format
This commit is contained in:
hofee
parent
950b1473b2
commit
5905669dbd
179
blender_util.py
179
blender_util.py
@ -1,4 +1,3 @@
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import os
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import json
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import bpy
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@ -7,6 +6,7 @@ import gc
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import numpy as np
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import mathutils
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class BlenderUtils:
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TABLE_NAME: str = "table"
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@ -35,28 +35,27 @@ class BlenderUtils:
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def get_obj(name):
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return bpy.data.objects.get(name)
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@staticmethod
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def get_obj_pose(name):
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obj = BlenderUtils.get_obj(name)
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return np.asarray(obj.matrix_world)
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@staticmethod
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def add_plane(name, location, orientation, size=10):
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bpy.ops.mesh.primitive_plane_add(size=size,location=location)
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bpy.ops.mesh.primitive_plane_add(size=size, location=location)
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plane = bpy.context.selected_objects[-1]
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plane.name = name
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plane.rotation_euler = orientation
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bpy.ops.rigidbody.object_add()
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bpy.context.object.rigid_body.type = 'PASSIVE'
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bpy.context.object.rigid_body.type = "PASSIVE"
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@staticmethod
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def add_table(table_model_path):
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table = BlenderUtils.load_obj(BlenderUtils.TABLE_NAME, table_model_path, scale=0.01)
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table = BlenderUtils.load_obj(
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BlenderUtils.TABLE_NAME, table_model_path, scale=0.01
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)
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bpy.ops.rigidbody.object_add()
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bpy.context.object.rigid_body.type = 'PASSIVE'
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bpy.context.object.rigid_body.type = "PASSIVE"
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mat = bpy.data.materials.new(name="TableYellowMaterial")
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mat.diffuse_color = (1.0, 1.0, 0.0, 1.0)
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@ -67,11 +66,11 @@ class BlenderUtils:
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@staticmethod
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def setup_scene(init_light_and_camera_config, table_model_path, binocular_vision):
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bpy.context.scene.render.engine = 'BLENDER_EEVEE_NEXT'
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bpy.context.scene.render.engine = "BLENDER_EEVEE_NEXT"
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bpy.context.scene.display.shading.show_xray = False
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bpy.context.scene.display.shading.use_dof = False
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bpy.context.scene.display.render_aa = 'OFF'
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bpy.context.scene.view_settings.view_transform = 'Standard'
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bpy.context.scene.display.render_aa = "OFF"
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bpy.context.scene.view_settings.view_transform = "Standard"
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bpy.context.scene.eevee.use_ssr = False # 关闭屏幕空间反射
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bpy.context.scene.eevee.use_bloom = False # 关闭辉光
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@ -80,20 +79,29 @@ class BlenderUtils:
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bpy.context.scene.eevee.use_shadows = False # 关闭所有阴影
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bpy.context.scene.world.use_nodes = False # 如果你不需要环境光，关闭环境节点
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#bpy.context.scene.eevee.use_sss = False # 关闭次表面散射
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# bpy.context.scene.eevee.use_sss = False # 关闭次表面散射
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# 2. 设置最低的采样数
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bpy.context.scene.eevee.taa_render_samples = 1
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bpy.context.scene.eevee.taa_samples = 1
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BlenderUtils.init_light_and_camera(init_light_and_camera_config, binocular_vision)
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BlenderUtils.init_light_and_camera(
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init_light_and_camera_config, binocular_vision
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)
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BlenderUtils.add_plane("plane_floor", location=(0,0,0), orientation=(0,0,0))
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BlenderUtils.add_plane("plane_ceil", location=(0,0,10), orientation=(0,0,0))
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BlenderUtils.add_plane("plane_wall_1", location=(5,0,5), orientation=(0,np.pi/2,0))
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BlenderUtils.add_plane("plane_wall_2", location=(-5,0,5), orientation=(0,np.pi/2,0))
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BlenderUtils.add_plane("plane_wall_3", location=(0,5,5), orientation=(np.pi/2,0,0))
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BlenderUtils.add_plane("plane_wall_4", location=(0,-5,5), orientation=(np.pi/2,0,0))
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BlenderUtils.add_plane("plane_floor", location=(0, 0, 0), orientation=(0, 0, 0))
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BlenderUtils.add_plane("plane_ceil", location=(0, 0, 10), orientation=(0, 0, 0))
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BlenderUtils.add_plane(
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"plane_wall_1", location=(5, 0, 5), orientation=(0, np.pi / 2, 0)
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)
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BlenderUtils.add_plane(
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"plane_wall_2", location=(-5, 0, 5), orientation=(0, np.pi / 2, 0)
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)
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BlenderUtils.add_plane(
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"plane_wall_3", location=(0, 5, 5), orientation=(np.pi / 2, 0, 0)
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)
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BlenderUtils.add_plane(
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"plane_wall_4", location=(0, -5, 5), orientation=(np.pi / 2, 0, 0)
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)
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BlenderUtils.add_table(table_model_path)
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@ -101,9 +109,9 @@ class BlenderUtils:
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def set_light_params(light, config):
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light.location = config["location"]
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light.rotation_euler = config["orientation"]
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if light.type == 'SUN':
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if light.type == "SUN":
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light.data.energy = config["power"]
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elif light.type == 'POINT':
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elif light.type == "POINT":
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light.data.energy = config["power"]
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@staticmethod
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@ -112,8 +120,8 @@ class BlenderUtils:
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camera_object = bpy.data.objects.new(BlenderUtils.CAMERA_OBJECT_NAME, None)
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bpy.context.collection.objects.link(camera_object)
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cameras = [bpy.data.objects.get("Camera")]
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camera.location = [0,0,0]
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camera.rotation_euler = [0,0,0]
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camera.location = [0, 0, 0]
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camera.rotation_euler = [0, 0, 0]
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camera.parent = camera_object
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if binocular_vision:
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left_camera = cameras[0]
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@ -123,8 +131,8 @@ class BlenderUtils:
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right_camera.data.name = BlenderUtils.CAMERA_RIGHT_NAME
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bpy.context.collection.objects.link(right_camera)
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right_camera.parent = camera_object
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right_camera.location = [config["eye_distance"]/2, 0, 0]
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left_camera.location = [-config["eye_distance"]/2, 0, 0]
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right_camera.location = [config["eye_distance"] / 2, 0, 0]
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left_camera.location = [-config["eye_distance"] / 2, 0, 0]
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binocular_angle = config["eye_angle"]
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half_angle = np.radians(binocular_angle / 2)
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@ -139,16 +147,24 @@ class BlenderUtils:
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bpy.context.scene.render.resolution_x = config["resolution"][0]
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bpy.context.scene.render.resolution_y = config["resolution"][1]
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sensor_height = 24.0
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focal_length = sensor_height / (2 * np.tan(np.radians(config["fov_vertical"]) / 2))
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focal_length = sensor_height / (
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2 * np.tan(np.radians(config["fov_vertical"]) / 2)
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)
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camera.data.lens = focal_length
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camera.data.sensor_width = sensor_height * config["resolution"][0] / config["resolution"][1]
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camera.data.sensor_width = (
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sensor_height * config["resolution"][0] / config["resolution"][1]
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)
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camera.data.sensor_height = sensor_height
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@staticmethod
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def init_light_and_camera(init_light_and_camera_config, binocular_vision):
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camera = BlenderUtils.get_obj(BlenderUtils.CAMERA_NAME)
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BlenderUtils.set_camera_params(camera, init_light_and_camera_config[BlenderUtils.CAMERA_NAME], binocular_vision)
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BlenderUtils.set_camera_params(
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camera,
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init_light_and_camera_config[BlenderUtils.CAMERA_NAME],
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binocular_vision,
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)
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@staticmethod
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def get_obj_diag(name):
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@ -179,7 +195,9 @@ class BlenderUtils:
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return min_z
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@staticmethod
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def render_and_save(output_dir, file_name, binocular_vision=False, target_object=None):
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def render_and_save(
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output_dir, file_name, binocular_vision=False, target_object=None
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):
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target_cameras = [BlenderUtils.CAMERA_NAME]
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if binocular_vision:
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target_cameras.append(BlenderUtils.CAMERA_RIGHT_NAME)
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@ -191,13 +209,14 @@ class BlenderUtils:
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scene = bpy.context.scene
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scene.render.filepath = ""
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mask_dir = os.path.join(output_dir, "mask")
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if not os.path.exists(mask_dir):
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os.makedirs(mask_dir)
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scene.render.filepath = os.path.join(output_dir, mask_dir, f"{file_name}_{cam_suffix}.png")
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scene.render.image_settings.color_depth = '8'
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scene.render.filepath = os.path.join(
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output_dir, mask_dir, f"{file_name}_{cam_suffix}.png"
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)
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scene.render.image_settings.color_depth = "8"
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scene.render.resolution_percentage = 100
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scene.render.use_overwrite = False
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scene.render.use_file_extension = False
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@ -209,71 +228,69 @@ class BlenderUtils:
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for node in tree.nodes:
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tree.nodes.remove(node)
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rl = tree.nodes.new('CompositorNodeRLayers')
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rl = tree.nodes.new("CompositorNodeRLayers")
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map_range = tree.nodes.new('CompositorNodeMapRange')
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map_range.inputs['From Min'].default_value = 0.01
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map_range.inputs['From Max'].default_value = 5
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map_range.inputs['To Min'].default_value = 0
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map_range.inputs['To Max'].default_value = 1
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tree.links.new(rl.outputs['Depth'], map_range.inputs[0])
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map_range = tree.nodes.new("CompositorNodeMapRange")
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map_range.inputs["From Min"].default_value = 0.01
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map_range.inputs["From Max"].default_value = 5
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map_range.inputs["To Min"].default_value = 0
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map_range.inputs["To Max"].default_value = 1
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tree.links.new(rl.outputs["Depth"], map_range.inputs[0])
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output_depth = tree.nodes.new('CompositorNodeOutputFile')
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output_depth = tree.nodes.new("CompositorNodeOutputFile")
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depth_dir = os.path.join(output_dir, "depth")
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if not os.path.exists(depth_dir):
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os.makedirs(depth_dir)
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output_depth.base_path = depth_dir
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output_depth.file_slots[0].path = f"{file_name}_{cam_suffix}.####"
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output_depth.format.file_format = 'PNG'
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output_depth.format.color_mode = 'BW'
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output_depth.format.color_depth = '16'
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output_depth.format.file_format = "PNG"
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output_depth.format.color_mode = "BW"
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output_depth.format.color_depth = "16"
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# 创建 Separate XYZ 节点来分离法线的 X, Y, Z 分量
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separate_xyz = tree.nodes.new('CompositorNodeSeparateXYZ')
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separate_xyz = tree.nodes.new("CompositorNodeSeparateXYZ")
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# 将法线向量连接到 Separate XYZ 节点
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tree.links.new(rl.outputs['Normal'], separate_xyz.inputs[0])
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tree.links.new(rl.outputs["Normal"], separate_xyz.inputs[0])
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# 创建 Map Range 节点来分别映射 X, Y, Z 分量
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map_range_x = tree.nodes.new('CompositorNodeMapRange')
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map_range_y = tree.nodes.new('CompositorNodeMapRange')
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map_range_z = tree.nodes.new('CompositorNodeMapRange')
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map_range_x = tree.nodes.new("CompositorNodeMapRange")
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map_range_y = tree.nodes.new("CompositorNodeMapRange")
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map_range_z = tree.nodes.new("CompositorNodeMapRange")
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# 设置映射范围
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for map_range in [map_range_x, map_range_y, map_range_z]:
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map_range.inputs['From Min'].default_value = -1
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map_range.inputs['From Max'].default_value = 1
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map_range.inputs['To Min'].default_value = 0
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map_range.inputs['To Max'].default_value = 1
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map_range.inputs["From Min"].default_value = -1
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map_range.inputs["From Max"].default_value = 1
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map_range.inputs["To Min"].default_value = 0
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map_range.inputs["To Max"].default_value = 1
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# 分别连接到法线的 X, Y, Z 输出
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tree.links.new(separate_xyz.outputs['X'], map_range_x.inputs[0])
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tree.links.new(separate_xyz.outputs['Y'], map_range_y.inputs[0])
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tree.links.new(separate_xyz.outputs['Z'], map_range_z.inputs[0])
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tree.links.new(separate_xyz.outputs["X"], map_range_x.inputs[0])
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tree.links.new(separate_xyz.outputs["Y"], map_range_y.inputs[0])
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tree.links.new(separate_xyz.outputs["Z"], map_range_z.inputs[0])
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# 合并 X, Y, Z 分量到一个 RGB 输出
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combine_rgb = tree.nodes.new('CompositorNodeCombineXYZ')
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tree.links.new(map_range_x.outputs[0], combine_rgb.inputs['X'])
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tree.links.new(map_range_y.outputs[0], combine_rgb.inputs['Y'])
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tree.links.new(map_range_z.outputs[0], combine_rgb.inputs['Z'])
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combine_rgb = tree.nodes.new("CompositorNodeCombineXYZ")
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tree.links.new(map_range_x.outputs[0], combine_rgb.inputs["X"])
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tree.links.new(map_range_y.outputs[0], combine_rgb.inputs["Y"])
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tree.links.new(map_range_z.outputs[0], combine_rgb.inputs["Z"])
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# 输出到文件
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output_normal = tree.nodes.new('CompositorNodeOutputFile')
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output_normal = tree.nodes.new("CompositorNodeOutputFile")
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normal_dir = os.path.join(output_dir, "normal")
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if not os.path.exists(normal_dir):
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os.makedirs(normal_dir)
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output_normal.base_path = normal_dir
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output_normal.file_slots[0].path = f"{file_name}_{cam_suffix}.####"
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output_normal.format.file_format = 'PNG'
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output_normal.format.color_mode = 'RGB'
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output_normal.format.color_depth = '8'
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output_normal.format.file_format = "PNG"
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output_normal.format.color_mode = "RGB"
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output_normal.format.color_depth = "8"
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tree.links.new(combine_rgb.outputs[0], output_normal.inputs[0])
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bpy.ops.render.render(write_still=True)
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msg = "success"
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return msg
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@ -305,7 +322,7 @@ class BlenderUtils:
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if binocular_vision:
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right_camera = BlenderUtils.get_obj(BlenderUtils.CAMERA_RIGHT_NAME)
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extrinsic_right = np.array(right_camera.matrix_world)
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print("result:",extrinsic_right)
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print("result:", extrinsic_right)
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data["extrinsic_R"] = extrinsic_right.tolist()
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@ -319,7 +336,14 @@ class BlenderUtils:
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@staticmethod
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def reset_objects_and_platform():
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all_objects = bpy.data.objects
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keep_objects = {"plane_floor", "plane_ceil", "plane_wall_1", "plane_wall_2", "plane_wall_3", "plane_wall_4"}
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keep_objects = {
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"plane_floor",
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"plane_ceil",
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"plane_wall_1",
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"plane_wall_2",
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"plane_wall_3",
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"plane_wall_4",
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}
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keep_objects.add(BlenderUtils.CAMERA_OBJECT_NAME)
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keep_objects.add(BlenderUtils.CAMERA_NAME)
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keep_objects.add(BlenderUtils.CAMERA_RIGHT_NAME)
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@ -345,18 +369,28 @@ class BlenderUtils:
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@staticmethod
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def save_scene_info(scene_root_dir, display_table_config, target_name):
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all_objects = bpy.data.objects
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no_save_objects = {"plane_floor", "plane_ceil", "plane_wall_1", "plane_wall_2", "plane_wall_3", "plane_wall_4"}
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no_save_objects = {
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"plane_floor",
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"plane_ceil",
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"plane_wall_1",
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"plane_wall_2",
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"plane_wall_3",
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"plane_wall_4",
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}
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no_save_objects.add(BlenderUtils.CAMERA_OBJECT_NAME)
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no_save_objects.add(BlenderUtils.CAMERA_NAME)
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no_save_objects.add(BlenderUtils.CAMERA_RIGHT_NAME)
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no_save_objects.add(BlenderUtils.TABLE_NAME)
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scene_info = {}
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for obj in all_objects:
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if obj.name not in no_save_objects and obj.name != BlenderUtils.DISPLAY_TABLE_NAME:
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if (
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obj.name not in no_save_objects
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and obj.name != BlenderUtils.DISPLAY_TABLE_NAME
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):
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obj_info = {
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"location": list(obj.location),
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"rotation_euler": list(obj.rotation_euler),
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"scale": list(obj.scale)
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"scale": list(obj.scale),
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}
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scene_info[obj.name] = obj_info
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scene_info[BlenderUtils.DISPLAY_TABLE_NAME] = display_table_config
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@ -364,6 +398,3 @@ class BlenderUtils:
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scene_info_path = os.path.join(scene_root_dir, "scene_info.json")
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with open(scene_info_path, "w") as outfile:
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json.dump(scene_info, outfile)
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