def setup_cameras(self):
"""Setup camera, and place at a default location"""
# get scene
scene = bpy.context.scene
# add camera, update with calibration data, and make it active for the scene
bpy.ops.object.add(type='CAMERA', location=(0.66, -0.66, 0.5))
self.cam_obj = bpy.context.object
self.cam = self.cam_obj.data
camera_utils.set_camera_info(scene, self.cam, self.config.camera_info)
# re-set camera and set rendering size
bpy.context.scene.camera = self.cam_obj
if (self.config.camera_info.width >
0) and (self.config.camera_info.height > 0):
bpy.context.scene.render.resolution_x = self.config.camera_info.width
bpy.context.scene.render.resolution_y = self.config.camera_info.height
# look at center
blnd.look_at(self.cam_obj, Vector((0.0, 0.0, 0.0)))
# get effective extrinsics
effective_intrinsic = camera_utils.get_intrinsics(scene, self.cam)
# store in configuration (and backup original values)
if self.config.camera_info.intrinsic is not None:
self.config.camera_info.original_intrinsic = self.config.camera_info.intrinsic
else:
self.config.camera_info.original_intrinsic = ''
self.config.camera_info.intrinsic = list(effective_intrinsic)
def setup_render_output(self):
# setup render output dimensions. This is not set for a specific camera,
# but in renders render environment
# first set the resolution if it was specified in the configuration
if (self.config.camera_info.width > 0) and (self.config.camera_info.height > 0):
bpy.context.scene.render.resolution_x = self.config.camera_info.width
bpy.context.scene.render.resolution_y = self.config.camera_info.height
# Setting the resolution can have an impact on the intrinsics that were
# used for rendering. Hence, we will store the effective intrinsics
# alongside.
# First, get the effective values
effective_intrinsic = camera_utils.get_intrinsics(bpy.context.scene, self.cam)
# Second, backup original intrinsics, and store effective intrinsics
if self.config.camera_info.intrinsic is not None:
self.config.camera_info.original_intrinsic = self.config.camera_info.intrinsic
else:
self.config.camera_info.original_intrinsic = ''
self.config.camera_info.intrinsic = list(effective_intrinsic)
def get_effective_intrinsics(self):
"""Get the effective intrinsics that were used during rendering.
This function will copy original values for intrinsic, sensor_width, and
focal_length, and fov, to the configuration an prepend them with 'original_'. This
way, they are available in the dataset later on
"""
cam_str = self.config.scene_setup.cameras[0]
cam_name = self.get_camera_name(cam_str)
cam = bpy.data.objects[cam_name].data
# get the effective intrinsics
effective_intrinsic = camera_utils.get_intrinsics(bpy.context.scene, cam)
# store in configuration (and backup original values)
if self.config.camera_info.intrinsic is not None:
self.config.camera_info.original_intrinsic = self.config.camera_info.intrinsic
else:
self.config.camera_info.original_intrinsic = ''
self.config.camera_info.intrinsic = list(effective_intrinsic)