def _cam2world_matrix_from_cam_extrinsics(self,
config: Config) -> np.ndarray:
""" Determines camera extrinsics by using the given config and returns them in form of a cam to world frame transformation matrix.
:param config: The configuration object.
:return: The 4x4 cam to world transformation matrix.
"""
if not config.has_param("cam2world_matrix"):
# Print warning if local_frame_change is used with other attributes than cam2world_matrix
if self.local_frame_change != ["X", "Y", "Z"]:
print(
"Warning: The local_frame_change parameter is at the moment only supported when setting the cam2world_matrix attribute."
)
position = change_coordinate_frame_of_point(
config.get_vector3d("location", [0, 0, 0]),
self.world_frame_change)
# Rotation
rotation_format = config.get_string("rotation/format", "euler")
value = config.get_vector3d("rotation/value", [0, 0, 0])
# Transform to blender coord frame
value = change_coordinate_frame_of_point(value,
self.world_frame_change)
if rotation_format == "euler":
# Rotation, specified as euler angles
rotation_matrix = Euler(value, 'XYZ').to_matrix()
elif rotation_format == "forward_vec":
# Convert forward vector to euler angle (Assume Up = Z)
rotation_matrix = CameraUtility.rotation_from_forward_vec(
value)
elif rotation_format == "look_at":
# Convert forward vector to euler angle (Assume Up = Z)
rotation_matrix = CameraUtility.rotation_from_forward_vec(
value - position)
else:
raise Exception("No such rotation format:" +
str(rotation_format))
if rotation_format == "look_at" or rotation_format == "forward_vec":
inplane_rot = config.get_float("rotation/inplane_rot", 0.0)
rotation_matrix = np.matmul(
rotation_matrix,
Euler((0.0, 0.0, inplane_rot)).to_matrix())
cam2world_matrix = build_transformation_mat(
position, rotation_matrix)
else:
cam2world_matrix = np.array(
config.get_list("cam2world_matrix")).reshape(4, 4).astype(
np.float32)
cam2world_matrix = change_source_coordinate_frame_of_transformation_matrix(
cam2world_matrix, self.local_frame_change)
cam2world_matrix = change_target_coordinate_frame_of_transformation_matrix(
cam2world_matrix, self.world_frame_change)
return cam2world_matrix
def run(self):
""" Returns the result of processing of the list of values. """
transform_by = self.config.get_string("transform_by")
elements = self.config.get_list("elements")
raw_result = []
for element in elements:
element_conf = Config({"element": element})
if isinstance(element, list):
raw_result.append(element_conf.get_vector3d("element"))
else:
raw_result.append(element_conf.get_raw_value("element"))
if len(raw_result) > 0:
if self._check_compatibility(raw_result):
if transform_by == "sum":
ref_result = self._sum(raw_result)
elif transform_by == "avg":
ref_result = self._avg(raw_result)
else:
raise RuntimeError("Unknown 'transform_by' operation: " +
transform_by)
else:
raise RuntimeError(
"Provider output types don't match. All must either int, float, or mathutils.Vector."
)
else:
raise RuntimeError(
"List of resulting values of `elements` is empty. Please, check Provider configuration."
)
return ref_result
def run(self):
""" Loads rocks."""
rocks_settings = self.config.get_list("batches", [])
for subsec_num, subsec_settings in enumerate(rocks_settings):
subsec_config = Config(subsec_settings)
subsec_objects = RockEssentialsRockLoader.load_rocks(
path=subsec_config.get_string("path"),
subsec_num=subsec_num,
objects=subsec_config.get_list("objects", []),
sample_objects=subsec_config.get_bool("sample_objects", False),
amount=subsec_config.get_int("amount", None)
)
RockEssentialsRockLoader.set_rocks_properties(
objects=subsec_objects,
physics=subsec_config.get_bool("physics", False),
render_levels=subsec_config.get_int("render_levels", 3),
high_detail_mode=subsec_config.get_bool("high_detail_mode", False),
scale=subsec_config.get_vector3d("scale", [1, 1, 1]),
reflection_amount=subsec_config.get_float("reflection_amount", None),
reflection_roughness=subsec_config.get_float("reflection_roughness", None),
hsv=subsec_config.get_list("HSV", None)
)
def run(self):
""" Adds specified basic empty objects to the scene and sets at least their names to the user-defined ones.
1. Get configuration parameters' values.
2. Add an object.
3. Set attribute values.
"""
empties_to_add = self.config.get_list("empties_to_add")
for empty in empties_to_add:
empty_conf = Config(empty)
obj_name = empty_conf.get_string("name")
obj_type = empty_conf.get_string("type", "plain_axes")
entity = create_empty(obj_name, obj_type)
entity.set_location(empty_conf.get_vector3d("location", [0, 0, 0]))
entity.set_rotation_euler(
empty_conf.get_vector3d("rotation", [0, 0, 0]))
entity.set_scale(empty_conf.get_vector3d("scale", [1, 1, 1]))
def run(self):
""" Adds specified basic mesh objects to the scene and sets at least their names to the user-defined ones.
1. Get configuration parameters' values.
2. Add an object.
3. Set attribute values.
4. Initialize a material, if needed.
"""
meshes_to_add = self.config.get_list("meshes_to_add")
init_objs_mats = self.config.get_bool("init_materials", True)
for mesh in meshes_to_add:
mesh_conf = Config(mesh)
obj_type = mesh_conf.get_string("type")
obj_name = mesh_conf.get_string("name")
obj_location = mesh_conf.get_vector3d("location", [0, 0, 0])
obj_rotation = mesh_conf.get_vector3d("rotation", [0, 0, 0])
obj_scale = mesh_conf.get_vector3d("scale", [1, 1, 1])
new_obj = self._add_obj(obj_type)
self._set_attrs(new_obj, obj_name, obj_location, obj_rotation,
obj_scale)
if init_objs_mats:
self._init_material(obj_name)