diff --git a/SDK/Python/blender.py b/SDK/Python/blender.py
index 45e056766fe4d0e2717f4855875a2d2fd11086f8..49fee0d084ed9b5e1201bdf684a98cc048e19a88 100644
--- a/SDK/Python/blender.py
+++ b/SDK/Python/blender.py
@@ -64,54 +64,6 @@ def get_calibration_matrix_K_from_blender(camd):
( 0, 0, 1)))
return K
-# Returns camera rotation and translation matrices from Blender.
-#
-# There are 3 coordinate systems involved:
-# 1. The World coordinates: "world"
-# - right-handed
-# 2. The Blender camera coordinates: "bcam"
-# - x is horizontal
-# - y is up
-# - right-handed: negative z look-at direction
-# 3. The desired computer vision camera coordinates: "cv"
-# - x is horizontal
-# - y is down (to align to the actual pixel coordinates
-# used in digital images)
-# - right-handed: positive z look-at direction
-def get_3x4_RT_matrix_from_blender(cam):
- # bcam stands for blender camera
- R_bcam2cv = Matrix(
- ((1, 0, 0),
- (0, -1, 0),
- (0, 0, -1)))
-
- # Transpose since the rotation is object rotation,
- # and we want coordinate rotation
- # R_world2bcam = cam.rotation_euler.to_matrix().transposed()
- # T_world2bcam = -1*R_world2bcam * location
- #
- # Use matrix_world instead to account for all constraints
- location, rotation = cam.matrix_world.decompose()[0:2]
- R_world2bcam = rotation.to_matrix().transposed()
-
- # Convert camera location to translation vector used in coordinate changes
- # T_world2bcam = -1*R_world2bcam*cam.location
- # Use location from matrix_world to account for constraints:
- T_world2bcam = -1*R_world2bcam @ location
-
- # Build the coordinate transform matrix from world to computer vision camera
- R_world2cv = R_bcam2cv@R_world2bcam
- T_world2cv = R_bcam2cv@T_world2bcam
-
- # put into 3x4 matrix
- RT = Matrix((
- R_world2cv[0][:] + (T_world2cv[0],),
- R_world2cv[1][:] + (T_world2cv[1],),
- R_world2cv[2][:] + (T_world2cv[2],)
- ))
-
- return RT
-
def get_ftl_calibration_from_blender(camd, d_min=0.0, d_max=np.inf, baseline=0.0, doff=0.0):
K = get_calibration_matrix_K_from_blender(camd)
@@ -138,12 +90,32 @@ class StereoImage(typing.NamedTuple):
imR: np.array
depthR: np.array
-def render():
- """ render active camera (image and depth) """
+def inverse_pose(pose):
+ inv = np.identity(4, dtype=pose.dtype)
+ inv[0:3,0:3] = pose[0:3,0:3].T
+ inv[0,3] = -pose[0:3,3]@pose[0:3,0]
+ inv[1,3] = -pose[0:3,3]@pose[0:3,1]
+ inv[2,3] = -pose[0:3,3]@pose[0:3,2]
+ 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
+
+ ys = np.zeros(depth.shape, dtype=np.float)
+ (ys.T)[:,:] = (0.5 - np.arange(0, ys.shape[0], dtype=np.float) / depth.shape[0]) * camd.sensor_height / camd.lens
- use_nodes = bpy.context.scene.use_nodes
- bpy.context.scene.use_nodes = True
- tree = bpy.context.scene.node_tree
+ norm = np.sqrt(xs*xs + ys*ys + 1.0)
+ return depth / norm
+
+def render(use_eevee_depth=False):
+ """ render active camera (image and depth) """
+ context = bpy.context
+ use_nodes = bool(context.scene.use_nodes)
+ context.scene.use_nodes = True
+ tree = context.scene.node_tree
links = tree.links
# possible issues with existing nodes of same type when accessing via bpy.data (?)
@@ -162,7 +134,6 @@ def render():
pix = np.array(pixels.pixels[:])
# sRGB conversion
- #pix2 = np.zeros(pix.shape[:], dtype=np.float)
pix_srgb = np.copy(pix)
np.copyto(pix_srgb, 1.055*(pix**(1.0/2.4)) - 0.055, where=pix <= 1)
np.copyto(pix_srgb, pix * 12.92, where=pix <= 0.0031308)
@@ -171,12 +142,25 @@ def render():
pix_srgb[pix_srgb > 1.0] = 1.0
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
+ if context.scene.render.engine == 'CYCLES' and not use_eevee_depth:
+ depth = cycles_depth(depth, context.scene.camera.data)
+
return im, depth
finally:
@@ -184,10 +168,12 @@ def render():
tree.nodes.remove(rl)
bpy.context.scene.use_nodes = use_nodes
-def render_stereo(camera, baseline=0.15):
+def render_stereo(camera, baseline=0.15, use_eevee_depth=False):
+ context = bpy.context
camera_old = bpy.context.scene.camera
+
try:
- bpy.context.scene.camera = camera
+ context.scene.camera = camera
imL, depthL = render()
location_old = camera.location.copy()
@@ -199,16 +185,16 @@ def render_stereo(camera, baseline=0.15):
camera.location = location_old
finally:
- bpy.context.scene.camera = camera_old
+ context.scene.camera = camera_old
- d_max = max(np.max(depthL), np.max(depthR))
- pose = np.identity(4,dtype=np.float32)
- pose[0:3,0:4] = get_3x4_RT_matrix_from_blender(camera)
- pose = np.linalg.inv(pose)
+ 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)
- return StereoImage(ftlcamera, np.array(pose), imL, depthL, imR, depthR)
+ return StereoImage(ftlcamera, pose, imL, depthL, imR, depthR)
################################################################################
@@ -237,6 +223,10 @@ class FTL_Options(bpy.types.PropertyGroup):
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)
+
cameras : bpy.props.EnumProperty(
name = "Cameras",
description = "Cameras for rendering",
@@ -281,7 +271,7 @@ class FTL_OT_Operator(bpy.types.Operator):
baseline = options.baseline
for i, camera in enumerate(cameras):
- res = render_stereo(camera, baseline)
+ res = render_stereo(camera, baseline, options.depth_eevee)
writer.write(i, Channel.Calibration, res.intrinsics)
writer.write(i, Channel.Pose, res.pose)
writer.write(i, Channel.Left, res.imL)
@@ -324,6 +314,9 @@ class FTL_PT_Panel(bpy.types.Panel):
row = layout.row()
row.prop(ftl_options, "mask_occlusions")
+ row = layout.row()
+ row.prop(ftl_options, "depth_eevee")
+
row = layout.row()
row.operator("scene.ftl_operator", text="Generate")