def main():
# ip = MovieImageProvider("resources/Video4.avi",0,70)
global camera
camera = Camera()
camera.load_from_file("../resources/camera_params.xml")
global rng
rng = RNG()
glutInit()
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE)
glutInitWindowPosition(2000, 0)
glutInitWindowSize(640, 480)
glutCreateWindow("AR")
glShadeModel(GL_SMOOTH)
glEnable(GL_DEPTH_TEST)
glutDisplayFunc(draw)
glutReshapeFunc(reshape)
def idle(int):
glutPostRedisplay()
glutTimerFunc(50, idle, 0)
glutKeyboardFunc(key)
glutSpecialFunc(key)
glutTimerFunc(50, idle, 0)
glutMainLoop()
pass
def main():
#ip = MovieImageProvider("resources/Video4.avi",0,70)
global camera
camera = Camera()
camera.load_from_file("../resources/camera_params.xml")
global rng
rng = RNG()
glutInit()
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE)
glutInitWindowPosition(2000, 0)
glutInitWindowSize(640, 480)
glutCreateWindow("AR")
glShadeModel(GL_SMOOTH)
glEnable(GL_DEPTH_TEST)
glutDisplayFunc(draw)
glutReshapeFunc(reshape)
def idle(int):
glutPostRedisplay()
glutTimerFunc(50, idle, 0)
glutKeyboardFunc(key)
glutSpecialFunc(key)
glutTimerFunc(50, idle, 0)
glutMainLoop()
pass
def parse_scene_json(scene_json):
"""
Param: scene_file - json file of scene description
Returns: Scene obj to render
"""
with open(scene_json, 'r') as scene_des:
scene = json.loads(scene_des.read())['scene']
# objects, lights, camera = scene['shapes'], scene['lights'], scene['camera']
cam = Camera(**scene['camera'])
lights = []
for i in range(len(scene['lights'])):
if scene['lights'][i]['type'] == 'point':
lights.append(PointLight(**scene['lights'][i]))
elif scene['lights'][i]['type'] == 'directional':
lights.append(DirLight(**scene['lights'][i]))
objects = []
for obj in scene['shapes']:
kwargs = obj['geomParams']
if obj['mat_type'] == 'base':
obj_type = RefBlinnMaterial
elif obj['mat_type'] == 'transmissive':
obj_type = TransmissiveMaterial
elif obj['mat_type'] == 'reflective':
obj_type = ReflectiveMaterial
elif obj['mat_type'] == 'path_blinn':
obj_type = PathBlinnMaterial
kwargs.update({'material': obj_type(**obj['material'])})
if obj['geometry'] == 'sphere':
scene_obj = Sphere(**kwargs)
elif obj['geometry'] == 'cylinder':
scene_obj = Cylinder(**kwargs)
elif obj['geometry'] == 'plane':
scene_obj = Plane(**kwargs)
elif obj['geometry'] == 'triangle':
scene_obj = Triangle(**kwargs)
elif obj['geometry'] == 'cone':
scene_obj = Cone(**kwargs)
elif obj['geometry'] == 'cuboid':
scene_obj = Cuboid(**kwargs)
objects.append(scene_obj)
return Scene(cam, lights, objects)
def run(width, height, colors_to_randomize, random_factor, settings):
'''passos:'''
"""1) camera
1.1) normalizar N
1.2) V = V - proj N (V)
1.3) U = N x V")
t1.4) alfa = UNV = {U, N, V}"""
cam = Camera(settings.camera_input)
"""2) cena"""
sc = scene.Scene(settings.object_input, settings.iluminacao_input)
"""2.1) passar a posição da fonte de luz de coordenadas de mundo para coordenadas de vista"""
pl_view = cam.to_view_coordinate_system(sc.pl)
sc.pl = pl_view
"""2.2) para cada ponto do objeto, projete-o para coordenadas de vista"""
for p in sc.points:
sc.view_coordinates.append(cam.to_view_coordinate_system(p))
"""
2.3) inicializar as normais de todos os pontos do objeto com zero
2.4) para cada triângulo calcular a normal do triângulo e normalizá-la. somar ela à normal
de cada um dos 3 pontos (vértices do triângulo) e cria os Triangulos com vertices em coordenada de vista
"""
for t in sc.triangles:
p1, p2, p3 = sc.view_coordinates[t[0] - 1], sc.view_coordinates[
t[1] - 1], sc.view_coordinates[t[2] - 1]
tr_normal = cam.get_triangle_normal(p1, p2, p3)
tr_normal = operations.vector.normalize(tr_normal)
sc.triangles_view_objects.append(Triangle(p1, p2, p3, norm=tr_normal))
sc.points_normal[t[0] - 1] += tr_normal
sc.points_normal[t[1] - 1] += tr_normal
sc.points_normal[t[2] - 1] += tr_normal
for i in range(len(sc.points_normal)):
sc.points_normal[i] = operations.vector.normalize(sc.points_normal[i])
"""2.6) para cada ponto do obj, projete-o para coord de tela 2D, sem descartar os pontos em coord 3D"""
for vp in sc.view_coordinates:
sc.screen_coordinates.append(cam.to_screen_coordinate_system(vp))
"""2.7) Inicializa z-buffer."""
sc.init_zbuffer(width, height)
#passando os triângulos para coordenadas de tela
sc.create_triangle_screen_objects()
"""2.8) Realiza a varredura nos triangulos em coordenada de tela."""
sc.rasterize_screen_triangles(colors_to_randomize, random_factor)
return sc
# Renderfunktion - wird pro Pixel aufgerufen
def render_pix(x, y, color):
img.put(color.toValidatedHexString(), (x, HEIGHT-y))
if x%320 == 0:
canvas.update()
# Fenster & Canvas aufbauen
mw = Tk()
mw._root().wm_title("Raytracer")
cFrame = Frame(mw, width=WIDTH, height=HEIGHT)
cFrame.pack()
canvas = Canvas(cFrame, width=WIDTH, height=HEIGHT, bg="white")
# Bild für Pixelunterstützung
img = PhotoImage(width=WIDTH, height=HEIGHT)
canvas.create_image(0, 0, image=img, anchor=NW)
canvas.pack()
# camera initialisieren
camera = Camera(Point(0,2,10), Vector(0,1,0), Point(0,3,0), FIELD_OF_VIEW)
camera.setScreenSize(WIDTH, HEIGHT)
# Anfangen zu Rendern, nachdem Canvas sichtbar ist
mw.wait_visibility()
camera.render(render_pix, objectList, lightList, level=RENDER_LEVEL)
# start
mw.mainloop()
def main():
##############################################
## ASSET LOADING ##
##############################################
hdrs, balls, grasses = util.load_assets()
##############################################
## ENVIRONMENT SETUP ##
##############################################
with open(hdrs[0]["info_path"], "r") as f:
env_info = json.load(f)
render_layer_toggle, world = util.setup_environment(hdrs[0], env_info)
##############################################
## SCENE CONSTRUCTION ##
##############################################
# Construct our default UV sphere ball
ball = Ball("Ball", scene_config.resources["ball"]["mask"]["index"],
balls[0])
# Construct our goals
goals = [
Goal(scene_config.resources["goal"]["mask"]["index"]),
Goal(scene_config.resources["goal"]["mask"]["index"]),
]
# Create robots to fill the scene
robots = [
Robot(
"r{}".format(ii),
scene_config.resources["robot"]["mask"]["index"],
scene_config.resources["robot"],
) for ii in range(scene_config.num_robots + 1)
]
# Construct our shadowcatcher
shadowcatcher = ShadowCatcher()
# Generate a new configuration for field configuration
config = scene_config.configure_scene()
# Construct our grass field
field = Field(scene_config.resources["field"]["mask"]["index"])
# Construct cameras
cam_l = Camera("Camera_L")
cam_r = Camera("Camera_R")
# Set left camera to be parent camera
# (and so all right camera movements are relative to the left camera position)
cam_r.set_stereo_pair(cam_l.obj)
# Attach camera to robot head (TODO: Remove hard-coded torso to cam offset)
cam_l.obj.delta_rotation_euler = (pi / 2.0, 0.0, -pi / 2.0)
cam_l.set_robot(robots[0].obj, robots[0].obj.location[2] + 0.33)
# Disable rendering of head if camera is now inside
robots[0].objs[robots[0].name + "_Head"].hide_render = True
# Create camera anchor target for random field images
anch = CameraAnchor()
# Add randomly generated shapes into scene
shapes = [
Shape("s{}".format(ii), 0) for ii in range(scene_config.num_shapes)
]
##############################################
## SCENE UPDATE ##
##############################################
for frame_num in range(1, out_cfg.num_images + 1):
# Generate a new configuration
config = scene_config.configure_scene()
cam_l.update(config["camera"])
# Update shapes
for ii in range(len(shapes)):
shapes[ii].update(config["shape"][ii])
# Select the ball, environment, and grass to use
hdr_data = random.choice(hdrs)
ball_data = random.choice(balls)
grass_data = random.choice(grasses)
# Load the environment information
with open(hdr_data["info_path"], "r") as f:
env_info = json.load(f)
is_semi_synthetic = (not env_info["to_draw"]["goal"]
or not env_info["to_draw"]["field"])
# In that case we must use the height provided by the file
if is_semi_synthetic:
config["robot"][0]["position"] = (
0.0,
0.0,
env_info["position"]["z"] - 0.33,
)
# Calculate camera location
camera_loc = (0.0, 0.0, env_info["position"]["z"])
# Only move camera robot if we're generating the field
robot_start = 1 if is_semi_synthetic else 0
points_on_field = util.point_on_field(camera_loc,
hdr_data["mask_path"], env_info,
len(robots) + 1)
print(points_on_field)
for ii in range(robot_start, len(robots)):
# If we are autoplacing update the configuration
if (config["robot"][ii]["auto_position"] and is_semi_synthetic
and len(points_on_field) > 0):
# Generate new ground point based on camera (actually robot parent of camera)
config["robot"][ii]["position"] = (
points_on_field[ii][0],
points_on_field[ii][1],
env_info["position"]["z"] -
0.33 if ii == 0 else config["robot"][ii]["position"][2],
)
# Update robot (and camera)
robots[ii].update(config["robot"][ii])
# Update ball
# If we are autoplacing update the configuration
if (config["ball"]["auto_position"] and is_semi_synthetic
and len(points_on_field) > 0):
# Generate new ground point based on camera (actually robot parent of camera)
config["ball"]["position"] = (
points_on_field[0][0],
points_on_field[0][1],
config["ball"]["position"][2],
)
# Apply the updates
field.update(grass_data, config["field"])
ball.update(ball_data, config["ball"])
# Update goals
for g in goals:
g.update(config["goal"])
goals[1].rotate((0, 0, pi))
goal_height_offset = -3.0 if config["goal"][
"shape"] == "square" else -1.0
goals[0].move((
config["field"]["length"] / 2.0,
0,
config["goal"]["height"] +
goal_height_offset * config["goal"]["post_width"],
))
goals[1].move((
-config["field"]["length"] / 2.0,
0,
config["goal"]["height"] +
goal_height_offset * config["goal"]["post_width"],
))
# Hide objects based on environment map
ball.obj.hide_render = not env_info["to_draw"]["ball"]
field.hide_render(not env_info["to_draw"]["field"])
goals[0].hide_render(not env_info["to_draw"]["goal"])
goals[1].hide_render(not env_info["to_draw"]["goal"])
# Update anchor
anch.update(config["anchor"])
# Set a tracking target randomly to anchor/ball or goal
valid_tracks = []
if env_info["to_draw"]["ball"]: # Only track balls if it's rendered
valid_tracks.append(ball)
if env_info["to_draw"]["goal"]: # Only track goals if they're rendered
valid_tracks.append(random.choice(goals))
if env_info["to_draw"][
"field"]: # Only pick random points if the field is rendered
valid_tracks.append(anch)
tracking_target = random.choice(valid_tracks).obj
cam_l.set_tracking_target(tracking_target)
robots[0].set_tracking_target(tracking_target)
print('[INFO] Frame {0}: ball: "{1}", map: "{2}", target: {3}'.format(
frame_num,
os.path.basename(ball_data["colour_path"]),
os.path.basename(hdr_data["raw_path"]),
tracking_target.name,
))
# Updates scene to rectify rotation and location matrices
bpy.context.view_layer.update()
##############################################
## RENDERING ##
##############################################
filename = str(frame_num).zfill(out_cfg.filename_len)
if out_cfg.output_depth:
# Set depth filename
render_layer_toggle[2].file_slots[0].path = filename + ".exr"
# Render for the main camera only
bpy.context.scene.camera = cam_l.obj
# Use multiview stereo if stereo output is enabled
# (this will automatically render the second camera)
if out_cfg.output_stereo:
bpy.context.scene.render.use_multiview = True
# Render raw image
util.render_image(
isMaskImage=False,
toggle=render_layer_toggle,
shadowcatcher=shadowcatcher,
world=world,
env=env,
hdr_path=hdr_data["raw_path"],
strength=config["environment"]["strength"],
env_info=env_info,
output_path=os.path.join(out_cfg.image_dir,
"{}.png".format(filename)),
)
# Render mask image
util.render_image(
isMaskImage=True,
toggle=render_layer_toggle,
shadowcatcher=shadowcatcher,
world=world,
env=env,
hdr_path=hdr_data["mask_path"],
strength=1.0,
env_info=env_info,
output_path=os.path.join(out_cfg.mask_dir,
"{}.png".format(filename)),
)
if out_cfg.output_depth:
# Rename our mis-named depth file(s) due to Blender's file output node naming scheme!
if out_cfg.output_stereo:
os.rename(
os.path.join(out_cfg.depth_dir, filename) + "_L.exr0001",
os.path.join(out_cfg.depth_dir, filename) + "_L.exr",
)
os.rename(
os.path.join(out_cfg.depth_dir, filename) + "_R.exr0001",
os.path.join(out_cfg.depth_dir, filename) + "_R.exr",
)
else:
os.rename(
os.path.join(out_cfg.depth_dir, filename) + ".exr0001",
os.path.join(out_cfg.depth_dir, filename) + ".exr",
)
# Generate meta file
with open(os.path.join(out_cfg.meta_dir, "{}.yaml".format(filename)),
"w") as meta_file:
# Gather metadata
meta = config
meta.update({"rendered": env_info["to_draw"]})
# Add basic camera information
meta["camera"]["focus"] = tracking_target.name
meta["camera"]["lens"] = {}
meta["camera"]["lens"]["sensor_height"] = cam_l.cam.sensor_height
meta["camera"]["lens"]["sensor_width"] = cam_l.cam.sensor_width
# Add the final camera matrices
if not out_cfg.output_stereo:
meta["camera"]["matrix"] = util.matrix_to_list(
cam_l.obj.matrix_world)
else:
template = meta["camera"]
meta["camera"] = {
"left": {
**template,
"matrix":
util.matrix_to_list(cam_l.obj.matrix_world),
},
"right": {
**template,
"matrix":
util.matrix_to_list(cam_r.obj.matrix_world),
},
}
meta["environment"]["file"] = os.path.relpath(
hdr_data["raw_path"], scene_config.res_path)
# Write metadata to file
json.dump(meta, meta_file, indent=4, sort_keys=True)
def render_pix(x, y, color):
img.put(color.toValidatedHexString(), (x, HEIGHT - y))
if x % 320 == 0:
canvas.update()
# Fenster & Canvas aufbauen
mw = Tk()
mw._root().wm_title("Raytracer")
cFrame = Frame(mw, width=WIDTH, height=HEIGHT)
cFrame.pack()
canvas = Canvas(cFrame, width=WIDTH, height=HEIGHT, bg="white")
# Bild für Pixelunterstützung
img = PhotoImage(width=WIDTH, height=HEIGHT)
canvas.create_image(0, 0, image=img, anchor=NW)
canvas.pack()
# camera initialisieren
camera = Camera(Point(0, 2, 10), Vector(0, 1, 0), Point(0, 3, 0),
FIELD_OF_VIEW)
camera.setScreenSize(WIDTH, HEIGHT)
# Anfangen zu Rendern, nachdem Canvas sichtbar ist
mw.wait_visibility()
camera.render(render_pix, objectList, lightList, level=RENDER_LEVEL)
# start
mw.mainloop()