urdf-glb support

Author: LeonLiu4

genesis/options/textures.py

@@ -141,6 +141,30 @@ def __init__(self, **data):
         elif self.image_array is not None:
             if not isinstance(self.image_array, np.ndarray):
                 gs.raise_exception("`image_array` needs to be an numpy array.")
+            if self.image_array.dtype != np.uint8:
+                if self.image_array.dtype in (np.float32, np.float64):
+                    if self.image_array.max() <= 1.0:
+                        self.image_array = (self.image_array * 255.0).round()
+                    self.image_array = np.clip(self.image_array, 0.0, 255.0).astype(np.uint8)
+                elif self.image_array.dtype == np.bool_:
+                    self.image_array = self.image_array.astype(np.uint8) * 255
+
+                elif np.issubdtype(self.image_array.dtype, np.integer):
+                    self.image_array = np.clip(self.image_array, 0, 255).astype(np.uint8)
+                else:
+                    gs.raise_exception(
+                        f"Unsupported image dtype {self.image_array.dtype}. Only uint8 or float32/64 are supported."
+                    )
+            if self.image_array.ndim == 2:
+                self.image_array = np.stack([self.image_array] * 3, axis=-1)
+
+            elif self.image_array.shape[2] == 1:
+                self.image_array = np.repeat(self.image_array, 3, axis=2)
+
+            elif self.image_array.shape[2] == 2:
+                L = self.image_array[..., 0]
+                A = self.image_array[..., 1]
+                self.image_array = np.stack([L, L, L, A], axis=-1)
 
         # calculate channel
         if self.image_array is None:
@@ -163,8 +187,6 @@ def __init__(self, **data):
         if self.encoding not in ["srgb", "linear"]:
             gs.raise_exception(f"Invalid image encoding: {self.encoding}.")
 
-        assert self.image_array is None or self.image_array.dtype == np.uint8
-
     def check_dim(self, dim):
         if self.image_array is not None:
             if self._channel > dim: