hofee/nbv_rec_blender_render
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update renderer

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hofee 2024-10-30 13:49:44 -05:00
parent 7ac50c6523
commit 9f0225c6d8
1 changed files with 16 additions and 20 deletions
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36
data_renderer.py
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@ -6,7 +6,7 @@ import mathutils
import numpy as np import numpy as np
sys.path.append(os.path.dirname(os.path.abspath(__file__))) sys.path.append(os.path.dirname(os.path.abspath(__file__)))
from utils.blender_util import BlenderUtils from utils.blender_util import BlenderUtils
from utils.material_util import MaterialUtil
class DataRenderer: class DataRenderer:
def __init__(self): def __init__(self):
@ -23,8 +23,8 @@ class DataRenderer:
"near_plane": 0.01, "near_plane": 0.01,
"far_plane": 5, "far_plane": 5,
"fov_vertical": 25, "fov_vertical": 25,
"resolution": [1280, 800], "resolution": [640, 400],
"eye_distance": 0.15, "eye_distance": 0.10,
"eye_angle": 25 "eye_angle": 25
}, },
"Light": { "Light": {
@ -64,9 +64,17 @@ class DataRenderer:
if "." in object_name: if "." in object_name:
object_name = object_name.split(".")[0] object_name = object_name.split(".")[0]
BlenderUtils.set_camera_at(cam_pose) BlenderUtils.set_camera_at(cam_pose)
BlenderUtils.render_and_save(temp_dir, temp_file_name, binocular_vision=self.binocular_vision) BlenderUtils.render_mask(temp_dir, temp_file_name, binocular_vision=self.binocular_vision)
BlenderUtils.render_normal_and_depth(temp_dir, temp_file_name, binocular_vision=self.binocular_vision)
BlenderUtils.save_cam_params(temp_dir, temp_file_name, binocular_vision=self.binocular_vision)
depth_dir = os.path.join(temp_dir, "depth")
for depth_file in os.listdir(depth_dir):
if not depth_file.endswith(".png"):
name, _ = os.path.splitext(depth_file)
file_path = os.path.join(depth_dir, depth_file)
new_file_path = os.path.join(depth_dir, f"{name}.png")
os.rename(file_path,new_file_path)
def restore_scene(self, restore_info): def restore_scene(self, restore_info):
for obj_name, obj_info in restore_info.items(): for obj_name, obj_info in restore_info.items():
@ -82,12 +90,7 @@ class DataRenderer:
obj.location = mathutils.Vector(obj_info["location"]) obj.location = mathutils.Vector(obj_info["location"])
obj.rotation_euler = mathutils.Vector(obj_info["rotation_euler"]) obj.rotation_euler = mathutils.Vector(obj_info["rotation_euler"])
obj.scale = mathutils.Vector(obj_info["scale"]) obj.scale = mathutils.Vector(obj_info["scale"])
mat = bpy.data.materials.new(name="GreenMaterial") MaterialUtil.change_object_material(obj, MaterialUtil.create_mask_material(color=(0, 1.0, 0)))
mat.diffuse_color = (0.0, 1.0, 0.0, 1.0) # Green with full alpha (1.0)
if len(obj.data.materials) > 0:
obj.data.materials[0] = mat
else:
obj.data.materials.append(mat)
self.target_obj = obj self.target_obj = obj
def restore_display_platform(self, platform_info): def restore_display_platform(self, platform_info):
@ -96,16 +99,9 @@ class DataRenderer:
platform.name = BlenderUtils.DISPLAY_TABLE_NAME platform.name = BlenderUtils.DISPLAY_TABLE_NAME
platform.location = mathutils.Vector(platform_info["location"]) platform.location = mathutils.Vector(platform_info["location"])
mat = bpy.data.materials.new(name="RedMaterial")
mat.diffuse_color = (1.0, 0.0, 0.0, 1.0) # Red with full alpha (1.0)
if len(platform.data.materials) > 0:
platform.data.materials[0] = mat
else:
platform.data.materials.append(mat)
bpy.ops.rigidbody.object_add() bpy.ops.rigidbody.object_add()
bpy.context.object.rigid_body.type = 'PASSIVE' bpy.context.object.rigid_body.type = 'PASSIVE'
bpy.ops.object.shade_auto_smooth() MaterialUtil.change_object_material(platform, MaterialUtil.create_mask_material(color=(1.0, 0, 0)))
def main(temp_dir): def main(temp_dir):
params_data_path = os.path.join(temp_dir, "params.json") params_data_path = os.path.join(temp_dir, "params.json")