def __get_normalize_transform(self, active_view):
centroid = active_view.center
scale = active_view.scale
normalize_transform = Transform.scale(Vector(scale, scale, scale)) *\
Transform.translate(Vector(*(-1 * centroid)))
return normalize_transform
def __add_cone(self, shape):
y_dir = np.array([0.0, 1.0, 0.0])
v = shape.end_points[1] - shape.end_points[0]
center = 0.5 * (shape.end_points[0] + shape.end_points[1])
height = norm(v)
scale = Transform.scale(Vector(shape.radius, height, shape.radius))
axis = np.cross(y_dir, v)
axis_len = norm(axis)
angle = degrees(atan2(axis_len, np.dot(y_dir, v)))
if (axis_len > 1e-6):
axis /= axis_len
rotate = Transform.rotate(Vector(*axis), angle)
else:
axis = np.array([1.0, 0.0, 0.0])
rotate = Transform.rotate(Vector(*axis), angle)
translate = Transform.translate(Vector(*center))
cone_file = self.file_resolver.resolve("cone.ply")
cone_transform = translate * rotate * scale
setting = {
"type": "ply",
"filename": cone_file,
"toWorld": cone_transform
}
return setting
def __add_floor(self):
rotate_transform = Transform.rotate(Vector(-1, 0, 0), 90)
scale_transform = Transform.scale(Vector(100, 100, 100))
translate_transform = Transform.translate(
Vector(0.0, self.floor_height, 0.0))
total_transform = translate_transform * scale_transform\
* rotate_transform
if self.scene.active_view.background == "d":
reflectance = Spectrum(0.05)
elif self.scene.active_view.background == "l":
reflectance = Spectrum(0.5)
else:
reflectance = Spectrum(0.0)
floor = self.plgr.create({
"type": "rectangle",
"toWorld": total_transform,
"bsdf": {
"type": "roughdiffuse",
"diffuseReflectance": reflectance,
"alpha": 0.5
}
})
self.mitsuba_scene.addChild(floor)
def transform_lookAt(self, origin, target, up, scale=None):
# Blender is Z up but Mitsuba is Y up, convert the lookAt
transform = Transform.lookAt(
Point(origin[0], origin[2], -origin[1]),
Point(target[0], target[2], -target[1]),
Vector(up[0], up[2], -up[1]))
if scale is not None:
transform *= Transform.scale(Vector(scale, scale, 1))
return transform
def axis_unit_vector(axis: str):
"""
Create a unit vector along the given axis
:param axis: 3D axis x, y, or z
:return: A Vector of length one along the specified axis
"""
if axis == 'x':
return Vector(1, 0, 0)
elif axis == 'y':
return Vector(0, 1, 0)
elif axis == 'z':
return Vector(0, 0, 1)
else:
raise ValueError("Choose between x, y, and z")
def getCameraAltitudeHeight(self, main_scene_xml_file_prifix, pos_x,
pos_z):
currdir = os.path.split(os.path.realpath(__file__))[0]
sys.path.append(currdir + '/bin/rt/' + current_rt_program +
'/python/2.7/')
os.environ[
'PATH'] = currdir + '/bin/rt/' + current_rt_program + os.pathsep + os.environ[
'PATH']
import mitsuba
from mitsuba.core import Vector, Point, Ray, Thread
from mitsuba.render import SceneHandler
import platform
scenepath = session.get_scenefile_path()
fileResolver = Thread.getThread().getFileResolver()
logger = Thread.getThread().getLogger()
logger.clearAppenders()
scenepath = scenepath.encode('utf-8')
fileResolver.appendPath(scenepath)
filepath = os.path.join(session.get_scenefile_path(),
main_scene_xml_file_prifix +
terr_scene_file).encode("utf-8")
scene = SceneHandler.loadScene(fileResolver.resolve(filepath))
scene.configure()
scene.initialize()
ray = Ray()
ray.setOrigin(Point(pos_x, 999999999, pos_z))
ray.setDirection(Vector(0, -1, 0))
its = scene.rayIntersect(ray)
if not its is None:
return its.p[1]
else:
print("Camera is outside of the scene, do not use relative height")
return 0
def rayIntersect(self, o, xyz):
origin = Point(self.X(o[0]), o[2], self.Y(o[1]))
vector = Vector(-xyz[0], xyz[2], -xyz[1])
ray = Ray()
ray.setOrigin(origin)
ray.setDirection(vector)
its = self.scene.rayIntersect(ray)
if its is None:
return None
else:
itsp = its.p
return self.X(itsp[0]), self.Y(itsp[2]), itsp[1]
def __add_active_camera(self):
active_view = self.scene.active_view
camera = self.scene.active_camera
if active_view.transparent_bg:
pixel_format = "rgba"
else:
pixel_format = "rgb"
crop_bbox = np.array(camera.crop_bbox)
if np.amax(crop_bbox) <= 1.0:
# bbox is relative.
crop_bbox[:, 0] *= self.image_width
crop_bbox[:, 1] *= self.image_height
assert (np.all(crop_bbox >= 0))
assert (np.all(crop_bbox[:, 0] <= self.image_width))
assert (np.all(crop_bbox[:, 1] <= self.image_height))
mitsuba_camera = self.plgr.create({
"type":
"perspective",
"fov":
float(camera.fovy),
"fovAxis":
"y",
"toWorld":
Transform.lookAt(Point(*camera.location),
Point(*camera.look_at_point),
Vector(*camera.up_direction)),
"film": {
"type": "ldrfilm",
"width": self.image_width,
"height": self.image_height,
"cropOffsetX": int(crop_bbox[0, 0]),
"cropOffsetY": int(crop_bbox[0, 1]),
"cropWidth": int(crop_bbox[1, 0] - crop_bbox[0, 0]),
"cropHeight": int(crop_bbox[1, 1] - crop_bbox[0, 1]),
"banner": False,
"pixelFormat": pixel_format,
"rfilter": {
"type": "gaussian"
}
},
"sampler": {
"type": "halton",
"sampleCount": 4,
}
})
self.mitsuba_scene.addChild(mitsuba_camera)
def makeScene():
scene = Scene()
pmgr = PluginManager.getInstance()
# make shapes
for i in range(100):
shapeProps = Properties("sphere")
shapeProps["center"] = Point(i, i, i)
shapeProps["radius"] = 0.1
shape = pmgr.createObject(shapeProps)
shape.configure()
scene.addChild(shape)
# make perspective sensor
sensorProps = Properties("perspective")
sensorProps["toWorld"] = Transform.lookAt(Point(0, 0, 10), Point(0, 0, 0),
Vector(0, 1, 0))
sensorProps["fov"] = 45.0
sensor = pmgr.createObject(sensorProps)
# make film
filmProps = Properties("ldrfilm")
filmProps["width"] = 640
filmProps["height"] = 480
film = pmgr.createObject(filmProps)
film.configure()
sensor.addChild("film", film)
sensor.configure()
scene.addChild(sensor)
scene.configure()
return scene
def forest_generate_according_tree_pos_file_for3d(config_file_path):
import mitsuba
from mitsuba.core import Vector, Point, Ray, Thread
from mitsuba.render import SceneHandler
from mitsuba.render import RenderQueue, RenderJob
from mitsuba.render import Scene
from mitsuba.render import Intersection
f = open(config_file_path, 'r')
cfg = json.load(f)
tree_pos = combine_file_path(session.get_input_dir(),
cfg["scene"]["forest"]["tree_pos_file"])
if cfg["scene"]["forest"]["tree_pos_file"] == "" or (
not os.path.exists(tree_pos)):
return
# 读取地形数据 计算每个树的高程
if cfg["scene"]["terrain"]["terrain_type"] != "PLANE" and cfg["scene"][
"terrain"]["terrain_type"] == "RASTER":
demfile = combine_file_path(session.get_input_dir(),
cfg["scene"]["terrain"]["terr_file"])
img_w, img_h, dem_arr = RasterHelper.read_dem_as_array(demfile)
dem_arr = dem_arr - dem_arr.min()
scenepath = session.get_scenefile_path()
if "Windows" in platform.system():
scenepath = str(scenepath.replace('\\', '\\\\'))
# 得到高程信息 通过光线跟踪的方法精确得到高程信息
fileResolver = Thread.getThread().getFileResolver()
logger = Thread.getThread().getLogger()
logger.clearAppenders()
fileResolver.appendPath(scenepath)
# 由于batch模式不会改变地形几何结构，因此在用地形打点计算树木的高程时，用第一个terrain文件即可，所以加上了_0_
scene = SceneHandler.loadScene(
fileResolver.resolve(str(terr_scene_file)))
scene.configure()
scene.initialize()
tf = open(tree_pos)
objectPosFile = open(
os.path.join(session.get_input_dir(), "object_pos_3dView.txt"),
'w')
# 创建一个虚拟根节点，最后再删除
for line in tf:
arr = line.replace("\n", "").split(" ")
objectName = arr[0]
x = float(arr[1])
y = float(arr[2])
xScale = cfg["scene"]["terrain"]["extent_width"]
zScale = cfg["scene"]["terrain"]["extent_height"]
treeX = 0.5 * xScale - x
treeZ = 0.5 * zScale - y
if cfg["scene"]["terrain"]["terrain_type"] != "PLANE":
ray = Ray()
ray.setOrigin(Point(treeX, 9999, treeZ))
ray.setDirection(Vector(0, -1, 0))
its = scene.rayIntersect(ray)
if not its is None:
linestr = objectName + " " + str(treeX) + " " + str(
its.p[1]) + " " + str(treeZ) + "\n"
else:
# log("warning: precise height not found.")
if cfg["scene"]["terrain"]["terrain_type"] == "RASTER":
im_r = int((y / float(zScale)) * img_h)
im_c = int((x / float(xScale)) * img_w)
if im_r >= img_h:
im_r = img_h - 1
if im_c >= img_w:
im_c = img_w - 1
linestr = objectName + " " + str(treeX) + " " + str(
dem_arr[im_r][im_c]) + " " + str(treeZ) + "\n"
else:
linestr = objectName + " " + str(treeX) + " " + str(
0) + " " + str(treeZ) + "\n"
else:
linestr = objectName + " " + str(treeX) + " " + str(
0) + " " + str(treeZ) + "\n"
objectPosFile.write(linestr)
objectPosFile.close()
def __add_quarter(self):
scale = self.scene.active_view.scale
radius = 12.13 * scale
thickness = 0.875 * scale
face_scale = Transform.scale(Vector(radius))
tail_offset = Transform.translate(Vector(0, 0, thickness))
head_offset = Transform.translate(Vector(0, 0, -thickness)) *\
Transform.scale(Vector(1.0, 1.0, -1.0))
bbox_diag = 0.5 * norm(self.transformed_bbox_max -
self.transformed_bbox_min)
custom_transform = Transform.translate(
Vector(0.5, self.floor_height + radius + 0.01, -bbox_diag - 0.01))
head_texture = self.file_resolver.resolve("head.png")
tail_texture = self.file_resolver.resolve("tail.png")
side_texture = self.file_resolver.resolve("side.png")
quarter_ring = self.plgr.create({
"type": "cylinder",
"p0": Point(0.0, 0.0, thickness),
"p1": Point(0.0, 0.0, -thickness),
"radius": radius,
"toWorld": custom_transform,
"bsdf": {
"type": "bumpmap",
"texture": {
"type": "scale",
"scale": 0.01,
"texture": {
"type": "bitmap",
"filename": side_texture,
"gamma": 1.0,
"uscale": 100.0,
},
},
"bsdf": {
"type": "roughconductor",
"distribution": "ggx",
"alpha": 0.5,
"material": "Ni_palik"
#"diffuseReflectance": Spectrum(0.5)
}
}
})
head = self.plgr.create({
"type": "disk",
"toWorld": custom_transform * head_offset * face_scale,
"bsdf": {
"type": "diffuse",
"reflectance": {
"type": "bitmap",
"filename": head_texture
}
}
})
tail = self.plgr.create({
"type": "disk",
"toWorld": custom_transform * tail_offset * face_scale,
"bsdf": {
"type": "diffuse",
"reflectance": {
"type": "bitmap",
"filename": tail_texture
}
}
})
self.mitsuba_scene.addChild(quarter_ring)
self.mitsuba_scene.addChild(head)
self.mitsuba_scene.addChild(tail)
def forest_generate_according_tree_pos_file(config_file_path,
forest_file_name,
linestart,
lineend,
forest_prifix=""):
import mitsuba
from mitsuba.core import Vector, Point, Ray, Thread
from mitsuba.render import SceneHandler
from mitsuba.render import RenderQueue, RenderJob
from mitsuba.render import Scene
from mitsuba.render import Intersection
f = open(config_file_path, 'r')
cfg = json.load(f)
tree_pos = combine_file_path(session.get_input_dir(),
cfg["scene"]["forest"]["tree_pos_file"])
if cfg["scene"]["forest"]["tree_pos_file"] == "" or (
not os.path.exists(tree_pos)):
return
# 保存场景中树的位置 forest*.xml
# f = open(os.path.join(session.get_scenefile_path(),forest_file_name),'w')
f = codecs.open(
os.path.join(session.get_scenefile_path(), forest_file_name), "w",
"utf-8-sig")
doc = minidom.Document()
root = doc.createElement("scene")
doc.appendChild(root)
root.setAttribute("version", "0.5.0")
#读取地形数据 计算每个树的高程
if cfg["scene"]["terrain"]["terrain_type"] != "PLANE" and cfg["scene"][
"terrain"]["terrain_type"] == "RASTER":
demfile = combine_file_path(session.get_input_dir(),
cfg["scene"]["terrain"]["terr_file"])
img_w, img_h, dem_arr = RasterHelper.read_dem_as_array(demfile)
dem_arr = dem_arr - dem_arr.min()
#读取object boundingbox 数据
bound_path = os.path.join(session.get_input_dir(),
obj_bounding_box_file)
if os.path.exists(bound_path):
fobj = open(bound_path)
bound_dict = dict()
for line in fobj:
arr = line.split(":")
objName = arr[0]
arr = list(map(lambda x: float(x), arr[1].split(" ")))
bound_dict[objName] = [
arr[3] - arr[0], arr[4] - arr[1], arr[5] - arr[2]
]
scenepath = session.get_scenefile_path()
# if "Windows" in platform.system():
# scenepath = str(scenepath.replace('\\', '\\\\'))
#得到高程信息 通过光线跟踪的方法精确得到高程信息
fileResolver = Thread.getThread().getFileResolver()
logger = Thread.getThread().getLogger()
logger.clearAppenders()
fileResolver.appendPath(str(scenepath))
# 由于batch模式不会改变地形几何结构，因此在用地形打点计算树木的高程时，用第一个terrain文件即可，所以加上了_0_
# if(forest_prifix != ""):
# forest_prifix = forest_prifix[0:len(forest_prifix)-1] +"_0_"
scene = SceneHandler.loadScene(
fileResolver.resolve(str(forest_prifix + terr_scene_file)))
# scene = SceneHandler.loadScene(fileResolver.resolve(r"E:\Research\20-LESS\RealScene\SimProj\calLAI\Parameters\_scenefile\terrain1.xml"))
scene.configure()
scene.initialize()
tf = open(tree_pos)
hidden_objects = SceneGenerate.get_hidded_objects()
#创建一个虚拟根节点，最后再删除
treeIdx = 0
for line in tf:
if treeIdx >= linestart and treeIdx <= lineend:
arr = line.replace("\n", "").strip().split(" ")
objectName = arr[0]
if objectName in hidden_objects:
continue
shapenode = doc.createElement("shape")
root.appendChild(shapenode)
shapenode.setAttribute("type", "instance")
refnode = doc.createElement("ref")
shapenode.appendChild(refnode)
refnode.setAttribute("id", objectName)
trnode = doc.createElement("transform")
shapenode.appendChild(trnode)
trnode.setAttribute("name", "toWorld")
if len(arr) == 6: # fit with
scale_node = doc.createElement("scale")
trnode.appendChild(scale_node)
scale_node.setAttribute(
"x", str(float(arr[4]) / bound_dict[objectName][0]))
scale_node.setAttribute(
"z", str(float(arr[4]) / bound_dict[objectName][0]))
scale_node.setAttribute(
"y", str(float(arr[5]) / bound_dict[objectName][1]))
if len(arr) == 5: # for rotation of the tree
angle = arr[len(arr) - 1]
rotatenode = doc.createElement("rotate")
trnode.appendChild(rotatenode)
rotatenode.setAttribute("y", '1')
rotatenode.setAttribute("angle", angle)
translatenode = doc.createElement("translate")
trnode.appendChild(translatenode)
x = float(arr[1])
y = float(arr[2])
z = float(arr[3])
xScale = cfg["scene"]["terrain"]["extent_width"]
zScale = cfg["scene"]["terrain"]["extent_height"]
# treeX = xScale - x * (2 * xScale) / float(img_w)
# treeZ = zScale - y * (2 * zScale) / float(img_h)
treeX = 0.5 * xScale - x
treeZ = 0.5 * zScale - y
translatenode.setAttribute("x", str(treeX))
translatenode.setAttribute("z", str(treeZ))
if cfg["scene"]["terrain"]["terrain_type"] != "PLANE":
ray = Ray()
ray.setOrigin(Point(treeX, 9999, treeZ))
ray.setDirection(Vector(0, -1, 0))
its = scene.rayIntersect(ray)
if not its is None:
translatenode.setAttribute("y", str(its.p[1] + z))
# translatenode.setAttribute("y", str(z))
else:
# log("warning: precise height not found.")
if cfg["scene"]["terrain"]["terrain_type"] == "RASTER":
im_r = int((y / float(zScale)) * img_h)
im_c = int((x / float(xScale)) * img_w)
if im_r >= img_h:
im_r = img_h - 1
if im_c >= img_w:
im_c = img_w - 1
translatenode.setAttribute(
"y", str(dem_arr[im_r][im_c] + z))
else:
translatenode.setAttribute("y", str(z))
else:
translatenode.setAttribute("y", str(z))
treeIdx += 1
xm = doc.toprettyxml()
# xm = xm.replace('<?xml version="1.0" ?>', '')
f.write(xm)
f.close()
log("INFO: Objects and positions generated.")
def do_simulation_multiangle_seq(seqname):
currdir = os.path.split(os.path.realpath(__file__))[0]
sys.path.append(currdir + '/bin/rt/' + current_rt_program + '/python/2.7/')
os.environ['PATH'] = currdir + '/bin/rt/' + current_rt_program + os.pathsep + os.environ['PATH']
import mitsuba
from mitsuba.core import Vector, Point, Ray, Thread, Scheduler, LocalWorker, PluginManager, Transform
from mitsuba.render import SceneHandler
from mitsuba.render import RenderQueue, RenderJob
from mitsuba.render import Scene
import multiprocessing
scheduler = Scheduler.getInstance()
for i in range(0, multiprocessing.cpu_count()):
scheduler.registerWorker(LocalWorker(i, 'wrk%i' % i))
scheduler.start()
scene_path = session.get_scenefile_path()
fileResolver = Thread.getThread().getFileResolver()
fileResolver.appendPath(str(scene_path))
scene = SceneHandler.loadScene(fileResolver.resolve(
str(os.path.join(session.get_scenefile_path(), main_scene_xml_file))))
scene.configure()
scene.initialize()
queue = RenderQueue()
sceneResID = scheduler.registerResource(scene)
bsphere = scene.getKDTree().getAABB().getBSphere()
radius = bsphere.radius
targetx, targety, targetz = bsphere.center[0], bsphere.center[1], bsphere.center[2]
f = open(seqname + ".conf", 'r')
params = json.load(f)
obs_azimuth = params['seq1']['obs_azimuth']
obs_zenith = params['seq2']['obs_zenith']
cfgfile = session.get_config_file()
f = open(cfgfile, 'r')
cfg = json.load(f)
viewR = cfg["sensor"]["obs_R"]
mode = cfg["sensor"]["film_type"]
azi_arr = map(lambda x: float(x), obs_azimuth.strip().split(":")[1].split(","))
zeni_arr = map(lambda x: float(x), obs_zenith.strip().split(":")[1].split(","))
seq_header = multi_file_prefix + "_" + seqname
index = 0
for azi in azi_arr:
for zeni in zeni_arr:
distFile = os.path.join(session.get_output_dir(),
seq_header + ("_VA_%.2f" % azi).replace(".", "_") + ("_VZ_%.2f" % zeni).replace(".", "_"))
newScene = Scene(scene)
pmgr = PluginManager.getInstance()
newSensor = pmgr.createObject(scene.getSensor().getProperties())
theta = zeni / 180.0 * math.pi
phi = (azi - 90) / 180.0 * math.pi
scale_x = radius
scale_z = radius
toWorld = Transform.lookAt(
Point(targetx - viewR * math.sin(theta) * math.cos(phi), targety + viewR * math.cos(theta),
targetz - viewR * math.sin(theta) * math.sin(phi)), # original
Point(targetx, targety, targetz), # target
Vector(0, 0, 1) # up
) * Transform.scale(
Vector(scale_x, scale_z, 1) # 视场大小
)
newSensor.setWorldTransform(toWorld)
newFilm = pmgr.createObject(scene.getFilm().getProperties())
newFilm.configure()
newSensor.addChild(newFilm)
newSensor.configure()
newScene.addSensor(newSensor)
newScene.setSensor(newSensor)
newScene.setSampler(scene.getSampler())
newScene.setDestinationFile(str(distFile))
job = RenderJob('Simulation Job' + "VA_"+str(azi)+"_VZ_"+str(zeni), newScene, queue, sceneResID)
job.start()
queue.waitLeft(0)
queue.join()
# handle npy
if mode == "spectrum" and (output_format not in ("npy", "NPY")):
for azi in azi_arr:
for zeni in zeni_arr:
distFile = os.path.join(session.get_output_dir(),
seq_header + ("_VA_%.2f" % azi).replace(".", "_") + ("_VZ_%.2f" % zeni).replace(
".", "_"))
data = np.load(distFile + ".npy")
bandlist = cfg["sensor"]["bands"].split(",")
RasterHelper.saveToHdr_no_transform(data, distFile, bandlist, output_format)
os.remove(distFile + ".npy")
def vector(self, x, y, z):
# Blender is Z up but Mitsuba is Y up, convert the vector
return Vector(x, z, -y)