def render_data(render_image=True, render_annotation=True):
t0 = time.time()
scene = bpy.data.scenes[0]
render = scene.render
t0 = time.time()
# render = scene
for hook_name, hook in befor_render_data_hooks.items():
hook()
befor_render_data_hooks.clear()
path = tempfile.NamedTemporaryFile().name
render_result = {}
if render_image:
render_result["image"] = _render_image()
if render_annotation:
exr_path = path + ".exr"
with set_inst_material(), set_annotation_render(), withattr(
render, "filepath", exr_path
):
bpy.ops.render.render(write_still=True)
render_result["exr"] = parser_exr(exr_path)
os.remove(exr_path)
result = ImageWithAnnotation(**render_result)
# if "render_6d_pose" and render_annotation:
# objs = [obj for obj in bpy.data.objects if "inst_id" in obj]
# ycb_6d_pose = get_6d_pose(objs, inst=result["inst"])
# result["ycb_6d_pose"] = ycb_6d_pose
return result
def render_data(render_image=True, render_annotation=True):
path = pathjoin(tempfile.gettempdir(), "render_" + str(time.time()))
render_result = {}
if render_image:
png_path = path + ".png"
with set_image_render(), withattr(render, "filepath", png_path):
print("Render image using:", render.engine)
bpy.ops.render.render(write_still=True)
render_result["image"] = imread(png_path)
os.remove(png_path)
if render_annotation:
exr_path = path + ".exr"
with set_inst_material(), set_annotation_render(), withattr(
render, "filepath", exr_path
):
print("Render annotation using:", render.engine)
bpy.ops.render.render(write_still=True)
render_result["exr"] = parser_exr(exr_path)
os.remove(exr_path)
result = ImageWithAnnotation(**render_result)
if "render_6dof_pose" and "Camera" in bpy.data.objects:
objs = [obj for obj in bpy.data.objects if "inst_id" in obj]
ycb_meta = get_6dof_pose(bpy.data.objects["Camera"], objs, inst=result["inst"])
result["ycb_meta"] = ycb_meta
return result
def render_image():
render = bpy.data.scenes[0].render
png_path = tempfile.NamedTemporaryFile().name + ".png"
with set_image_render(), withattr(render, "filepath", png_path):
bpy.ops.render.render(write_still=True)
image = imread(png_path)[..., :3]
os.remove(png_path)
return image
def render_data(render_image=True,
render_annotation=True,
render_6d_pose=False):
scene = bpy.data.scenes[0]
render = scene.render
for hook_name, hook in befor_render_data_hooks.items():
print(f"Run befor_render_data_hooks[{hook_name}]")
hook()
befor_render_data_hooks.clear()
render_result = {}
if render_image:
render_result["image"] = _render_image()
if render_annotation:
"""
实例分割渲染
"""
inst_path = tempfile.NamedTemporaryFile().name
inst_exr_path = inst_path + ".exr"
with set_inst_material(), set_annotation_render(), withattr(
render, "filepath", inst_exr_path):
print("Render annotation using:", render.engine)
bpy.ops.render.render(write_still=True)
render_result["exr"] = parser_exr(inst_exr_path)
os.remove(inst_exr_path)
"""
语义分割渲染
"""
sem_path = tempfile.NamedTemporaryFile().name
sem_path_exr_path = sem_path + ".exr"
with set_sem_material(), set_annotation_render(), withattr(
render, "filepath", sem_path_exr_path):
print("Render annotation using:", render.engine)
bpy.ops.render.render(write_still=True)
sem_exr = parser_exr(sem_path_exr_path)
os.remove(sem_path_exr_path)
result = ImageWithAnnotation(**render_result)
if render_annotation:
result["sem"] = sem_exr.get_inst()
if render_6d_pose and render_annotation:
objs = [obj for obj in bpy.data.objects if "inst_id" in obj]
ycb_6d_pose = get_6d_pose(objs, inst=result["inst"])
result["ycb_6d_pose"] = ycb_6d_pose
return result