render normal

blender_util.py

@@ -13,7 +13,6 @@ class BlenderUtils:
     CAMERA_NAME: str = "Camera"
     CAMERA_RIGHT_NAME: str = "CameraRight"
     CAMERA_OBJECT_NAME: str = "CameraObject"
-    LIGHT_NAME: str = "Light"
     DISPLAY_TABLE_NAME: str = "display_table"
     MESH_FILE_NAME: str = "mesh.obj"
 
@@ -68,11 +67,25 @@ 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.render.engine = 'BLENDER_EEVEE_NEXT'
         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'
+
+        bpy.context.scene.eevee.use_ssr = False            # 关闭屏幕空间反射
+        bpy.context.scene.eevee.use_bloom = False          # 关闭辉光
+        bpy.context.scene.eevee.use_gtao = False           # 关闭环境光遮蔽
+        bpy.context.scene.eevee.use_soft_shadows = False   # 关闭软阴影
+        bpy.context.scene.eevee.use_shadows = False  # 关闭所有阴影
+        bpy.context.scene.world.use_nodes = False  # 如果你不需要环境光，关闭环境节点
+
+
+        #bpy.context.scene.eevee.use_sss = False            # 关闭次表面散射
+
+        # 2. 设置最低的采样数
+        bpy.context.scene.eevee.taa_render_samples = 1
+        bpy.context.scene.eevee.taa_samples = 1
         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))
@@ -135,9 +148,7 @@ class BlenderUtils:
     def init_light_and_camera(init_light_and_camera_config, binocular_vision):
         
         camera = BlenderUtils.get_obj(BlenderUtils.CAMERA_NAME)
-        light = BlenderUtils.get_obj(BlenderUtils.LIGHT_NAME)
         BlenderUtils.set_camera_params(camera, init_light_and_camera_config[BlenderUtils.CAMERA_NAME], binocular_vision)
-        BlenderUtils.set_light_params(light, init_light_and_camera_config[BlenderUtils.LIGHT_NAME])
     
     @staticmethod
     def get_obj_diag(name):
@@ -167,51 +178,15 @@ 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.color_type = 'OBJECT'
-        bpy.context.scene.display.shading.studio_light = 'check_normal+y.exr'
-        
     @staticmethod
     def render_and_save(output_dir, file_name, binocular_vision=False, target_object=None):
         target_cameras = [BlenderUtils.CAMERA_NAME]
         if binocular_vision:
             target_cameras.append(BlenderUtils.CAMERA_RIGHT_NAME)
-
-        # BlenderUtils.setup_render_normal()
-        
-        # for cam_name in target_cameras:
-        #     bpy.context.scene.camera = BlenderUtils.get_obj(cam_name)
-        #     cam_suffix = "L" if cam_name == BlenderUtils.CAMERA_NAME else "R"
-        #     scene = bpy.context.scene
-        #     scene.use_nodes = False
-        #     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)
-
-
-        BlenderUtils.setup_render_mask()
         for cam_name in target_cameras:
             bpy.context.scene.camera = BlenderUtils.get_obj(cam_name)
             bpy.context.scene.view_layers["ViewLayer"].use_pass_z = True
+            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 = ""
@@ -255,6 +230,17 @@ class BlenderUtils:
             output_depth.format.color_depth = '16'
 
             tree.links.new(map_range.outputs[0], output_depth.inputs[0])
+
+            output_normal = tree.nodes.new('CompositorNodeOutputFile')
+            normal_dir = os.path.join(output_dir, "normal")
+            if not os.path.exists(normal_dir):
+                os.makedirs(normal_dir)
+            output_normal.base_path = normal_dir
+            output_normal.file_slots[0].path = f"{file_name}_{cam_suffix}.####"
+            output_normal.format.file_format = 'PNG'
+            output_normal.format.color_mode = 'RGB'
+            output_normal.format.color_depth = '8'
+            tree.links.new(rl.outputs['Normal'], output_normal.inputs[0])
             
             bpy.ops.render.render(write_still=True)
             
@@ -309,7 +295,6 @@ class BlenderUtils:
         keep_objects.add(BlenderUtils.CAMERA_OBJECT_NAME)
         keep_objects.add(BlenderUtils.CAMERA_NAME)
         keep_objects.add(BlenderUtils.CAMERA_RIGHT_NAME)
-        keep_objects.add(BlenderUtils.LIGHT_NAME)
         keep_objects.add(BlenderUtils.TABLE_NAME)
 
         for obj in all_objects:
@@ -336,7 +321,6 @@ class BlenderUtils:
         no_save_objects.add(BlenderUtils.CAMERA_OBJECT_NAME)
         no_save_objects.add(BlenderUtils.CAMERA_NAME)
         no_save_objects.add(BlenderUtils.CAMERA_RIGHT_NAME)
-        no_save_objects.add(BlenderUtils.LIGHT_NAME)
         no_save_objects.add(BlenderUtils.TABLE_NAME)
         scene_info = {}
         for obj in all_objects:

data_generator.py

@@ -83,7 +83,7 @@ class DataGenerator:
         
     def generate_display_platform(self):
         config = self.random_config[BlenderUtils.DISPLAY_TABLE_NAME]
-        
+
         height = random.uniform(config["min_height"], config["max_height"])
         radius = random.uniform(config["min_radius"], config["max_radius"])
         while height > 0.5 * radius:
@@ -103,12 +103,29 @@ class DataGenerator:
         bpy.context.object.rigid_body.type = 'PASSIVE'
         bpy.ops.object.shade_auto_smooth()
         
+        # 创建不受光照影响的材质
         mat = bpy.data.materials.new(name="RedMaterial")
-        mat.diffuse_color = (1.0, 0.0, 0.0, 1.0)  # Red with full alpha (1.0)
+        mat.use_nodes = True
-        if len(platform.data.materials) > 0:
+        
-            platform.data.materials[0] = mat
+        # 清除默认节点
-        else:
+        nodes = mat.node_tree.nodes
-            platform.data.materials.append(mat)
+        for node in nodes:
+            nodes.remove(node)
+
+        # 添加 Emission 节点
+        emission_node = nodes.new(type='ShaderNodeEmission')
+        emission_node.inputs['Color'].default_value = (1.0, 0.0, 0.0, 1.0)  # 红色
+
+        # 添加 Material Output 节点
+        output_node = nodes.new(type='ShaderNodeOutputMaterial')
+
+        # 连接节点
+        links = mat.node_tree.links
+        links.new(emission_node.outputs['Emission'], output_node.inputs['Surface'])
+
+        # 将材质赋给对象
+        platform.data.materials.clear()
+        platform.data.materials.append(mat)
 
         self.display_table_config = {
             "height": height,
@@ -126,19 +143,19 @@ class DataGenerator:
         
         if random.random() <= config["random_rotation_ratio"]:
             rotation = (
-                random.uniform(0, 2*np.pi),
+                random.uniform(0, 2 * np.pi),
-                random.uniform(0, 2*np.pi),
+                random.uniform(0, 2 * np.pi),
-                random.uniform(0, 2*np.pi)
+                random.uniform(0, 2 * np.pi)
             )
         else:
             rotation = (0, 0, 0)
-            z=0.05
+            z = 0.05
         
         platform_bbox = self.platform.bound_box
         platform_bbox_world = [self.platform.matrix_world @ mathutils.Vector(corner) for corner in platform_bbox]
         platform_top_z = max([v.z for v in platform_bbox_world])
         
-        obj_mesh_path = BlenderUtils.get_obj_path(self.obj_dir,name)
+        obj_mesh_path = BlenderUtils.get_obj_path(self.obj_dir, name)
         obj = BlenderUtils.load_obj(name, obj_mesh_path)
         
         obj_bottom_z = BlenderUtils.get_object_bottom_z(obj)
@@ -149,12 +166,31 @@ class DataGenerator:
         
         bpy.ops.rigidbody.object_add()
         bpy.context.object.rigid_body.type = 'ACTIVE'
+
+        # 创建不受光照影响的材质
         mat = bpy.data.materials.new(name="GreenMaterial")
-        mat.diffuse_color = (0.0, 1.0, 0.0, 1.0)  # Green with full alpha (1.0)
+        mat.use_nodes = True
-        if len(obj.data.materials) > 0:
+        
-            obj.data.materials[0] = mat
+        # 清除默认节点
-        else:
+        nodes = mat.node_tree.nodes
-            obj.data.materials.append(mat)
+        for node in nodes:
+            nodes.remove(node)
+
+        # 添加 Emission 节点
+        emission_node = nodes.new(type='ShaderNodeEmission')
+        emission_node.inputs['Color'].default_value = (0.0, 1.0, 0.0, 1.0)  # 绿色
+
+        # 添加 Material Output 节点
+        output_node = nodes.new(type='ShaderNodeOutputMaterial')
+
+        # 连接节点
+        links = mat.node_tree.links
+        links.new(emission_node.outputs['Emission'], output_node.inputs['Surface'])
+
+        # 将材质赋给对象
+        obj.data.materials.clear()
+        obj.data.materials.append(mat)
+        
         self.target_obj = obj
 
     
@@ -219,6 +255,13 @@ class DataGenerator:
                 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)
+        normal_dir = os.path.join(scene_dir, "normal")
+        for normal_file in os.listdir(normal_dir):
+            if not normal_file.endswith(".png"):
+                name, _ = os.path.splitext(normal_file)
+                file_path = os.path.join(normal_dir, normal_file)
+                new_file_path = os.path.join(normal_dir, f"{name}.png")
+                os.rename(file_path,new_file_path)
         return True
     
     def simulate_scene(self, frame_limit=120, depth = 0, diag = 0):
@@ -274,6 +317,7 @@ class DataGenerator:
         count_success = 0
         self.set_progress("generate scene", 0, total)
         result = "retry"
+        print(f"Generating scene for {total} objects")
         for target_obj_name in self.obj_name_list:
             self.add_log(f"Generating scene for object <{target_obj_name}>", "info")
             scene_info_path = os.path.join(self.output_dir, target_obj_name, "scene_info.json")

run_blender.py

@@ -10,7 +10,8 @@ if __name__ == "__main__":
     config_path = sys.argv[sys.argv.index('--') + 1]
     with open(config_path, "r") as file:
         config = yaml.safe_load(file)
-
+    print("init data generator")
     dg = DataGenerator(config)
+    print("generate all scene data")
     dg.gen_all_scene_data()