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@ -175,14 +175,39 @@ class BlenderUtils:
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@staticmethod
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def setup_render_normal():
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bpy.context.scene.display.shading.light = 'MATCAP'
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bpy.context.scene.display.shading.color_type = 'OBJECT'
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bpy.context.scene.display.shading.studio_light = 'check_normal+y.exr'
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@staticmethod
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def render_and_save(output_dir, file_name, binocular_vision=False):
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def render_and_save(output_dir, file_name, binocular_vision=False, target_object=None):
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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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# BlenderUtils.setup_render_normal()
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# for cam_name in target_cameras:
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# bpy.context.scene.camera = BlenderUtils.get_obj(cam_name)
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# cam_suffix = "L" if cam_name == BlenderUtils.CAMERA_NAME else "R"
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# scene = bpy.context.scene
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# scene.use_nodes = False
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# scene.render.filepath = ""
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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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# scene.render.filepath = os.path.join(output_dir, normal_dir, f"{file_name}_{cam_suffix}.png")
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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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# scene.render.use_placeholder = False
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# bpy.ops.render.render(write_still=True)
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BlenderUtils.setup_render_mask()
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for cam_name in target_cameras:
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bpy.context.scene.camera = BlenderUtils.get_obj(cam_name)
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@ -191,6 +216,7 @@ 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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@ -232,26 +258,7 @@ class BlenderUtils:
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bpy.ops.render.render(write_still=True)
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BlenderUtils.setup_render_normal()
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for cam_name in target_cameras:
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bpy.context.scene.camera = BlenderUtils.get_obj(cam_name)
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bpy.context.scene.view_layers["ViewLayer"].use_pass_normal = True
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cam_suffix = "L" if cam_name == BlenderUtils.CAMERA_NAME else "R"
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scene = bpy.context.scene
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scene.render.filepath = ""
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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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scene.render.filepath = os.path.join(output_dir, normal_dir, f"{file_name}_{cam_suffix}.png")
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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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scene.render.use_placeholder = False
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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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@ -74,6 +74,7 @@ class DataGenerator:
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def add_log(self, msg, log_type):
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if not self.access:
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print(f"[{log_type}] {msg}")
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return
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request_data = {"log":{}}
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request_data["log"]["message"] = msg
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@ -157,47 +158,6 @@ class DataGenerator:
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self.target_obj = obj
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def put_random_objects_on_table(self):
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num_objects = self.random_config["random_objects"]["num"]
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cluster = self.random_config["random_objects"]["cluster"]
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for _ in range(num_objects):
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obj_name = random.choice(self.obj_name_list)
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print(obj_name)
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obj_mesh_path = BlenderUtils.get_obj_path(self.obj_dir, obj_name)
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obj = BlenderUtils.load_obj(obj_name, obj_mesh_path)
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bbox = self.table.bound_box
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bbox_world = [self.table.matrix_world @ mathutils.Vector(corner) for corner in bbox]
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table_top_z = max([v.z for v in bbox_world])
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platform_radius = self.platform.dimensions.x / 2.0
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try_times = 0
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while True:
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x = random.uniform(bbox_world[0].x*cluster, bbox_world[6].x*cluster)
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y = random.uniform(bbox_world[0].y*cluster, bbox_world[6].y*cluster)
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if math.sqrt(x**2 + y**2) > platform_radius*2 or try_times > 10:
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break
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try_times += 1
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if try_times > 10:
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continue
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rotation = (
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random.uniform(0, 2 * np.pi),
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random.uniform(0, 2 * np.pi),
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random.uniform(0, 2 * np.pi)
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)
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obj_bottom_z = BlenderUtils.get_object_bottom_z(obj)
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offset_z = obj_bottom_z
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obj.rotation_euler = rotation
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obj.location = (x, y, table_top_z - offset_z)
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bpy.ops.rigidbody.object_add()
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bpy.context.object.rigid_body.type = 'ACTIVE'
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self.random_obj_list.append(obj)
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def reset(self):
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self.target_obj = None
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self.random_obj_list = []
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@ -239,7 +199,7 @@ class DataGenerator:
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if not os.path.exists(scene_dir):
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os.makedirs(scene_dir)
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view_num = int(self.min_views + (diag - self.min_diag)/(self.max_diag - self.min_diag) * (self.max_views - self.min_views))
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view_data = ViewSampleUtil.sample_view_data_world_space(self.target_obj, distance_range=(0.2,0.4), voxel_size=0.005, max_views=view_num, min_cam_table_included_degree = self.min_cam_table_included_degree, random_view_ratio = self.random_view_ratio )
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view_data = ViewSampleUtil.sample_view_data_world_space(self.target_obj, distance_range=(0.25,0.5), voxel_size=0.005, max_views=view_num, min_cam_table_included_degree = self.min_cam_table_included_degree, random_view_ratio = self.random_view_ratio )
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object_points = np.array(view_data["voxel_down_sampled_points"])
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normals = np.array(view_data["normals"])
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points_normals = np.concatenate((object_points, normals), axis=1)
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@ -247,7 +207,7 @@ class DataGenerator:
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np.savetxt(os.path.join(scene_dir, "points_and_normals.txt"), points_normals)
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for i, cam_pose in enumerate(view_data["cam_poses"]):
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BlenderUtils.set_camera_at(cam_pose)
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BlenderUtils.render_and_save(scene_dir, f"{i}", binocular_vision=self.binocular_vision)
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BlenderUtils.render_and_save(scene_dir, f"{i}", binocular_vision=self.binocular_vision, target_object = self.target_obj)
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BlenderUtils.save_cam_params(scene_dir, i, binocular_vision=self.binocular_vision)
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self.set_progress("render frame", i, len(view_data["cam_poses"]))
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self.set_progress("render frame", len(view_data["cam_poses"]), len(view_data["cam_poses"]))
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@ -304,8 +264,6 @@ class DataGenerator:
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if diag > self.max_diag or diag < self.min_diag:
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self.add_log(f"The diagonal size of the object <{object_name}>(size: {round(diag,3)}) does not meet the requirements.", "error")
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return "diag_error"
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self.put_random_objects_on_table()
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return self.simulate_scene(diag=diag)
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@ -318,6 +276,12 @@ class DataGenerator:
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result = "retry"
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for target_obj_name in self.obj_name_list:
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self.add_log(f"Generating scene for object <{target_obj_name}>", "info")
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scene_info_path = os.path.join(self.output_dir, target_obj_name, "scene_info.json")
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if os.path.exists(scene_info_path):
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self.add_log(f"Scene for object <{target_obj_name}> already exists, skipping", "warning")
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count += 1
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continue
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retry_times = 0
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self.set_status("target_object", target_obj_name)
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while retry_times < 3 and result == "retry":
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@ -40,7 +40,7 @@ class ViewSampleUtil:
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return np.array(downsampled_points), downsampled_indices
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@staticmethod
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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:
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def sample_view_data(obj, distance_range:tuple = (0.25,0.5), voxel_size:float = 0.005, max_views: int = 1, pertube_repeat:int = 1) -> dict:
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view_data = {
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"look_at_points": [],
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"cam_positions": [],
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@ -76,9 +76,9 @@ class ViewSampleUtil:
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perturb_axis /= np.linalg.norm(perturb_axis)
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rotation_matrix = R.from_rotvec(perturb_angle * perturb_axis).as_matrix()
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perturbed_normal = np.dot(rotation_matrix, normal)
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distance = np.random.uniform(*distance_range)
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cam_position = look_at_point + distance * perturbed_normal
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middle_distance = (distance_range[0] + distance_range[1]) / 2
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perturbed_distance = random.uniform(middle_distance-0.05, middle_distance+0.05)
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cam_position = look_at_point + perturbed_distance * perturbed_normal
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look_at_points.append(look_at_point)
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cam_positions.append(cam_position)
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