diff --git a/.png b/.png new file mode 100644 index 0000000..066f560 Binary files /dev/null and b/.png differ diff --git a/app_generate.py b/app_generate_strategy.py similarity index 72% rename from app_generate.py rename to app_generate_strategy.py index d56a6d1..f56d745 100644 --- a/app_generate.py +++ b/app_generate_strategy.py @@ -1,8 +1,8 @@ from PytorchBoot.application import PytorchBootApplication from runners.strategy_generator import StrategyGenerator -@PytorchBootApplication("generate") -class GenerateApp: +@PytorchBootApplication("generate_strategy") +class DataGenerateApp: @staticmethod def start(): StrategyGenerator("configs/strategy_generate_config.yaml").run() diff --git a/app_generate_view.py b/app_generate_view.py new file mode 100644 index 0000000..e016f09 --- /dev/null +++ b/app_generate_view.py @@ -0,0 +1,16 @@ +from PytorchBoot.application import PytorchBootApplication +from runners.view_generator import ViewGenerator + +@PytorchBootApplication("generate_view") +class ViewGenerateApp: + @staticmethod + def start(): + ''' + call default or your custom runners here, code will be executed + automatically when type "pytorch-boot run" or "ptb run" in terminal + + example: + Trainer("path_to_your_train_config").run() + Evaluator("path_to_your_eval_config").run() + ''' + ViewGenerator("./configs/view_generate_config.yaml").run() diff --git a/app_split.py b/app_split.py index 86e26d0..900aacc 100644 --- a/app_split.py +++ b/app_split.py @@ -1,7 +1,7 @@ from PytorchBoot.application import PytorchBootApplication from runners.data_spliter import DataSpliter -@PytorchBootApplication("split") +@PytorchBootApplication("split_data") class DataSplitApp: @staticmethod def start(): diff --git a/blender/blender_util.py b/blender/blender_util.py new file mode 100644 index 0000000..88fb8da --- /dev/null +++ b/blender/blender_util.py @@ -0,0 +1,322 @@ +import os +import json +import bpy +import gc +import numpy as np +import mathutils + +class BlenderUtils: + + TABLE_NAME: str = "table" + 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" + + @staticmethod + def get_obj_path(obj_dir, name): + return os.path.join(obj_dir, name, BlenderUtils.MESH_FILE_NAME) + + @staticmethod + def load_obj(name, mesh_path, scale=1): + bpy.ops.wm.obj_import(filepath=mesh_path) + loaded_object = bpy.context.selected_objects[-1] + loaded_object.name = name + loaded_object.data.name = name + loaded_object.scale = (scale, scale, scale) + bpy.ops.rigidbody.object_add() + return loaded_object + + @staticmethod + def get_obj(name): + return bpy.data.objects.get(name) + + @staticmethod + def set_obj_at(name, pose): + pass + + @staticmethod + def get_obj_pose(name): + obj = BlenderUtils.get_obj(name) + return np.asarray(obj.matrix_world) + + + + @staticmethod + def add_plane(name, location, orientation, size=10): + bpy.ops.mesh.primitive_plane_add(size=size,location=location) + plane = bpy.context.selected_objects[-1] + plane.name = name + plane.rotation_euler = orientation + bpy.ops.rigidbody.object_add() + bpy.context.object.rigid_body.type = 'PASSIVE' + + @staticmethod + def add_table(table_model_path): + table = BlenderUtils.load_obj(BlenderUtils.TABLE_NAME, table_model_path, scale=0.01) + bpy.ops.rigidbody.object_add() + bpy.context.object.rigid_body.type = 'PASSIVE' + + mat = bpy.data.materials.new(name="TableYellowMaterial") + mat.diffuse_color = (1.0, 1.0, 0.0, 1.0) + if len(table.data.materials) > 0: + table.data.materials[0] = mat + else: + table.data.materials.append(mat) + + @staticmethod + def setup_scene(init_light_and_camera_config, table_model_path, binocular_vision): + 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)) + BlenderUtils.add_plane("plane_ceil", location=(0,0,10), orientation=(0,0,0)) + BlenderUtils.add_plane("plane_wall_1", location=(5,0,5), orientation=(0,np.pi/2,0)) + BlenderUtils.add_plane("plane_wall_2", location=(-5,0,5), orientation=(0,np.pi/2,0)) + BlenderUtils.add_plane("plane_wall_3", location=(0,5,5), orientation=(np.pi/2,0,0)) + BlenderUtils.add_plane("plane_wall_4", location=(0,-5,5), orientation=(np.pi/2,0,0)) + + BlenderUtils.add_table(table_model_path) + + @staticmethod + def set_light_params(light, config): + light.location = config["location"] + light.rotation_euler = config["orientation"] + if light.type == 'SUN': + light.data.energy = config["power"] + elif light.type == 'POINT': + light.data.energy = config["power"] + + @staticmethod + def set_camera_params(camera, config, binocular_vision): + camera_object = bpy.data.objects.new(BlenderUtils.CAMERA_OBJECT_NAME, None) + bpy.context.collection.objects.link(camera_object) + cameras = [bpy.data.objects.get("Camera")] + camera.location = [0,0,0] + camera.rotation_euler = [0,0,0] + camera.parent = camera_object + if binocular_vision: + left_camera = cameras[0] + right_camera = left_camera.copy() + right_camera.name = BlenderUtils.CAMERA_RIGHT_NAME + right_camera.data = left_camera.data.copy() + right_camera.data.name = BlenderUtils.CAMERA_RIGHT_NAME + bpy.context.collection.objects.link(right_camera) + right_camera.parent = camera_object + right_camera.location = [config["eye_distance"]/2, 0, 0] + left_camera.location = [-config["eye_distance"]/2, 0, 0] + cameras.append(right_camera) + + for camera in cameras: + camera.data.clip_start = config["near_plane"] + camera.data.clip_end = config["far_plane"] + + bpy.context.scene.render.resolution_x = config["resolution"][0] + bpy.context.scene.render.resolution_y = config["resolution"][1] + sensor_height = 24.0 + focal_length = sensor_height / (2 * np.tan(np.radians(config["fov_vertical"]) / 2)) + camera.data.lens = focal_length + camera.data.sensor_width = sensor_height * config["resolution"][0] / config["resolution"][1] + camera.data.sensor_height = sensor_height + + @staticmethod + 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): + obj = BlenderUtils.get_obj(name) + return np.linalg.norm(obj.dimensions) + + @staticmethod + def matrix_to_blender_pose(matrix): + location = matrix[:3, 3] + rotation_matrix = matrix[:3, :3] + rotation_matrix_blender = mathutils.Matrix(rotation_matrix.tolist()) + rotation_euler = rotation_matrix_blender.to_euler() + return location, rotation_euler + + @staticmethod + def set_camera_at(pose): + camera = BlenderUtils.get_obj(BlenderUtils.CAMERA_OBJECT_NAME) + location, rotation_euler = BlenderUtils.matrix_to_blender_pose(pose) + + camera.location = location + camera.rotation_euler = rotation_euler + + @staticmethod + def get_object_bottom_z(obj): + vertices = [v.co for v in obj.data.vertices] + vertices_world = [obj.matrix_world @ v for v in vertices] + min_z = min([v.z for v in vertices_world]) + return min_z + + @staticmethod + def render_and_save(output_dir, file_name, target_name, frame_num="0120", binocular_vision=False, render_rgb=False): + target_cameras = [BlenderUtils.CAMERA_NAME] + if binocular_vision: + target_cameras.append(BlenderUtils.CAMERA_RIGHT_NAME) + + 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" + scene = bpy.context.scene + scene.render.filepath = "" + if render_rgb: + rgb_dir = os.path.join(output_dir, "rgb") + if not os.path.exists(rgb_dir): + os.makedirs(rgb_dir) + + # Modify the file name based on the camera + + scene.render.filepath = os.path.join(output_dir, rgb_dir, f"{file_name}_{cam_suffix}.png") + scene.render.image_settings.color_depth = '16' + scene.render.resolution_percentage = 100 + scene.render.use_overwrite = False + scene.render.use_file_extension = False + scene.render.use_placeholder = False + + scene.use_nodes = True + tree = scene.node_tree + + for node in tree.nodes: + tree.nodes.remove(node) + + rl = tree.nodes.new('CompositorNodeRLayers') + + map_range = tree.nodes.new('CompositorNodeMapRange') + map_range.inputs['From Min'].default_value = 0.01 + map_range.inputs['From Max'].default_value = 5 + map_range.inputs['To Min'].default_value = 0 + map_range.inputs['To Max'].default_value = 1 + tree.links.new(rl.outputs['Depth'], map_range.inputs[0]) + + output_depth = tree.nodes.new('CompositorNodeOutputFile') + + depth_dir = os.path.join(output_dir, "depth") + if not os.path.exists(depth_dir): + os.makedirs(depth_dir) + output_depth.base_path = depth_dir + output_depth.file_slots[0].path = f"{file_name}_{cam_suffix}.####" + output_depth.format.file_format = 'PNG' + output_depth.format.color_mode = 'BW' + output_depth.format.color_depth = '16' + + tree.links.new(map_range.outputs[0], output_depth.inputs[0]) + + bpy.context.scene.view_layers["ViewLayer"].use_pass_cryptomatte_object = True + crypto_node = scene.node_tree.nodes.new("CompositorNodeCryptomatteV2") + crypto_node.matte_id = target_name + + output_mask = scene.node_tree.nodes.new("CompositorNodeOutputFile") + mask_dir = os.path.join(output_dir, "mask") + if not os.path.exists(mask_dir): + os.makedirs(mask_dir) + output_mask.base_path = mask_dir + output_mask.file_slots[0].path = f"{file_name}_{cam_suffix}.####" + output_mask.format.file_format = 'PNG' + output_mask.format.color_mode = 'RGB' + output_mask.format.color_depth = '8' + scene.node_tree.links.new(crypto_node.outputs[1], output_mask.inputs[0]) + + bpy.ops.render.render(write_still=True) + + os.rename(os.path.join(depth_dir, f"{file_name}_{cam_suffix}.{frame_num}.png"), os.path.join(depth_dir, f"{file_name}_{cam_suffix}.png")) + os.rename(os.path.join(mask_dir, f"{file_name}_{cam_suffix}.{frame_num}.png"), os.path.join(mask_dir, f"{file_name}_{cam_suffix}.png")) + + @staticmethod + def save_cam_params(scene_dir, idx, binocular_vision=False): + camera = BlenderUtils.get_obj(BlenderUtils.CAMERA_NAME) + extrinsic = np.array(camera.matrix_world @ camera.matrix_local) + + cam_data = camera.data + focal_length = cam_data.lens + sensor_width = cam_data.sensor_width + sensor_height = cam_data.sensor_height + resolution_x = bpy.context.scene.render.resolution_x + resolution_y = bpy.context.scene.render.resolution_y + intrinsic = np.zeros((3, 3)) + intrinsic[0, 0] = focal_length * resolution_x / sensor_width # fx + intrinsic[1, 1] = focal_length * resolution_y / sensor_height # fy + intrinsic[0, 2] = resolution_x / 2.0 # cx + intrinsic[1, 2] = resolution_y / 2.0 # cy + intrinsic[2, 2] = 1.0 + cam_object = BlenderUtils.get_obj(BlenderUtils.CAMERA_OBJECT_NAME) + extrinsic_cam_object = np.array(cam_object.matrix_world) + data = { + "extrinsic": extrinsic.tolist(), + "extrinsic_cam_object": extrinsic_cam_object.tolist(), + "intrinsic": intrinsic.tolist(), + "far_plane": camera.data.clip_end, + "near_plane": camera.data.clip_start, + } + if binocular_vision: + right_camera = BlenderUtils.get_obj(BlenderUtils.CAMERA_RIGHT_NAME) + extrinsic_right = np.array(right_camera.matrix_world @ right_camera.matrix_local) + + data["extrinsic_R"] = extrinsic_right.tolist() + + cam_params_dir = os.path.join(scene_dir, "camera_params") + if not os.path.exists(cam_params_dir): + os.makedirs(cam_params_dir) + cam_params_path = os.path.join(cam_params_dir, f"{idx}.json") + with open(cam_params_path, "w") as f: + json.dump(data, f, indent=4) + + @staticmethod + def reset_objects_and_platform(): + all_objects = bpy.data.objects + keep_objects = {"plane_floor", "plane_ceil", "plane_wall_1", "plane_wall_2", "plane_wall_3", "plane_wall_4"} + 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: + if obj.name not in keep_objects: + bpy.data.objects.remove(obj, do_unlink=True) + + for block in bpy.data.meshes: + if block.users == 0: + bpy.data.meshes.remove(block) + for block in bpy.data.materials: + if block.users == 0: + bpy.data.materials.remove(block) + for block in bpy.data.images: + if block.users == 0: + bpy.data.images.remove(block) + + gc.collect() + bpy.context.scene.frame_set(0) + + @staticmethod + def save_scene_info(scene_root_dir, display_table_config, target_name): + all_objects = bpy.data.objects + no_save_objects = {"plane_floor", "plane_ceil", "plane_wall_1", "plane_wall_2", "plane_wall_3", "plane_wall_4"} + 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: + if obj.name not in no_save_objects and obj.name != BlenderUtils.DISPLAY_TABLE_NAME: + obj_info = { + "location": list(obj.location), + "rotation_euler": list(obj.rotation_euler), + "scale": list(obj.scale) + } + scene_info[obj.name] = obj_info + scene_info[BlenderUtils.DISPLAY_TABLE_NAME] = display_table_config + scene_info["target_name"] = target_name + scene_info_path = os.path.join(scene_root_dir, "scene_info.json") + with open(scene_info_path, "w") as outfile: + json.dump(scene_info, outfile) \ No newline at end of file diff --git a/blender/data_generator.py b/blender/data_generator.py new file mode 100644 index 0000000..722bbcd --- /dev/null +++ b/blender/data_generator.py @@ -0,0 +1,320 @@ +import os +import random +import math +import bpy +import numpy as np +import mathutils +import requests +from blender.blender_util import BlenderUtils +from blender.view_sample_util import ViewSampleUtil + +class DataGenerator: + def __init__(self, config): + self.plane_size = config["runner"]["generate"]["plane_size"] + self.table_model_path = config["runner"]["generate"]["table_model_path"] + self.output_dir = config["runner"]["generate"]["output_dir"] + self.random_config = config["runner"]["generate"]["random_config"] + self.light_and_camera_config = config["runner"]["generate"]["light_and_camera_config"] + self.obj_dir = config["runner"]["generate"]["object_dir"] + self.max_views = config["runner"]["generate"]["max_views"] + self.binocular_vision = config["runner"]["generate"]["binocular_vision"] + self.set_status_path = "http://localhost:5000/project/set_status" + self.log_path = "http://localhost:5000/project/add_log" + self.obj_name_list = os.listdir(self.obj_dir) + self.target_obj = None + self.stopped = False + self.random_obj_list = [] + self.display_table_config = {} + BlenderUtils.setup_scene(self.light_and_camera_config, self.table_model_path, self.binocular_vision) + self.table = BlenderUtils.get_obj(BlenderUtils.TABLE_NAME) + self.access = self._check_set_status_access(self.set_status_path) + print(self.access) + + def _check_set_status_access(self, url): + try: + response = requests.get(url, timeout=5) + return True + except requests.RequestException as e: + print(f"Cannot access {url}: {e}") + return False + + def set_status(self, key, value): + if not self.access: + return + request_data = {} + request_data["status"] = { + "app_name" : "generate_view", + "runner_name" : "view_generator", + "key": key, + "value": value + } + requests.post(self.set_status_path, json=request_data) + + def set_progress(self, key, curr_value, max_value): + if not self.access: + return + request_data = {} + request_data["progress"] = { + "app_name" : "generate_view", + "runner_name" : "view_generator", + "key": key, + "curr_value": curr_value, + "max_value": max_value + } + requests.post(self.set_status_path, json=request_data) + + def add_log(self, msg, log_type): + if not self.access: + return + request_data = {"log":{}} + request_data["log"]["message"] = msg + request_data["log"]["log_type"] = log_type + requests.post(self.log_path, json=request_data) + + 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"]) + R = random.uniform(config["min_R"], config["max_R"]) + G = random.uniform(config["min_G"], config["max_G"]) + B = random.uniform(config["min_B"], config["max_B"]) + while height > 0.5 * radius: + height = random.uniform(config["min_height"], config["max_height"]) + + bpy.ops.mesh.primitive_cylinder_add(radius=radius, depth=height) + platform = bpy.context.selected_objects[-1] + platform.name = BlenderUtils.DISPLAY_TABLE_NAME + + bbox = self.table.bound_box + bbox_world = [self.table.matrix_world @ mathutils.Vector(corner) for corner in bbox] + table_top_z = max([v.z for v in bbox_world]) + + platform.location = (0, 0, table_top_z + height / 2) + + bpy.ops.rigidbody.object_add() + bpy.context.object.rigid_body.type = 'PASSIVE' + bpy.ops.object.shade_auto_smooth() + + mat = bpy.data.materials.new(name="DarkGrayMaterial") + mat.diffuse_color = (R, G, B, 1.0) + if len(platform.data.materials) > 0: + platform.data.materials[0] = mat + else: + platform.data.materials.append(mat) + + self.display_table_config = { + "height": height, + "radius": radius, + "R": R, + "G": G, + "B": B, + "location": list(platform.location) + } + return platform + + def put_display_object(self, name): + config = self.random_config["display_object"] + + x = random.uniform(config["min_x"], config["max_x"]) + y = random.uniform(config["min_y"], config["max_y"]) + z = random.uniform(config["min_z"], config["max_z"]) + + 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) + ) + else: + rotation = (0, 0, 0) + 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 = BlenderUtils.load_obj(name, obj_mesh_path) + + obj_bottom_z = BlenderUtils.get_object_bottom_z(obj) + offset_z = obj_bottom_z + + obj.rotation_euler = rotation + obj.location = (x, y, platform_top_z - offset_z + z) + + bpy.ops.rigidbody.object_add() + bpy.context.object.rigid_body.type = 'ACTIVE' + + self.target_obj = obj + + + def put_random_objects_on_table(self): + num_objects = self.random_config["random_objects"]["num"] + cluster = self.random_config["random_objects"]["cluster"] + for _ in range(num_objects): + obj_name = random.choice(self.obj_name_list) + obj_mesh_path = BlenderUtils.get_obj_path(self.obj_dir, obj_name) + obj = BlenderUtils.load_obj(obj_name, obj_mesh_path) + + bbox = self.table.bound_box + bbox_world = [self.table.matrix_world @ mathutils.Vector(corner) for corner in bbox] + table_top_z = max([v.z for v in bbox_world]) + + platform_radius = self.platform.dimensions.x / 2.0 + + while True: + x = random.uniform(bbox_world[0].x*cluster, bbox_world[6].x*cluster) + y = random.uniform(bbox_world[0].y*cluster, bbox_world[6].y*cluster) + if math.sqrt(x**2 + y**2) > platform_radius*4: + break + + rotation = ( + random.uniform(0, 2 * np.pi), + random.uniform(0, 2 * np.pi), + random.uniform(0, 2 * np.pi) + ) + + obj_bottom_z = BlenderUtils.get_object_bottom_z(obj) + offset_z = obj_bottom_z + + obj.rotation_euler = rotation + obj.location = (x, y, table_top_z - offset_z) + + bpy.ops.rigidbody.object_add() + bpy.context.object.rigid_body.type = 'ACTIVE' + self.random_obj_list.append(obj) + + def reset(self): + self.target_obj = None + self.random_obj_list = [] + BlenderUtils.reset_objects_and_platform() + + def check_moving_objects(self, previous_locations): + threshold = 0.01 + moving_objects = False + target_checking_object = [self.target_obj] + self.random_obj_list + for obj in target_checking_object: + if obj.rigid_body: + current_location = obj.location + location_diff = (current_location - previous_locations[obj.name]).length + if location_diff > threshold: + moving_objects = True + break + return moving_objects + + def check_and_adjust_target(self): + target_position = self.target_obj.matrix_world.translation + msg = "success" + if abs(target_position[0]) > self.random_config["display_object"]["max_x"]: + target_position[0] = np.sign(target_position[0]) * self.random_config["display_object"]["max_x"]*random.uniform(-0.5,0.5) + msg = "adjusted" + if abs(target_position[1]) > self.random_config["display_object"]["max_y"]: + target_position[1] = np.sign(target_position[1]) * self.random_config["display_object"]["max_y"]*random.uniform(-0.5,0.5) + msg = "adjusted" + if target_position[2] < 0.85: + target_position[2] = target_position[2] + 0.1 + msg = "adjusted" + self.target_obj.location = target_position + return msg + + def start_render(self): + object_name = self.target_obj.name + if "." in object_name: + object_name = object_name.split(".")[0] + scene_dir = os.path.join(self.output_dir, object_name) + if not os.path.exists(scene_dir): + os.makedirs(scene_dir) + view_data = ViewSampleUtil.sample_view_data_world_space(self.target_obj, distance_range=(0.3,0.5), voxel_size=0.005, max_views=self.max_views) + object_points = np.array(view_data["voxel_down_sampled_points"]) + normals = np.array(view_data["normals"]) + points_normals = np.concatenate((object_points, normals), axis=1) + + np.savetxt(os.path.join(scene_dir, "points_and_normals.txt"), points_normals) + for i, cam_pose in enumerate(view_data["cam_poses"]): + BlenderUtils.set_camera_at(cam_pose) + BlenderUtils.render_and_save(scene_dir, f"{i}", object_name, binocular_vision=self.binocular_vision) + BlenderUtils.save_cam_params(scene_dir, i, binocular_vision=self.binocular_vision) + self.set_progress("render frame", i, len(view_data["cam_poses"])) + self.set_progress("render frame", len(view_data["cam_poses"]), len(view_data["cam_poses"])) + BlenderUtils.save_scene_info(scene_dir, self.display_table_config, object_name) + + def simulate_scene(self, frame_limit=120, depth = 0): + bpy.context.view_layer.update() + bpy.ops.screen.animation_play() + previous_locations = {obj.name: obj.matrix_world.translation.copy() for obj in bpy.context.scene.objects if obj.rigid_body} + frame_count = 1 + moving_objects = True + while frame_count < frame_limit: + bpy.context.view_layer.update() + if frame_count%10 == 0: + moving_objects = self.check_moving_objects(previous_locations) + if not moving_objects: + break + frame_count += 1 + bpy.context.scene.frame_set(bpy.context.scene.frame_current + 1) + + previous_locations = {obj.name: obj.matrix_world.translation.copy() for obj in bpy.context.scene.objects if obj.rigid_body} + + bpy.ops.screen.animation_cancel(restore_frame=False) + + msg = self.check_and_adjust_target() + + if msg == "adjusted" and depth < 3: + bpy.context.view_layer.update() + bpy.context.scene.frame_set(0) + return self.simulate_scene(depth = depth + 1) + elif msg == "success": + print("Scene generation completed.") + self.start_render() + return msg + return "retry" + + def gen_scene_data(self, object_name): + + bpy.context.scene.frame_set(0) + self.platform = self.generate_display_platform() + self.put_display_object(object_name) + diag = BlenderUtils.get_obj_diag(self.target_obj.name) + self.set_status("target_diagonal", diag) + if diag > 0.7 or diag < 0.1: + self.add_log(f"The diagonal size of the object <{object_name}>(size: {round(diag,3)}) does not meet the requirements.", "error") + return "diag_error" + self.put_random_objects_on_table() + + return self.simulate_scene() + + + def gen_all_scene_data(self): + max_retry_times = 3 + total = len(self.obj_name_list) + count = 0 + count_success = 0 + self.set_progress("generate scene", 0, total) + result = "retry" + for target_obj_name in self.obj_name_list: + self.add_log(f"Generating scene for object <{target_obj_name}>", "info") + retry_times = 0 + self.set_status("target_object", target_obj_name) + while retry_times < 3 and result == "retry": + self.reset() + try: + result = self.gen_scene_data(target_obj_name) + except Exception as e: + self.add_log(f"Uknown error: {e}", "error") + result = "unknown_error" + if result == "retry": + retry_times += 1 + self.add_log(f"Maximum adjust times, retrying <{target_obj_name}>. ({retry_times}/{max_retry_times}) ", "warning") + count += 1 + if result == "success": + count_success += 1 + self.add_log(f"Scene for object <{target_obj_name}> generated successfully", "success") + if result == "retry" and retry_times >= max_retry_times: + self.add_log(f"Maximum retries, failed to generate scene for object <{target_obj_name}>", "error") + self.set_status("success", count_success) + self.set_status("fail", count - count_success) + self.set_progress("generate scene", count, total) + result = "retry" + + \ No newline at end of file diff --git a/blender/run_blender.py b/blender/run_blender.py new file mode 100644 index 0000000..d214bb9 --- /dev/null +++ b/blender/run_blender.py @@ -0,0 +1,14 @@ +import os +import sys +sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) +import yaml +from blender.data_generator import DataGenerator + +if __name__ == "__main__": + config_path = sys.argv[sys.argv.index('--') + 1] + with open(config_path, "r") as file: + config = yaml.safe_load(file) + + dg = DataGenerator(config) + dg.gen_all_scene_data() + \ No newline at end of file diff --git a/blender/view_sample_util.py b/blender/view_sample_util.py new file mode 100644 index 0000000..499e9cc --- /dev/null +++ b/blender/view_sample_util.py @@ -0,0 +1,130 @@ +import numpy as np +import bmesh +from collections import defaultdict + +class ViewSampleUtil: + + @staticmethod + def voxel_downsample(points, voxel_size): + voxel_grid = defaultdict(list) + for i, point in enumerate(points): + voxel_index = tuple((point // voxel_size).astype(int)) + voxel_grid[voxel_index].append(i) + + downsampled_points = [] + downsampled_indices = [] + for indices in voxel_grid.values(): + selected_index = indices[0] + downsampled_points.append(points[selected_index]) + downsampled_indices.append(selected_index) + + return np.array(downsampled_points), downsampled_indices + + @staticmethod + def sample_view_data(obj, distance_range:tuple = (0.3,0.5), voxel_size:float = 0.005, max_views: int = 1) -> dict: + view_data = { + "look_at_points": [], + "cam_positions": [], + } + mesh = obj.data + bm = bmesh.new() + bm.from_mesh(mesh) + bm.verts.ensure_lookup_table() + bm.faces.ensure_lookup_table() + bm.normal_update() + + look_at_points = [] + cam_positions = [] + normals = [] + for v in bm.verts: + look_at_point = np.array(v.co) + + view_data["look_at_points"].append(look_at_point) + normal = np.zeros(3) + for loop in v.link_loops: + normal += np.array(loop.calc_normal()) + normal /= len(v.link_loops) + normal = normal / np.linalg.norm(normal) + if np.isnan(normal).any(): + continue + if np.dot(normal, look_at_point) < 0: + normal = -normal + distance = np.random.uniform(*distance_range) + cam_position = look_at_point + distance * normal + + look_at_points.append(look_at_point) + cam_positions.append(cam_position) + normals.append(normal) + + bm.free() + look_at_points = np.array(look_at_points) + cam_positions = np.array(cam_positions) + voxel_downsampled_look_at_points, selected_indices = ViewSampleUtil.voxel_downsample(look_at_points, voxel_size) + voxel_downsampled_cam_positions = cam_positions[selected_indices] + voxel_downsampled_normals = np.array(normals)[selected_indices] + if len(voxel_downsampled_look_at_points) > max_views*2: + indices = np.random.choice(len(voxel_downsampled_look_at_points), max_views*2, replace=False) + downsampled_look_at_points = voxel_downsampled_look_at_points[indices] + downsampled_cam_positions = voxel_downsampled_cam_positions[indices] + view_data["look_at_points"] = downsampled_look_at_points.tolist() + view_data["cam_positions"] = downsampled_cam_positions.tolist() + view_data["normals"] = voxel_downsampled_normals + view_data["voxel_down_sampled_points"] = voxel_downsampled_look_at_points + return view_data + + @staticmethod + def get_world_points_and_normals(view_data: dict, obj_world_pose: np.ndarray) -> tuple: + world_points = [] + world_normals = [] + for voxel_down_sampled_points, normal in zip(view_data["voxel_down_sampled_points"], view_data["normals"]): + voxel_down_sampled_points_world = obj_world_pose @ np.append(voxel_down_sampled_points, 1.0) + normal_world = obj_world_pose[:3, :3] @ normal + world_points.append(voxel_down_sampled_points_world[:3]) + world_normals.append(normal_world) + return np.array(world_points), np.array(world_normals) + + @staticmethod + def get_cam_pose(view_data: dict, obj_world_pose: np.ndarray, max_views: int) -> np.ndarray: + cam_poses = [] + min_height_z = 1000 + for look_at_point, cam_position in zip(view_data["look_at_points"], view_data["cam_positions"]): + look_at_point_world = obj_world_pose @ np.append(look_at_point, 1.0) + cam_position_world = obj_world_pose @ np.append(cam_position, 1.0) + if look_at_point_world[2] < min_height_z: + min_height_z = look_at_point_world[2] + look_at_point_world = look_at_point_world[:3] + cam_position_world = cam_position_world[:3] + + forward_vector = cam_position_world - look_at_point_world + forward_vector /= np.linalg.norm(forward_vector) + + up_vector = np.array([0, 0, 1]) + + right_vector = np.cross(up_vector, forward_vector) + right_vector /= np.linalg.norm(right_vector) + + corrected_up_vector = np.cross(forward_vector, right_vector) + rotation_matrix = np.array([right_vector, corrected_up_vector, forward_vector]).T + + cam_pose = np.eye(4) + cam_pose[:3, :3] = rotation_matrix + cam_pose[:3, 3] = cam_position_world + cam_poses.append(cam_pose) + filtered_cam_poses = [] + for cam_pose in cam_poses: + if cam_pose[2, 3] > min_height_z: + filtered_cam_poses.append(cam_pose) + + if len(filtered_cam_poses) > max_views: + indices = np.random.choice(len(filtered_cam_poses), max_views, replace=False) + filtered_cam_poses = [filtered_cam_poses[i] for i in indices] + + return np.array(filtered_cam_poses) + + @staticmethod + def sample_view_data_world_space(obj, distance_range:tuple = (0.3,0.5), voxel_size:float = 0.005, max_views: int=1) -> dict: + obj_world_pose = np.asarray(obj.matrix_world) + view_data = ViewSampleUtil.sample_view_data(obj, distance_range, voxel_size, max_views) + view_data["cam_poses"] = ViewSampleUtil.get_cam_pose(view_data, obj_world_pose, max_views) + view_data["voxel_down_sampled_points"], view_data["normals"] = ViewSampleUtil.get_world_points_and_normals(view_data, obj_world_pose) + return view_data \ No newline at end of file diff --git a/configs/view_generate_config.yaml b/configs/view_generate_config.yaml new file mode 100644 index 0000000..5c400b9 --- /dev/null +++ b/configs/view_generate_config.yaml @@ -0,0 +1,49 @@ +runner: + general: + seed: 0 + device: cpu + cuda_visible_devices: 0,1,2,3,4,5,6,7 + experiment: + name: debug + root_dir: experiments + generate: + object_dir: H:\AI\Datasets\scaled_object_meshes + table_model_path: C:\Users\hofee\Desktop\blender\table.obj + output_dir: C:\Document\Local Project\nbv_rec\nbv_reconstruction\temp + binocular_vision: true + plane_size: 10 + max_views: 10 + random_config: + display_table: + min_height: 0.05 + max_height: 0.15 + min_radius: 0.1 + max_radius: 0.2 + min_R: 0.05 + max_R: 0.3 + min_G: 0.05 + max_G: 0.3 + min_B: 0.05 + max_B: 0.3 + display_object: + min_x: 0 + max_x: 0.03 + min_y: 0 + max_y: 0.03 + min_z: 0.01 + max_z: 0.01 + random_rotation_ratio: 0.3 + random_objects: + num: 4 + cluster: 0.9 + light_and_camera_config: + Camera: + near_plane: 0.01 + far_plane: 5 + fov_vertical: 25 + resolution: [1280,800] + eye_distance: 0.06 + Light: + location: [0,0,3.5] + orientation: [0,0,0] + power: 150 diff --git a/runners/view_generator.py b/runners/view_generator.py new file mode 100644 index 0000000..5765993 --- /dev/null +++ b/runners/view_generator.py @@ -0,0 +1,18 @@ +import subprocess +from PytorchBoot.runners.runner import Runner +import PytorchBoot.stereotype as stereotype + +@stereotype.runner("view_generator") +class ViewGenerator(Runner): + def __init__(self, config_path): + super().__init__(config_path) + self.config_path = config_path + + def run(self): + subprocess.run(['blender', '-b', '-P', './blender/run_blender.py', '--', self.config_path]) + + def create_experiment(self, backup_name=None): + return super().create_experiment(backup_name) + + def load_experiment(self, backup_name=None): + super().load_experiment(backup_name) \ No newline at end of file diff --git a/temp/google_scan-backpack_0288/camera_params/0.json b/temp/google_scan-backpack_0288/camera_params/0.json new file mode 100644 index 0000000..9619bf0 --- /dev/null +++ b/temp/google_scan-backpack_0288/camera_params/0.json @@ -0,0 +1,99 @@ +{ + "extrinsic": [ + [ + 0.07150819897651672, + 0.571461021900177, + -0.8175077438354492, + -0.534420907497406 + ], + [ + -0.9974400401115417, + 0.04096903279423714, + -0.058608539402484894, + 0.058449406176805496 + ], + [ + -5.187591689548299e-09, + 0.8196058869361877, + 0.572927713394165, + 1.3510252237319946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic_cam_object": [ + [ + 0.07150819897651672, + 0.571461021900177, + -0.8175077438354492, + -0.5301303863525391 + ], + [ + -0.9974400401115417, + 0.04096902906894684, + -0.058608539402484894, + -0.0013969995779916644 + ], + [ + 0.0, + 0.8196058869361877, + 0.572927713394165, + 1.3510252237319946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsic": [ + [ + 1804.283324707217, + 0.0, + 640.0 + ], + [ + 0.0, + 1804.2833964029949, + 400.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "far_plane": 5.0, + "near_plane": 0.009999999776482582, + "extrinsic_R": [ + [ + 0.07150819897651672, + 0.571461021900177, + -0.8175077438354492, + -0.5258399844169617 + ], + [ + -0.9974400401115417, + 0.04096903279423714, + -0.058608539402484894, + -0.06124339997768402 + ], + [ + -5.187591689548299e-09, + 0.8196058869361877, + 0.572927713394165, + 1.3510252237319946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] +} \ No newline at end of file diff --git a/temp/google_scan-backpack_0288/camera_params/1.json b/temp/google_scan-backpack_0288/camera_params/1.json new file mode 100644 index 0000000..e6b18d6 --- /dev/null +++ b/temp/google_scan-backpack_0288/camera_params/1.json @@ -0,0 +1,99 @@ +{ + "extrinsic": [ + [ + -0.9200537204742432, + -0.36793825030326843, + 0.1346207559108734, + -0.011971847154200077 + ], + [ + 0.39179250597953796, + -0.8640364408493042, + 0.31613245606422424, + 0.010695301927626133 + ], + [ + 0.0, + 0.34360218048095703, + 0.9391154050827026, + 1.4907959699630737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic_cam_object": [ + [ + -0.9200536012649536, + -0.3679382801055908, + 0.13462072610855103, + -0.06717509031295776 + ], + [ + 0.3917924463748932, + -0.8640364408493042, + 0.31613239645957947, + 0.034202806651592255 + ], + [ + 0.0, + 0.34360215067863464, + 0.9391152858734131, + 1.4907959699630737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsic": [ + [ + 1804.283324707217, + 0.0, + 640.0 + ], + [ + 0.0, + 1804.2833964029949, + 400.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "far_plane": 5.0, + "near_plane": 0.009999999776482582, + "extrinsic_R": [ + [ + -0.9200537204742432, + -0.36793825030326843, + 0.1346207559108734, + -0.12237827479839325 + ], + [ + 0.39179250597953796, + -0.8640364408493042, + 0.31613245606422424, + 0.057710401713848114 + ], + [ + 0.0, + 0.34360218048095703, + 0.9391154050827026, + 1.4907959699630737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] +} \ No newline at end of file diff --git a/temp/google_scan-backpack_0288/camera_params/2.json b/temp/google_scan-backpack_0288/camera_params/2.json new file mode 100644 index 0000000..346ff94 --- /dev/null +++ b/temp/google_scan-backpack_0288/camera_params/2.json @@ -0,0 +1,99 @@ +{ + "extrinsic": [ + [ + 0.22581711411476135, + -0.9548897743225098, + 0.1928526908159256, + -0.06708569079637527 + ], + [ + 0.9741697311401367, + 0.22134792804718018, + -0.04470415785908699, + 0.06478184461593628 + ], + [ + -3.6515626078426067e-09, + 0.19796618819236755, + 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No newline at end of file diff --git a/temp/google_scan-backpack_0288/camera_params/3.json b/temp/google_scan-backpack_0288/camera_params/3.json new file mode 100644 index 0000000..63216af --- /dev/null +++ b/temp/google_scan-backpack_0288/camera_params/3.json @@ -0,0 +1,99 @@ +{ + "extrinsic": [ + [ + -0.49073153734207153, + 0.512611985206604, + -0.7045647501945496, + -0.37789463996887207 + ], + [ + -0.871310830116272, + -0.28870853781700134, + 0.3968183696269989, + 0.40368467569351196 + ], + [ + 0.0, + 0.8086261749267578, + 0.5883227586746216, + 1.4329079389572144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic_cam_object": [ + [ + -0.49073153734207153, + 0.512611985206604, + -0.7045647501945496, + -0.40733852982521057 + ], + [ + -0.871310830116272, + -0.28870853781700134, + 0.3968183696269989, + 0.3514060378074646 + ], + [ + 0.0, + 0.8086261749267578, + 0.5883227586746216, + 1.4329079389572144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsic": [ + [ + 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