render normal
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@ -13,7 +13,6 @@ class BlenderUtils:
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CAMERA_NAME: str = "Camera"
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CAMERA_RIGHT_NAME: str = "CameraRight"
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CAMERA_OBJECT_NAME: str = "CameraObject"
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LIGHT_NAME: str = "Light"
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DISPLAY_TABLE_NAME: str = "display_table"
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MESH_FILE_NAME: str = "mesh.obj"
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@ -68,11 +67,25 @@ 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_WORKBENCH'
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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.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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bpy.context.scene.eevee.use_gtao = False # 关闭环境光遮蔽
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bpy.context.scene.eevee.use_soft_shadows = False # 关闭软阴影
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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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# 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.add_plane("plane_floor", location=(0,0,0), orientation=(0,0,0))
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@ -135,9 +148,7 @@ class BlenderUtils:
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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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light = BlenderUtils.get_obj(BlenderUtils.LIGHT_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_light_params(light, init_light_and_camera_config[BlenderUtils.LIGHT_NAME])
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@staticmethod
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def get_obj_diag(name):
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@ -167,51 +178,15 @@ class BlenderUtils:
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min_z = min([v.z for v in vertices_world])
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return min_z
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@staticmethod
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def setup_render_mask():
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bpy.context.scene.display.shading.light = 'FLAT'
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bpy.context.scene.display.shading.color_type = 'MATERIAL'
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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, 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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bpy.context.scene.view_layers["ViewLayer"].use_pass_z = True
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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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@ -255,6 +230,17 @@ class BlenderUtils:
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output_depth.format.color_depth = '16'
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tree.links.new(map_range.outputs[0], output_depth.inputs[0])
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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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tree.links.new(rl.outputs['Normal'], output_normal.inputs[0])
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bpy.ops.render.render(write_still=True)
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@ -309,7 +295,6 @@ class BlenderUtils:
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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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keep_objects.add(BlenderUtils.LIGHT_NAME)
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keep_objects.add(BlenderUtils.TABLE_NAME)
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for obj in all_objects:
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@ -336,7 +321,6 @@ class BlenderUtils:
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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.LIGHT_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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@ -83,7 +83,7 @@ class DataGenerator:
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def generate_display_platform(self):
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config = self.random_config[BlenderUtils.DISPLAY_TABLE_NAME]
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height = random.uniform(config["min_height"], config["max_height"])
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radius = random.uniform(config["min_radius"], config["max_radius"])
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while height > 0.5 * radius:
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@ -103,12 +103,29 @@ class DataGenerator:
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bpy.context.object.rigid_body.type = 'PASSIVE'
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bpy.ops.object.shade_auto_smooth()
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# 创建不受光照影响的材质
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mat = bpy.data.materials.new(name="RedMaterial")
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mat.diffuse_color = (1.0, 0.0, 0.0, 1.0) # Red with full alpha (1.0)
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if len(platform.data.materials) > 0:
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platform.data.materials[0] = mat
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else:
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platform.data.materials.append(mat)
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mat.use_nodes = True
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# 清除默认节点
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nodes = mat.node_tree.nodes
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for node in nodes:
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nodes.remove(node)
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# 添加 Emission 节点
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emission_node = nodes.new(type='ShaderNodeEmission')
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emission_node.inputs['Color'].default_value = (1.0, 0.0, 0.0, 1.0) # 红色
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# 添加 Material Output 节点
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output_node = nodes.new(type='ShaderNodeOutputMaterial')
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# 连接节点
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links = mat.node_tree.links
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links.new(emission_node.outputs['Emission'], output_node.inputs['Surface'])
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# 将材质赋给对象
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platform.data.materials.clear()
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platform.data.materials.append(mat)
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self.display_table_config = {
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"height": height,
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@ -126,19 +143,19 @@ class DataGenerator:
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if random.random() <= config["random_rotation_ratio"]:
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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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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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else:
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rotation = (0, 0, 0)
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z=0.05
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z = 0.05
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platform_bbox = self.platform.bound_box
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platform_bbox_world = [self.platform.matrix_world @ mathutils.Vector(corner) for corner in platform_bbox]
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platform_top_z = max([v.z for v in platform_bbox_world])
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obj_mesh_path = BlenderUtils.get_obj_path(self.obj_dir,name)
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obj_mesh_path = BlenderUtils.get_obj_path(self.obj_dir, name)
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obj = BlenderUtils.load_obj(name, obj_mesh_path)
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obj_bottom_z = BlenderUtils.get_object_bottom_z(obj)
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@ -149,12 +166,31 @@ class DataGenerator:
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bpy.ops.rigidbody.object_add()
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bpy.context.object.rigid_body.type = 'ACTIVE'
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# 创建不受光照影响的材质
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mat = bpy.data.materials.new(name="GreenMaterial")
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mat.diffuse_color = (0.0, 1.0, 0.0, 1.0) # Green with full alpha (1.0)
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if len(obj.data.materials) > 0:
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obj.data.materials[0] = mat
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else:
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obj.data.materials.append(mat)
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mat.use_nodes = True
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# 清除默认节点
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nodes = mat.node_tree.nodes
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for node in nodes:
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nodes.remove(node)
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# 添加 Emission 节点
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emission_node = nodes.new(type='ShaderNodeEmission')
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emission_node.inputs['Color'].default_value = (0.0, 1.0, 0.0, 1.0) # 绿色
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# 添加 Material Output 节点
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output_node = nodes.new(type='ShaderNodeOutputMaterial')
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# 连接节点
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links = mat.node_tree.links
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links.new(emission_node.outputs['Emission'], output_node.inputs['Surface'])
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# 将材质赋给对象
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obj.data.materials.clear()
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obj.data.materials.append(mat)
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self.target_obj = obj
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@ -219,6 +255,13 @@ class DataGenerator:
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file_path = os.path.join(depth_dir, depth_file)
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new_file_path = os.path.join(depth_dir, f"{name}.png")
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os.rename(file_path,new_file_path)
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normal_dir = os.path.join(scene_dir, "normal")
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for normal_file in os.listdir(normal_dir):
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if not normal_file.endswith(".png"):
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name, _ = os.path.splitext(normal_file)
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file_path = os.path.join(normal_dir, normal_file)
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new_file_path = os.path.join(normal_dir, f"{name}.png")
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os.rename(file_path,new_file_path)
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return True
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def simulate_scene(self, frame_limit=120, depth = 0, diag = 0):
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@ -274,6 +317,7 @@ class DataGenerator:
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count_success = 0
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self.set_progress("generate scene", 0, total)
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result = "retry"
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print(f"Generating scene for {total} objects")
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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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@ -10,7 +10,8 @@ if __name__ == "__main__":
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config_path = sys.argv[sys.argv.index('--') + 1]
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with open(config_path, "r") as file:
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config = yaml.safe_load(file)
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print("init data generator")
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dg = DataGenerator(config)
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print("generate all scene data")
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dg.gen_all_scene_data()
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