From a7b7d49f6f63dac87dff022b89e79f697e146c2d Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 18 Mar 2020 21:28:04 +0200
Subject: [PATCH] restore original state (bug)
---
SDK/Python/blender.py | 66 ++++++++++++++++++++++---------------------
1 file changed, 34 insertions(+), 32 deletions(-)
diff --git a/SDK/Python/blender.py b/SDK/Python/blender.py
index c1d9b34e1..c238dc99b 100644
--- a/SDK/Python/blender.py
+++ b/SDK/Python/blender.py
@@ -99,8 +99,6 @@ def inverse_pose(pose):
return inv
def cycles_depth(depth, camd):
- # assumes principal point in center of image
-
xs = np.zeros(depth.shape, dtype=np.float)
xs[:,:] = (0.5 - np.arange(0, xs.shape[1], dtype=np.float) / depth.shape[1]) * camd.sensor_width / camd.lens
@@ -110,7 +108,7 @@ def cycles_depth(depth, camd):
norm = np.sqrt(xs*xs + ys*ys + 1.0)
return depth / norm
-def render(use_eevee_depth=False):
+def render():
""" render active camera (image and depth) """
context = bpy.context
use_nodes = bool(context.scene.use_nodes)
@@ -143,22 +141,11 @@ def render(use_eevee_depth=False):
im = pix_srgb.reshape((pixels.size[1], pixels.size[0], pixels.channels))[:,:,0:3]
- if context.scene.render.engine == 'CYCLES' and use_eevee_depth:
- try:
- context.scene.render.engine = 'BLENDER_EEVEE'
- bpy.ops.render.render()
- pixels = bpy.data.images['Viewer Node']
-
- finally:
- context.scene.render.engine = 'CYCLES'
-
depth = np.array(pixels.pixels[:]).reshape((pixels.size[1], pixels.size[0], pixels.channels))[:,:,3]
-
- # set invalid depth values to 0.0
d_max = 65504.0
- depth[depth >= d_max] = 0.0
+ depth[depth >= d_max] = 0.0 # set invalid depth values to 0.0
- if context.scene.render.engine == 'CYCLES' and not use_eevee_depth:
+ if context.scene.render.engine == 'CYCLES':
depth = cycles_depth(depth, context.scene.camera.data)
return im, depth
@@ -168,29 +155,29 @@ def render(use_eevee_depth=False):
tree.nodes.remove(rl)
bpy.context.scene.use_nodes = use_nodes
-def render_stereo(camera, baseline=0.15, use_eevee_depth=False):
+def render_stereo(camera, baseline=0.15):
context = bpy.context
camera_old = bpy.context.scene.camera
- pose = np.array(camera.matrix_world)
- pose[:,1] = -pose[:,1]
- pose[:,2] = -pose[:,2]
-
try:
context.scene.camera = camera
imL, depthL = render()
- location_old = camera.location.copy()
+ matrix_world_old = camera.matrix_world.copy()
try:
camera.location = (camera.matrix_world @ Vector((baseline, 0.0, 0.0, 1.0)))[0:3]
imR, depthR = render()
finally:
- camera.location = location_old
+ camera.matrix_world = matrix_world_old
finally:
context.scene.camera = camera_old
+ pose = np.array(camera.matrix_world)
+ pose[:,1] = -pose[:,1]
+ pose[:,2] = -pose[:,2]
+
d_max = max(np.max(depthL), np.max(depthR))
ftlcamera = get_ftl_calibration_from_blender(camera.data, baseline=baseline, d_max=d_max)
@@ -211,21 +198,21 @@ class FTL_Options(bpy.types.PropertyGroup):
default=0.15)
use_sgm : bpy.props.BoolProperty(name="Use SGM",
- description="Calculate disparity using SGM",
+ description="Calculate disparity using SGM (FTL)",
default=False)
use_ground_truth : bpy.props.BoolProperty(name="Save as ground truth",
- description="Save depth in Ground Truth instead of Depth channel.",
+ description="Save depth in Ground Truth instead of Depth channel",
default=True)
mask_occlusions : bpy.props.BoolProperty(name="Mask occlusions",
- description="Right camera depth is used to mask occluded pixels.",
+ description="Right camera depth is used to mask occluded pixels",
default=True)
- depth_eevee : bpy.props.BoolProperty(name="Depth from Eevee",
- description="Render depth with Eeveee",
- default=True)
+ depth_eevee : bpy.props.BoolProperty(name="Render depth with Eevee",
+ description="Always render depth with Eevee.",
+ default=False)
cameras : bpy.props.EnumProperty(
name = "Cameras",
@@ -271,15 +258,30 @@ class FTL_OT_Operator(bpy.types.Operator):
baseline = options.baseline
for i, camera in enumerate(cameras):
- res = render_stereo(camera, baseline, options.depth_eevee)
+ res = render_stereo(camera, baseline)
writer.write(i, Channel.Calibration, res.intrinsics)
writer.write(i, Channel.Pose, res.pose)
writer.write(i, Channel.Left, res.imL)
writer.write(i, Channel.Right, res.imR)
- writer.write(i, depth_channel, res.depthL)
+
+ depthL = res.depthL
+ depthR = res.depthR
+
+ if options.depth_eevee and context.scene.render.engine != 'BLENDER_EEVEE':
+ engine = context.scene.render.engine
+ try:
+ context.scene.render.engine = 'BLENDER_EEVEE'
+ res_eevee = render_stereo(camera, baseline)
+ depthL = res_eevee.depthL
+ depthR = res_eevee.depthR
+
+ finally:
+ context.scene.render.engine = engine
+
+ writer.write(i, depth_channel, depthL)
if options.mask_occlusions:
- writer.mask_occlusion(i, depth_channel, res.depthR)
+ writer.mask_occlusion(i, depth_channel, depthR)
print("saved to %s" % options.file_path)
return {'FINISHED'}
--
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