update scripts in web_p (dataset, train)
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3 changed files with 256 additions and 29 deletions
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@ -8,6 +8,7 @@ import blenderproc as bproc
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02.05.2024 @shalenikol release 0.1
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02.07.2024 @shalenikol release 0.2
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28.10.2024 @shalenikol release 0.3
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28.02.2025 @shalenikol release 0.4 blenderproc 2.8.0 + blender 4.2.1 LTS
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"""
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import numpy as np
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import argparse
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@ -16,17 +17,32 @@ import os
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import shutil
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import json
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from pathlib import Path
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import time
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###########################
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# !!! чтобы избежать ошибки в версии 2.8.0
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# free(): invalid pointer
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# при вызове bproc.writer.write_bop
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import pyrender
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from pyrender.platforms import egl
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###########################
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start_time = time.time() # Запоминаем время начала
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import bpy
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VHACD_PATH = "blenderproc_resources/vhacd"
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DIR_MODELS = "models"
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DIR_MESH = "assets/libs/objects/"
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# DIR_MESH = "assets/libs/objects/"
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FILE_LOG_SCENE = "res.txt"
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FILE_RBS_INFO = "rbs_info.json"
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FILE_GT_COCO = "scene_gt_coco.json"
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EXT_MODELS = ".fbx"
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FILE_PARAMS = "form.json"
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PROCEDURAL_TEXTURE = "texture_path" # key in randomization params: for texture types (Noise Textures), (Procedural Patterns) or (Tileable Textures)
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EXT_MODELS = ".fbx" # for scene objects (floor ...)
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DETAIL_KEY = "daeUrl" # "fbx" # key in dict 'Detail' for mesh path of model
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TEXTURE_TMPL = "*.jpg"
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TEXTURE_IMAGE_TYPES = ["Base Color", "Metallic", "Normal", "Roughness", "Specular IOR Level"]
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Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует
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@ -57,19 +73,50 @@ def convert2relative(height, width, bbox):
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y += h/2
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return x/width, y/height, w/width, h/height
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def convert_seconds(total_seconds):
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hours = int(total_seconds // 3600)
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minutes = int((total_seconds % 3600) // 60)
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seconds = int(total_seconds % 60)
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return f"{hours:02}:{minutes:02}:{seconds:02}"
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def render() -> int:
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res_dir = rnd_par.output_dir
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log_dir = os.path.dirname(res_dir)
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# copy file with randomization params
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file_params = os.path.join(res_dir, FILE_PARAMS)
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if os.path.isfile(file_params):
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shutil.copy2(file_params, log_dir)
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if os.path.isdir(res_dir):
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shutil.rmtree(res_dir)
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i = 0
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for obj in all_meshs:
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# Make the object actively participate in the physics simulation
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obj.enable_rigidbody(active=True, collision_shape="COMPOUND")
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# Also use convex decomposition as collision shapes
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obj.build_convex_decomposition_collision_shape(VHACD_PATH)
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# # это для procedural texture, но пока не правильно
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# fn = (os.path.splitext(rnd_par.models.filenames[i]))[0] + ".jpg" # файл с текстурой
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# if os.path.isfile(fn):
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# material = bproc.material.create_material_from_texture(fn, material_name="texture_model"+str(i))
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# # Применяем текстуру к материалу
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# obj.replace_materials(material)
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tex = rnd_par.models.textures[i] # описание текстур
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if tex["is"]:
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mat = bproc.material.create("m"+str(i))
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for x in tex["t_images"]:
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key = list(x.keys())[0]
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mat.set_principled_shader_value(key, bpy.data.images.load(filepath=x[key]))
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obj.replace_materials(mat)
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i += 1
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# print(f"{i} : {obj.get_name()}")
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objs = all_meshs + rnd_par.scene.objs
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log_txt = os.path.join(os.path.dirname(rnd_par.output_dir), FILE_LOG_SCENE)
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log_txt = os.path.join(log_dir, FILE_LOG_SCENE)
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with open(log_txt, "w") as fh:
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for i,o in enumerate(objs):
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loc = o.get_location()
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@ -91,23 +138,21 @@ def render() -> int:
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rnd_par.image_size_wh[1],
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lens_unit="FOV")
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# Enable transparency so the background becomes transparent
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bproc.renderer.set_output_format(enable_transparency=True) # ???
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# add segmentation masks (per class and per instance)
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bproc.renderer.enable_segmentation_output(map_by=["category_id", "instance", "name"])
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# activate depth rendering
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bproc.renderer.enable_depth_output(activate_antialiasing=False)
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# res_dir = os.path.join(rnd_par.output_dir, rnd_par.ds_name)
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res_dir = rnd_par.output_dir
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if os.path.isdir(res_dir):
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shutil.rmtree(res_dir)
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# Цикл рендеринга
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# Do multiple times: Position the shapenet objects using the physics simulator and render X images with random camera poses
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for r in range(rnd_par.n_series):
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print(f"********** Series : {r+1}")
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is_texture = True if "texture_path" in rnd_par.models_randomization else False
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is_texture = True if PROCEDURAL_TEXTURE in rnd_par.models_randomization else False
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if is_texture:
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val = rnd_par.models_randomization["texture_path"]
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val = rnd_par.models_randomization[PROCEDURAL_TEXTURE]
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l_texture = _get_list_texture(val)
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image = bpy.data.images.load(filepath=str(l_texture[r % len(l_texture)]))
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# один случайный объект в кадре / все заданные объекты
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@ -125,16 +170,32 @@ def render() -> int:
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for i,o in enumerate(rnd_par.scene.objs): # объекты сцены
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rnd_mat = rnd_par.scene.obj_data[i]["material_randomization"]
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# if PROCEDURAL_TEXTURE in rnd_mat: # путь к текстурам (*.jpg)
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# mat = bproc.material.create("m"+str(i))
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# # for x in tex["t_images"]:
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# # key = list(x.keys())[0]
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# val = rnd_mat[PROCEDURAL_TEXTURE]
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# val = _get_list_texture(val)
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# image = bpy.data.images.load(filepath=str(random.choice(val)))
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# mat.set_principled_shader_value("Base Color", image)
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# o.replace_materials(mat)
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mats = o.get_materials() #[0]
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for mat in mats:
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# with open(log_txt, "a") as fh:
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# fh.write("************* mat\n")
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# fh.write(f"{mat}\n")
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val = rnd_mat["specular"]
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mat.set_principled_shader_value("Specular", random.uniform(val[0], val[1]))
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mat.set_principled_shader_value("Specular IOR Level", random.uniform(val[0], val[1])) # для Blender < 4.2 было "Specular"
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val = rnd_mat["roughness"]
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mat.set_principled_shader_value("Roughness", random.uniform(val[0], val[1]))
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val = rnd_mat["metallic"]
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mat.set_principled_shader_value("Metallic", random.uniform(val[0], val[1]))
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if "texture_path" in rnd_mat: # путь к текстурам (*.jpg)
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val = rnd_mat["texture_path"]
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if PROCEDURAL_TEXTURE in rnd_mat: # путь к текстурам (*.jpg)
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val = rnd_mat[PROCEDURAL_TEXTURE]
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val = _get_list_texture(val)
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image = bpy.data.images.load(filepath=str(random.choice(val)))
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mat.set_principled_shader_value("Base Color", image)
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@ -156,7 +217,7 @@ def render() -> int:
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# Define a function that samples 6-DoF poses
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def sample_pose(obj: bproc.types.MeshObject):
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obj.set_location(np.random.uniform(rnd_par.loc_range_low, rnd_par.loc_range_high)) #[-1, -1, 0], [1, 1, 2]))
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obj.set_rotation_euler(bproc.sampler.uniformSO3())
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obj.set_rotation_euler(bproc.sampler.uniformSO3(around_x=rnd_par.around_x, around_y=rnd_par.around_y, around_z=rnd_par.around_z))
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# Sample the poses of all shapenet objects above the ground without any collisions in-between
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bproc.object.sample_poses(meshs,
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@ -232,7 +293,12 @@ def render() -> int:
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rec["name"] = objn
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rec["model"] = os.path.join(DIR_MODELS, os.path.split(rnd_par.models.filenames[i])[1]) # путь относительный
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t = [obj.get_bound_box(local_coords=True).tolist() for obj in all_meshs if obj.get_name() == objn]
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rec["cuboid"] = t[0]
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if len(t) > 0:
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rec["cuboid"] = t[0]
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else: # object name does not match file name
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rec["Error"] = "!!! object name does not match file name: cuboid is zero"
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rec["cuboid"] = np.zeros((8, 3)).tolist()
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data.append(rec)
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shutil.copy2(rnd_par.models.filenames[i], models_dir)
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f = (os.path.splitext(rnd_par.models.filenames[i]))[0] + ".mtl" # файл материала
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@ -283,9 +349,37 @@ def render() -> int:
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if Not_Categories_Name:
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explore(res_dir)
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end_time = time.time() # время окончания
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execution_time = end_time - start_time # время выполнения
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with open(log_txt, "a") as fh:
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fh.write("*****************\n")
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fh.write(f"Время выполнения: {convert_seconds(execution_time)}\n")
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return 0 # success
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def _get_models(par, data) -> int:
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def set_texture_model(name: str, textures: list, model_d) -> None:
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"""
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textures заполняется массивом текстур вида:
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[{"is": True, "t_images": [{"Base Color":"/path/to/shkaf_d.png"}, {"Normal":"/path/to/shkaf_n.png"}] }, ... ]
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"""
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d = {"is": False}
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if "models" in model_d:
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for model in model_d["models"]:
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if model["name"] == name:
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path = model["texture_dir"].strip()
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if path:
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t_images = []
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for x in TEXTURE_IMAGE_TYPES:
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if x in model:
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rel_path = model[x].strip()
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if rel_path:
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t_images.append({x: os.path.join(path, rel_path)})
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if len(t_images):
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d["is"] = True
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d["t_images"] = t_images
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textures.append(d)
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def _get_models(par, data, models_data) -> int:
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global all_meshs
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par.models = lambda: None
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@ -294,13 +388,14 @@ def _get_models(par, data) -> int:
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return 0 # no models
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# загрузим объекты
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par.models.names = [] # obj_names
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par.models.filenames = [] # obj_filenames
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par.models.names = []
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par.models.filenames = []
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par.models.textures = []
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i = 1
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for f in data:
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nam = f["name"]
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par.models.names.append(nam)
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ff = f["fbx"] # _get_path_model(nam)
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ff = f[DETAIL_KEY] # _get_path_model(nam)
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par.models.filenames.append(ff)
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if not os.path.isfile(ff):
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print(f"Error: no such file '{ff}'")
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@ -311,6 +406,7 @@ def _get_models(par, data) -> int:
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obj = bproc.loader.load_obj(ff)
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all_meshs += obj
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obj[0].set_cp("category_id", i) # начиная с 1
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set_texture_model(nam, par.models.textures, models_data)
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i += 1
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return par.models.n_item
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@ -370,8 +466,6 @@ if __name__ == "__main__":
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print(f"JSon error: {e}")
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exit(-2)
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# output_dir = args.path
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ds_cfg = cfg["output"] # dataset config
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generation = ds_cfg["generation"]
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cam_pos = ds_cfg["camera_position"]
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@ -399,11 +493,14 @@ if __name__ == "__main__":
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rnd_par.models_randomization = models_randomization
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rnd_par.loc_range_low = models_randomization["loc_range_low"]
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rnd_par.loc_range_high = models_randomization["loc_range_high"]
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rnd_par.around_x = (models_randomization["around_x"] == "True")
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rnd_par.around_y = (models_randomization["around_y"] == "True")
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rnd_par.around_z = (models_randomization["around_z"] == "True")
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bproc.init()
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all_meshs = []
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if _get_models(rnd_par, rnd_par.dataset_objs) <= 0:
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if _get_models(rnd_par, rnd_par.dataset_objs, models_randomization) <= 0:
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print("Error: no models in config")
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exit(-4)
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if _get_scene(rnd_par, ds_cfg["scene"]) <= 0:
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