]
                     if col == None:
                         col = [.8, .5, .3]
                     obj = nvisii.entity.create(
@@ -92,7 +93,10 @@ def addConfig(self, C):
                         transform = nvisii.transform.create(name=name, position=pos, rotation=flipQuat(quat)),
                         light = nvisii.light.create(f'{name}_light')
                     )
-                    light.get_light().set_intensity(1.)
+                    if len(col) == 1:
+                        light.get_light().set_intensity(col[0])
+                    else:
+                        light.get_light().set_intensity(1.)
                     light.get_light().set_exposure(3)
                     # light.get_light().set_color(col)
                     light.get_light().set_temperature(F['temperature'])