def get_albedo_by_ray_intersection(tmesh,
blender_cam,
reso,
ortho_view_scale=1.):
def get_arr_index_from_flat_index(flat_index):
if flat_index < 0 or flat_index >= reso * reso:
return None
row_idx = int(flat_index / reso)
col_idx = flat_index - row_idx * reso
return (row_idx, col_idx)
r_locations, r_dirs = get_rays_from_ori_ortho_view(reso, 1.0)
r_locations = np.reshape(r_locations, (-1, 3))
r_dirs = np.reshape(r_dirs, (-1, 3))
RT_bcam2world = blender_camera_util.get_bcam2world_RT_matrix_from_blender(
blender_cam)
r_locations, r_dirs = transform_points(r_locations,
RT_bcam2world), transform_points(
r_dirs, RT_bcam2world)
# ray testing
print('Ray intersection testing...')
tri_indices, r_indices = tmesh.ray.intersects_id(r_locations, r_dirs)
print('Ray intersection testing done.')
albedo_arr = np.ones((reso, reso, 3))
all_mesh_tri_colors = tmesh.visual.face_colors
for hit_idx, tri_idx in enumerate(tri_indices):
hit_color = all_mesh_tri_colors[tri_idx]
albedo_arr_idx = get_arr_index_from_flat_index(r_indices[hit_idx])
albedo_arr[albedo_arr_idx] = hit_color[:3]
return albedo_arr
def bcam2world_RT_matrixes(rot_angles_list):
scene = bpy.context.scene
######### filename for output ##############
# setup camera and render
cam_init_location = (0., 0.5, 0.)
cam = get_default_camera()
cam.location = cam_init_location
cam.data.type = 'ORTHO'
cam.data.ortho_scale = 1
cam.data.clip_start = 0
cam.data.clip_end = 100 # a value that is large enough
cam_constraint = cam.constraints.new(type='TRACK_TO')
cam_constraint.track_axis = 'TRACK_NEGATIVE_Z'
cam_constraint.up_axis = 'UP_Y'
b_empty = get_lookat_target(cam)
cam_constraint.target = b_empty # track to a empty object at the origin
RT_dict = {}
for xyz_angle in rot_angles_list:
# rotate camera
euler_rot_mat = euler2mat(radians(xyz_angle[0]), radians(xyz_angle[1]), radians(xyz_angle[2]), 'sxyz')
new_cam_location = np.dot(euler_rot_mat, np.array(cam_init_location))
cam.location = new_cam_location
bpy.context.scene.update() # NOTE: important! Not doing rendering (which updates the scene) but we need to update the scene after we reset the camera
# transform from depth to 3D world point cloud
RT_bcam2world = blender_camera_util.get_bcam2world_RT_matrix_from_blender(cam)
key_tuple = tuple(xyz_angle)
RT_dict[key_tuple] = RT_bcam2world
return RT_dict
def scan_point_cloud(depth_file_output, normal_file_output, albedo_file_output,
matidx_file_output, args):
scene = bpy.context.scene
######### filename for output ##############
if 'ShapeNetCore' not in args.obj:
model_identifier = args.obj.split('/')[-1].split('.')[0]
correct_normal = False
else:
model_identifier = args.obj.split('/')[-3]
correct_normal = True
fp = os.path.join(args.output_folder, model_identifier)
scene.render.image_settings.file_format = 'PNG' # set output format to .png
# scan shapenet shape into point cloud with features
all_points_normals_colors_mindices = None
for i in range(0, 3):
cam = get_default_camera()
if i == 1: cam_init_location = (0, 0, 0.5)
else: cam_init_location = (0, 0.5, 0)
cam.data.type = 'ORTHO'
cam.data.ortho_scale = args.orth_scale
cam.data.clip_start = 0
cam.data.clip_end = 100 # a value that is large enough
cam_constraint = cam.constraints.new(type='TRACK_TO')
cam_constraint.track_axis = 'TRACK_NEGATIVE_Z'
cam_constraint.up_axis = 'UP_Y'
b_empty = get_lookat_target(cam)
cam_constraint.target = b_empty # track to a empty object at the origin
for rot_angle in range(0, 359, 20):
if i == 0:
xyz_angle = [rot_angle, 0, 0]
elif i == 1:
xyz_angle = [0, rot_angle, 0]
elif i == 2:
xyz_angle = [0, 0, rot_angle]
# rotate camera
euler_rot_mat = euler2mat(radians(xyz_angle[0]),
radians(xyz_angle[1]),
radians(xyz_angle[2]), 'sxyz')
new_cam_location = np.dot(euler_rot_mat,
np.array(cam_init_location))
cam.location = new_cam_location
scene.render.filepath = fp + '-rotx=%.2f_roty=%.2f_rotz=%.2f' % (
xyz_angle[0], xyz_angle[1], xyz_angle[2])
depth_file_output.file_slots[
0].path = scene.render.filepath + "_depth"
normal_file_output.file_slots[
0].path = scene.render.filepath + "_normal"
albedo_file_output.file_slots[
0].path = scene.render.filepath + "_albedo"
matidx_file_output.file_slots[
0].path = scene.render.filepath + "_matidx"
# render and write out
bpy.ops.render.render(write_still=True) # render still
depth_arr, hard_mask_arr = util.read_depth_and_get_mask(
scene.render.filepath + "_depth0001.exr")
normal_arr = util.read_and_correct_normal(
scene.render.filepath + "_normal0001.exr",
correct_normal=correct_normal,
mask_arr=hard_mask_arr)
albedo_arr = util.read_exr_image(scene.render.filepath +
"_albedo0001.exr")
matidx_arr = util.read_exr_image(scene.render.filepath +
"_matidx0001.exr")[:, :, 0]
# and the clip value range
depth_arr = np.clip(depth_arr, a_min=0, a_max=1)
normal_arr = np.clip(normal_arr, a_min=-1, a_max=1)
albedo_arr = np.clip(albedo_arr, a_min=0, a_max=1)
# process renderings to get the point cloud
xyz_arr = util.get_3D_points_from_ortho_depth(
depth_arr, args.orth_scale)
xyz_normal_rgb_midx = np.reshape(
np.concatenate([
xyz_arr, normal_arr, albedo_arr,
np.expand_dims(matidx_arr, -1)
],
axis=-1), (-1, 10))
xyz_normal_rgb_midx = util.remove_bg_points(xyz_normal_rgb_midx)
# transform from depth to 3D world point cloud
RT_bcam2world = blender_camera_util.get_bcam2world_RT_matrix_from_blender(
cam)
# matrix for switching back axis of the obj file when output
xyz_normal_rgb_midx[:, :3] = util.transform_points(
xyz_normal_rgb_midx[:, :3],
np.dot(R_axis_switching_BtoS, RT_bcam2world))
xyz_normal_rgb_midx[:, 3:6] = util.transform_points(
xyz_normal_rgb_midx[:, 3:6],
np.dot(R_axis_switching_BtoS, RT_bcam2world))
if all_points_normals_colors_mindices is None:
all_points_normals_colors_mindices = xyz_normal_rgb_midx
else:
all_points_normals_colors_mindices = np.concatenate(
[all_points_normals_colors_mindices, xyz_normal_rgb_midx],
axis=0)
# remove renderings
os.remove(scene.render.filepath + '.png')
os.remove(scene.render.filepath + "_normal0001.exr")
os.remove(scene.render.filepath + "_depth0001.exr")
os.remove(scene.render.filepath + "_albedo0001.exr")
os.remove(scene.render.filepath + "_matidx0001.exr")
return all_points_normals_colors_mindices