Tidy blender python script

SDK/Python/blender_script.py

@@ -140,34 +140,18 @@ def render():
     rl = tree.nodes.new('CompositorNodeRLayers')
 
     v = tree.nodes.new('CompositorNodeViewer')
-    v.use_alpha = False
-
-    #setup the depthmap calculation using blender's mist function:
-    #bpy.context.scene.render.layers['RenderLayer'].use_pass_mist = True
-    #bpy.context.scene.view_layers["View Layer"].use_pass_mist = True
-    #the depthmap can be calculated as the distance between objects and camera ('LINEAR'), or square/inverse square of the distance ('QUADRATIC'/'INVERSEQUADRATIC'):
-    bpy.context.scene.world.mist_settings.falloff = 'LINEAR'
-    #minimum depth:
-    bpy.context.scene.world.mist_settings.intensity = 0.1
-    #maximum depth (can be changed depending on the scene geometry to normalize the depth map whatever the camera orientation and position is):
-    bpy.context.scene.world.mist_settings.depth = 8.0
-
-    links.new(rl.outputs['Depth'],v.inputs['Image'])
-    bpy.ops.render.render()
-    pixels = bpy.data.images['Viewer Node']
-    depthim = (np.array(pixels.pixels[:]).reshape((pixels.size[1], pixels.size[0], pixels.channels))[:,:,0]).astype(np.float32)
-    # set invalid depth values to 0.0
-    depthim[depthim >= _d_max] = 0.0
-
-    print(np.amax(depthim))
+    v.use_alpha = True
 
     links.new(rl.outputs['Image'], v.inputs['Image'])
     # depth cannot be accessed in python; hack uses alpha to store z-values
-    #links.new(rl.outputs['Depth'], v.inputs['Alpha'])
+    links.new(rl.outputs['Depth'], v.inputs['Alpha'])
 
     bpy.ops.render.render()
-    pixels2 = bpy.data.images['Viewer Node']
-    im = np.array(pixels2.pixels[:]).reshape((pixels2.size[1], pixels2.size[0], pixels2.channels))
+    pixels = bpy.data.images['Viewer Node']
+    im = np.array(pixels.pixels[:]).reshape((pixels.size[1], pixels.size[0], pixels.channels))
+    depthim = (np.array(pixels.pixels[:]).reshape((pixels.size[1], pixels.size[0], pixels.channels))[:,:,3]).astype(np.float32)
+    # set invalid depth values to 0.0
+    depthim[depthim >= _d_max] = 0.0
     
     return (im[:,:,0:3]*255.0).astype(np.uint8), depthim
 
@@ -181,7 +165,7 @@ def render_stereo(camera, baseline=0.15):
     
     imR, depthR = render()
     
-    camera_location = location_old
+    camera.location = location_old
     
     return StereoImage(np.array(K), pose, baseline, imL, depthL, imR, depthR)
 
@@ -217,8 +201,8 @@ scale = bpy.context.scene.render.resolution_percentage / 100
 resolution_x_in_px = scale * bpy.context.scene.render.resolution_x
 resolution_y_in_px = scale * bpy.context.scene.render.resolution_y
 
-err = ftlIntrinsicsWriteLeft(c_void_p(stream), c_int(0), c_int(int(resolution_x_in_px)), c_int(int(resolution_y_in_px)), c_float(300.0), c_float(-resolution_x_in_px/2), c_float(-resolution_y_in_px/2), c_float(0.1), c_float(0.1), c_float(8.0))
-err = ftlIntrinsicsWriteRight(c_void_p(stream), c_int(0), c_int(int(resolution_x_in_px)), c_int(int(resolution_y_in_px)), c_float(300.0), c_float(-resolution_x_in_px/2), c_float(-resolution_y_in_px/2), c_float(0.1), c_float(0.1), c_float(8.0))
+err = ftlIntrinsicsWriteLeft(c_void_p(stream), c_int(0), c_int(int(resolution_x_in_px)), c_int(int(resolution_y_in_px)), c_float(300.0), c_float(-resolution_x_in_px/2), c_float(-resolution_y_in_px/2), c_float(0.1), c_float(0.1), c_float(16.0))
+err = ftlIntrinsicsWriteRight(c_void_p(stream), c_int(0), c_int(int(resolution_x_in_px)), c_int(int(resolution_y_in_px)), c_float(300.0), c_float(-resolution_x_in_px/2), c_float(-resolution_y_in_px/2), c_float(0.1), c_float(0.1), c_float(16.0))
 print(err)
 err = ftlImageWrite(stream, 0, 0, 3, 0, image.imL.ctypes.data_as(c_void_p))
 print(err)