import os
import util
import bpy
import glob
class BlenderInterface():
def __init__(self, resolution=128, background_color=(1,1,1)):
self.resolution = resolution
# Delete the default cube (default selected)
bpy.ops.object.delete()
self.delete_object_and_data("model_normalized")
# Deselect all. All new object added to the scene will automatically selected.
self.blender_renderer = bpy.context.scene.render
self.blender_renderer.use_antialiasing = False
self.blender_renderer.resolution_x = resolution
self.blender_renderer.resolution_y = resolution
self.blender_renderer.resolution_percentage = 100
self.blender_renderer.image_settings.file_format = 'PNG' # set output format to .png
self.blender_renderer.alpha_mode = 'SKY'
world = bpy.context.scene.world
world.horizon_color = background_color
world.light_settings.use_environment_light = True
world.light_settings.environment_color = 'SKY_COLOR'
world.light_settings.environment_energy = 1.
lamp1 = bpy.data.lamps['Lamp']
lamp1.type = 'SUN'
lamp1.shadow_method = 'RAY_SHADOW'
lamp1.use_specular = False
lamp1.energy = 1.
bpy.ops.object.lamp_add(type='SUN')
lamp2 = bpy.data.lamps['Sun']
lamp2.shadow_method = 'RAY_SHADOW'
lamp2.use_specular = False
lamp2.energy = 1.
bpy.data.objects['Sun'].rotation_euler = bpy.data.objects['Lamp'].rotation_euler
bpy.data.objects['Sun'].rotation_euler[0] += 180
bpy.ops.object.lamp_add(type='SUN')
lamp2 = bpy.data.lamps['Sun.001']
lamp2.shadow_method = 'RAY_SHADOW'
lamp2.use_specular = False
lamp2.energy = 0.3
bpy.data.objects['Sun.001'].rotation_euler = bpy.data.objects['Lamp'].rotation_euler
bpy.data.objects['Sun.001'].rotation_euler[0] += 90
# Set up the camera
self.camera = bpy.context.scene.camera
self.camera.data.sensor_height = self.camera.data.sensor_width # Square sensor
util.set_camera_focal_length_in_world_units(self.camera.data, 525./512*resolution) # Set focal length to a common value (kinect)
bpy.ops.object.select_all(action='DESELECT')
def import_mesh(self, fpath, scale=1., object_world_matrix=None):
ext = os.path.splitext(fpath)[-1]
if ext == '.obj':
bpy.ops.import_scene.obj(filepath=str(fpath), split_mode='OFF')
elif ext == '.ply':
bpy.ops.import_mesh.ply(filepath=str(fpath))
obj = bpy.context.selected_objects[0]
obj.name = "model_normalized"
util.dump(bpy.context.selected_objects)
if object_world_matrix is not None:
obj.matrix_world = object_world_matrix
bpy.ops.object.origin_set(type='ORIGIN_GEOMETRY', center='BOUNDS')
obj.location = (0., 0., 0.) # center the bounding box!
if scale != 1.:
bpy.ops.transform.resize(value=(scale, scale, scale))
# Disable transparency & specularities
M = bpy.data.materials
for i in range(len(M)):
M[i].use_transparency = False
M[i].specular_intensity = 0.0
# Disable texture interpolation
T = bpy.data.textures
for i in range(len(T)):
try:
T[i].use_interpolation = False
T[i].use_mipmap = False
T[i].use_filter_size_min = True
T[i].filter_type = "BOX"
except:
continue
def render(self, output_dir, blender_cam2world_matrices, write_cam_params=False):
if write_cam_params:
img_dir = os.path.join(output_dir, 'rgb')
pose_dir = os.path.join(output_dir, 'pose')
mask_dir = os.path.join(output_dir, "mask")
depth_dir = os.path.join(output_dir, "depth")
util.cond_mkdir(img_dir)
util.cond_mkdir(pose_dir)
else:
img_dir = output_dir
util.cond_mkdir(img_dir)
if write_cam_params:
K = util.get_calibration_matrix_K_from_blender(self.camera.data)
with open(os.path.join(output_dir, 'intrinsics.txt'),'w') as intrinsics_file:
intrinsics_file.write('%f %f %f 0.\n'%(K[0][0], K[0][2], K[1][2]))
intrinsics_file.write('0. 0. 0.\n')
intrinsics_file.write('1.\n')
intrinsics_file.write('%d %d\n'%(self.resolution, self.resolution))
for i in range(len(blender_cam2world_matrices)):
self.camera.matrix_world = blender_cam2world_matrices[i]
# Render the object
if os.path.exists(os.path.join(img_dir, '%06d.png' % i)):
continue
# set up mask and depth rendering
self.set_up_mask_and_depth(mask_dir, depth_dir)
# Render the color image
self.blender_renderer.filepath = os.path.join(img_dir, '%06d.png'%i)
bpy.ops.render.render(write_still=True)
if write_cam_params:
# Write out camera pose
RT = util.get_world2cam_from_blender_cam(self.camera)
cam2world = RT.inverted()
with open(os.path.join(pose_dir, '%06d.txt'%i),'w') as pose_file:
matrix_flat = []
for j in range(4):
for k in range(4):
matrix_flat.append(cam2world[j][k])
pose_file.write(' '.join(map(str, matrix_flat)) + '\n')
# rename the mask image since it's given a default name by Blender
# Search for the file that starts with 'Image' and ends with '.png' in mask_dir
file_list = glob.glob(os.path.join(mask_dir, 'Image*.png'))
if file_list:
# Assuming there is only one file matching this pattern
stupid_default_name = file_list[0]
new_name = os.path.join(mask_dir, f'{i:06d}.png')
os.system(f"mv {stupid_default_name} {new_name}")
# also rename the depth image
file_list = glob.glob(os.path.join(depth_dir, 'Image*.png'))
if file_list:
# Assuming there is only one file matching this pattern
stupid_default_name = file_list[0]
new_name = os.path.join(depth_dir, f'{i:06d}.png')
os.system(f"mv {stupid_default_name} {new_name}")
# Remember which meshes were just imported
meshes_to_remove = []
for ob in bpy.context.selected_objects:
meshes_to_remove.append(ob.data)
bpy.ops.object.delete()
# Remove the meshes from memory too
for mesh in meshes_to_remove:
bpy.data.meshes.remove(mesh)
def set_up_mask_and_depth(self, mask_dir, depth_dir):
# Set object index for the object
bpy.data.objects['model_normalized'].pass_index = 1
# Enable Object Index pass
bpy.context.scene.render.layers.active.use_pass_object_index = True
# Enable Z-depth pass
bpy.context.scene.render.layers.active.use_pass_z = True
# Node setup for compositing
bpy.context.scene.use_nodes = True
tree = bpy.context.scene.node_tree
links = tree.links
# Clear default nodes
for node in tree.nodes:
tree.nodes.remove(node)
# Add Render Layer node
render_layer_node = tree.nodes.new(type='CompositorNodeRLayers')
# Setup for Mask
# Add ID Mask node
id_mask_node = tree.nodes.new(type='CompositorNodeIDMask')
id_mask_node.index = 1
links.new(render_layer_node.outputs['IndexOB'], id_mask_node.inputs[0])
# Setup for Depth
# Add Normalize node for depth map
normalize_node = tree.nodes.new(type='CompositorNodeNormalize')
# Connect Z-depth output to Normalize node
try:
links.new(render_layer_node.outputs['Z'], normalize_node.inputs[0])
except KeyError:
# Fallback to 'Depth' if 'Z' is not found
links.new(render_layer_node.outputs['Depth'], normalize_node.inputs[0])
# Add File Output Node for Mask
mask_output_node = tree.nodes.new(type='CompositorNodeOutputFile')
mask_output_node.base_path = mask_dir
links.new(id_mask_node.outputs[0], mask_output_node.inputs[0])
# mask_output_node.file_slots.new("Mask") # This creates a new file slot named "Mask"
# links.new(id_mask_node.outputs[0], mask_output_node.inputs["Mask"])
# Add File Output Node for Depth
depth_output_node = tree.nodes.new(type='CompositorNodeOutputFile')
depth_output_node.base_path = depth_dir
links.new(normalize_node.outputs[0], depth_output_node.inputs[0])
def delete_object_and_data(self, obj_name):
# delete all objects except "Camera" and "Lamp"
bpy.ops.object.select_all(action='DESELECT')
# Loop through all objects and select them except for "Camera" and "Lamp"
for obj in bpy.context.scene.objects:
if obj.name not in ['Camera', 'Lamp']:
obj.select = True
# Delete selected objects
bpy.ops.object.delete()
bpy.ops.object.select_all(action='DESELECT')
# Select the object
if obj_name in bpy.data.objects:
bpy.data.objects[obj_name].select = True
# Delete the object
bpy.ops.object.delete()
# Remove mesh data
if obj_name in bpy.data.meshes:
bpy.data.meshes.remove(bpy.data.meshes[obj_name])