add normal

blender_util.py

@@ -69,13 +69,10 @@ class BlenderUtils:
     @staticmethod
     def setup_scene(init_light_and_camera_config, table_model_path, binocular_vision):
         bpy.context.scene.render.engine = 'BLENDER_WORKBENCH'
-        bpy.context.scene.display.shading.light = 'FLAT'
-        bpy.context.scene.display.shading.color_type = 'MATERIAL'
         bpy.context.scene.display.shading.show_xray = False
         bpy.context.scene.display.shading.use_dof = False
         bpy.context.scene.display.render_aa = 'OFF'
         bpy.context.scene.view_settings.view_transform = 'Standard'
-
         BlenderUtils.init_light_and_camera(init_light_and_camera_config, binocular_vision)
         
         BlenderUtils.add_plane("plane_floor", location=(0,0,0), orientation=(0,0,0))
@@ -170,14 +167,24 @@ class BlenderUtils:
         min_z = min([v.z for v in vertices_world])
         return min_z
         
+    @staticmethod
+    def setup_render_mask():
+        bpy.context.scene.display.shading.light = 'FLAT'
+        bpy.context.scene.display.shading.color_type = 'MATERIAL'
+
+    @staticmethod
+    def setup_render_normal():
+        bpy.context.scene.display.shading.light = 'MATCAP'
+        bpy.context.scene.display.shading.studio_light = 'check_normal+y.exr'
+        
     @staticmethod
     def render_and_save(output_dir, file_name, binocular_vision=False):
         target_cameras = [BlenderUtils.CAMERA_NAME]
         if binocular_vision:
             target_cameras.append(BlenderUtils.CAMERA_RIGHT_NAME)
             
+        BlenderUtils.setup_render_mask()
         for cam_name in target_cameras:
-            # Set the current camera
             bpy.context.scene.camera = BlenderUtils.get_obj(cam_name)
             bpy.context.scene.view_layers["ViewLayer"].use_pass_z = True
             cam_suffix = "L" if cam_name == BlenderUtils.CAMERA_NAME else "R"
@@ -188,8 +195,6 @@ class BlenderUtils:
             if not os.path.exists(mask_dir):
                 os.makedirs(mask_dir)
             
-            # Modify the file name based on the camera
-            
             scene.render.filepath = os.path.join(output_dir, mask_dir, f"{file_name}_{cam_suffix}.png")
             scene.render.image_settings.color_depth = '8'
             scene.render.resolution_percentage = 100
@@ -226,6 +231,28 @@ class BlenderUtils:
             tree.links.new(map_range.outputs[0], output_depth.inputs[0])
             
             bpy.ops.render.render(write_still=True)
+            
+        BlenderUtils.setup_render_normal()
+        for cam_name in target_cameras:
+            bpy.context.scene.camera = BlenderUtils.get_obj(cam_name)
+            bpy.context.scene.view_layers["ViewLayer"].use_pass_normal = True
+            cam_suffix = "L" if cam_name == BlenderUtils.CAMERA_NAME else "R"
+            scene = bpy.context.scene
+            scene.render.filepath = ""
+            
+            normal_dir = os.path.join(output_dir, "normal")
+            if not os.path.exists(normal_dir):
+                os.makedirs(normal_dir)
+            
+            scene.render.filepath = os.path.join(output_dir, normal_dir, f"{file_name}_{cam_suffix}.png")
+            scene.render.image_settings.color_depth = '8'
+            scene.render.resolution_percentage = 100
+            scene.render.use_overwrite = False
+            scene.render.use_file_extension = False
+            scene.render.use_placeholder = False
+
+            bpy.ops.render.render(write_still=True)
+            
         msg = "success"
         return msg
             

view_sample_util.py

@@ -40,7 +40,7 @@ class ViewSampleUtil:
         return np.array(downsampled_points), downsampled_indices
 
     @staticmethod
-    def sample_view_data(obj, distance_range:tuple = (0.2,0.4), voxel_size:float = 0.005, max_views: int = 1) -> dict:
+    def sample_view_data(obj, distance_range:tuple = (0.2,0.4), voxel_size:float = 0.005, max_views: int = 1, pertube_repeat:int = 1) -> dict:
         view_data = {
             "look_at_points": [],
             "cam_positions": [],
@@ -69,6 +69,8 @@ class ViewSampleUtil:
             if np.dot(normal, look_at_point) < 0:
                 normal = -normal
             normals.append(normal)
+            
+            for _ in range(pertube_repeat):
                 perturb_angle = np.radians(np.random.uniform(0, 30))
                 perturb_axis = np.random.normal(size=3)
                 perturb_axis /= np.linalg.norm(perturb_axis)