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import shutil
import bpy
import mathutils
import numpy as np
import OpenEXR
import Imath
from scipy.spatial.transform import Rotation as scipy_Rotation
from evalmde.utils.constants import VALID_DEPTH_LB, VALID_DEPTH_UB
from evalmde.utils.common import pathlib_file
from evalmde.utils.depth import get_depth_valid
from evalmde.utils.image import imread_rgb, imwrite_rgb
def bpy_set_tmp_dir(tmp_dir):
tmp_dir = pathlib_file(tmp_dir)
tmp_dir.mkdir(parents=True, exist_ok=True)
bpy.context.preferences.filepaths.temporary_directory = str(tmp_dir)
def bpy_create_cam(cam_name, cam_pose, fx, fy, cx, cy, w, h):
cam_data = bpy.data.cameras.new(name=cam_name)
cam_data.sensor_height = cam_data.sensor_width * h / w
cam_data.lens = (fx + fy) / 2 * cam_data.sensor_width / w
cam_data.shift_x = (w / 2 - cx) / w
cam_data.shift_y = (cy - h / 2) / h
cam_object = bpy.data.objects.new(cam_name, cam_data)
bpy.context.collection.objects.link(cam_object)
cam_object.matrix_world = mathutils.Matrix([cam_pose[0], cam_pose[1], cam_pose[2], cam_pose[3]])
return cam_object
def bpy_add_ambient_light(energy=1.0):
world = bpy.data.worlds.new("AmbientWorld")
bpy.context.scene.world = world
world.use_nodes = True
bg = world.node_tree.nodes["Background"]
bg.inputs[0].default_value = (1, 1, 1, 1)
bg.inputs[1].default_value = energy
def bpy_enable_gpu(device_type="CUDA"):
prefs = bpy.context.preferences
cprefs = prefs.addons['cycles'].preferences
cprefs.compute_device_type = device_type # "CUDA", "OPTIX", "METAL", "HIP"
cprefs.get_devices() # Initialize devices
for device in cprefs.devices:
device.use = True
bpy.context.scene.cycles.device = 'GPU'
def bpy_setup_rgb_render():
bpy.context.scene.use_nodes = True
tree = bpy.context.scene.node_tree
tree.nodes.clear()
render_layers = tree.nodes.new(type='CompositorNodeRLayers')
rgb_output = tree.nodes.new(type='CompositorNodeOutputFile')
rgb_output.label = 'RGB Output'
rgb_output.base_path = ''
rgb_output.format.file_format = 'PNG'
rgb_output.file_slots[0].use_node_format = True
rgb_output.file_slots[0].save_as_render = True
tree.links.new(render_layers.outputs['Image'], rgb_output.inputs[0])
return rgb_output
def bpy_setup_depth_render():
bpy.context.scene.use_nodes = True
tree = bpy.context.scene.node_tree
tree.nodes.clear()
render_layers = tree.nodes.new(type='CompositorNodeRLayers')
depth_output = tree.nodes.new(type='CompositorNodeOutputFile')
depth_output.label = 'Depth Output'
depth_output.base_path = ''
depth_output.format.file_format = 'OPEN_EXR'
depth_output.file_slots[0].use_node_format = True
depth_output.file_slots[0].save_as_render = True
bpy.context.view_layer.use_pass_z = True
bpy.context.scene.view_layers["ViewLayer"].use_pass_z = True
tree.links.new(render_layers.outputs['Depth'], depth_output.inputs[0])
return depth_output
def bpy_setup_rgbd_render():
bpy.context.scene.use_nodes = True
tree = bpy.context.scene.node_tree
tree.nodes.clear()
# Add Render Layers node to get passes
render_layers = tree.nodes.new(type='CompositorNodeRLayers')
# Add Output File node to save the EXR
depth_output = tree.nodes.new(type='CompositorNodeOutputFile')
depth_output.label = 'Depth Output'
depth_output.base_path = ''
depth_output.format.file_format = 'OPEN_EXR'
depth_output.file_slots[0].use_node_format = True
depth_output.file_slots[0].save_as_render = True
# Output for RGB
rgb_output = tree.nodes.new(type='CompositorNodeOutputFile')
rgb_output.label = 'RGB Output'
rgb_output.base_path = ''
rgb_output.format.file_format = 'PNG'
rgb_output.file_slots[0].use_node_format = True
rgb_output.file_slots[0].save_as_render = True
# Enable the Z (Depth) pass
bpy.context.view_layer.use_pass_z = True
bpy.context.scene.view_layers["ViewLayer"].use_pass_z = True
# Link the depth pass output from the render layers node
tree.links.new(render_layers.outputs['Depth'], depth_output.inputs[0])
tree.links.new(render_layers.outputs['Image'], rgb_output.inputs[0])
return depth_output, rgb_output
def save_depth_from_exr(filepath, h, w):
exr_file = OpenEXR.InputFile(filepath)
dw = exr_file.header()['dataWindow']
size = (dw.max.x - dw.min.x + 1, dw.max.y - dw.min.y + 1)
assert size == (w, h), f"Expected {(w, h)}, got {size}"
pt = Imath.PixelType(Imath.PixelType.FLOAT)
channels = exr_file.channels(["R", "G", "B"], pt)
depth = [np.frombuffer(c, dtype=np.float32).reshape(size[1], size[0]) for c in channels]
assert np.all(depth[0] == depth[1]) and np.all(depth[0] == depth[2])
return depth[0]
def bpy_create_directional_light(src: np.ndarray, dst: np.ndarray, energy=5.0, name='Sun'):
light_data = bpy.data.lights.new(name=name, type='SUN')
light_data.energy = energy
light_obj = bpy.data.objects.new(name=name, object_data=light_data)
bpy.context.collection.objects.link(light_obj)
light_obj.location = (float(src[0]), float(src[1]), float(src[2]))
direction = dst - src
rot_axis = np.cross(np.array([0, 0, -1.]), direction)
if np.linalg.norm(rot_axis) < 1e-5:
rot_axis = np.array([1., 0, 0])
rot_axis /= np.linalg.norm(rot_axis)
rot_ang = np.arccos(np.clip(((direction / np.linalg.norm(direction)) * np.array([0, 0, -1.])).sum(), -1, 1))
rot_euler = scipy_Rotation.from_rotvec(rot_ang * rot_axis, degrees=False).as_euler('xyz', degrees=False)
light_obj.rotation_euler = (float(rot_euler[0]), float(rot_euler[1]), float(rot_euler[2]))
def bpy_render_rgb(cam_object, h, w, num_sample, rgb_node, output_root, out_name):
bpy.context.scene.cycles.samples = num_sample
bpy.context.scene.render.resolution_x = w
bpy.context.scene.render.resolution_y = h
bpy.context.scene.camera = cam_object
rgb_node.base_path = str(output_root)
rgb_node.file_slots[0].path = f"image_{out_name}-"
bpy.ops.render.render(write_still=True)
def bpy_render_rgbd(cam_object, h, w, num_sample, depth_node, rgb_node, output_root, out_name):
bpy.context.scene.cycles.samples = num_sample
bpy.context.scene.render.resolution_x = w
bpy.context.scene.render.resolution_y = h
bpy.context.scene.camera = cam_object
depth_node.base_path = str(output_root)
depth_node.file_slots[0].path = f"depth_{out_name}_"
rgb_node.base_path = str(output_root)
rgb_node.file_slots[0].path = f"image_{out_name}-"
bpy.ops.render.render(write_still=True)
exr_path = os.path.join(str(output_root), f"depth_{out_name}_0001.exr")
depth_np = save_depth_from_exr(exr_path, h, w)
np.save(os.path.join(str(output_root), f"depth_{out_name}.npy"), depth_np)
os.remove(exr_path)
def bpy_render_rgb_and_filter_invalid(cam_object, h, w, num_sample, depth_node, rgb_node, output_root, out_name, bkg_color, valid_depth_lb=VALID_DEPTH_LB, valid_depth_ub=VALID_DEPTH_UB, save_depth=False):
'''
:param cam_object:
:param h:
:param w:
:param num_sample:
:param depth_node:
:param rgb_node:
:param output_root:
:param out_name:
:param bkg_color: list of 3 integers, [0, 255]
:param valid_depth_lb:
:param valid_depth_ub:
:param save_depth:
:return:
'''
bpy_render_rgbd(cam_object, h, w, num_sample, depth_node, rgb_node, output_root, out_name)
img_f = pathlib_file(os.path.join(str(output_root), f"image_{out_name}-0001.png"))
depth_f = pathlib_file(os.path.join(str(output_root), f"depth_{out_name}.npy"))
output_root = pathlib_file(output_root)
tmp_dir = output_root.parent / f'{output_root.name}__tmp'
tmp_dir.mkdir(parents=True, exist_ok=True)
img = imread_rgb(img_f)
depth = np.load(depth_f)
shutil.move(img_f, tmp_dir / img_f.name)
if not save_depth:
shutil.move(depth_f, tmp_dir / depth_f.name)
img[~get_depth_valid(depth, valid_depth_lb, valid_depth_ub)] = np.array(bkg_color)
imwrite_rgb(output_root / f'image_{out_name}.png', img)
os.remove(tmp_dir / img_f.name)
os.remove(tmp_dir / depth_f.name)
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