File size: 3,976 Bytes
42afafb | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 | #!/usr/bin/env python
"""Debug: rebuild the B_03 scene, dump object boxes + camera projections, render 1 frame (Workbench).
blender --background --python debug_scene.py -- --world work/B_03/world --out work/B_03/dbg
"""
import argparse
import json
import sys
from pathlib import Path
import bpy
import numpy as np
from mathutils import Matrix, Vector
import bpy_extras
def parse_args():
ap = argparse.ArgumentParser()
ap.add_argument("--world", required=True)
ap.add_argument("--out", required=True)
return ap.parse_args(sys.argv[sys.argv.index("--") + 1:])
def add_mesh(name, verts, faces):
me = bpy.data.meshes.new(name)
me.from_pydata([tuple(float(x) for x in v) for v in verts], [],
[tuple(int(x) for x in f) for f in faces])
me.update()
ob = bpy.data.objects.new(name, me)
bpy.context.scene.collection.objects.link(ob)
return ob
def main():
args = parse_args()
world = Path(args.world)
out = Path(args.out)
out.mkdir(parents=True, exist_ok=True)
spec = json.loads((world / "spec.json").read_text())
cam = json.loads((world / "camera.json").read_text())
K = np.array(cam["intrinsics"], float)
E = np.array(cam["extrinsic"], float)
W, H = spec["video"]["width"], spec["video"]["height"]
scene = bpy.context.scene
for ob in list(bpy.data.objects):
bpy.data.objects.remove(ob, do_unlink=True)
for mid, v in spec["meshes"].items():
z = np.load(world / "mesh" / f"{mid}.npz")
add_mesh(f"mesh_{mid}", z["vertices"][0], z["faces"][0])
cam_data = bpy.data.cameras.new("cam")
cam_data.sensor_fit = "HORIZONTAL"
cam_data.sensor_width = 36.0
cam_data.lens = float(K[0, 0]) * 36.0 / W
cam_ob = bpy.data.objects.new("cam", cam_data)
bpy.context.scene.collection.objects.link(cam_ob)
D = Matrix.Diagonal((1.0, -1.0, -1.0, 1.0))
cam_ob.matrix_world = Matrix(E) @ D
scene.camera = cam_ob
scene.render.resolution_x = W
scene.render.resolution_y = H
sun = bpy.data.lights.new("sun", type="SUN")
sun.energy = 3.0
sun_ob = bpy.data.objects.new("sun", sun)
bpy.context.scene.collection.objects.link(sun_ob)
sun_ob.rotation_euler = (0.9, 0, 0.5)
w = bpy.data.worlds.new("w")
w.use_nodes = True
w.node_tree.nodes["Background"].inputs["Color"].default_value = (0.8, 0.8, 0.8, 1)
scene.world = w
print("=== object bounding boxes (world) ===")
dg = bpy.context.evaluated_depsgraph_get()
for ob in bpy.data.objects:
if ob.type != "MESH":
continue
corners = [ob.matrix_world @ Vector(c) for c in ob.bound_box]
xs = [c.x for c in corners]; ys = [c.y for c in corners]; zs = [c.z for c in corners]
print(f"{ob.name:12s} x[{min(xs):7.2f},{max(xs):7.2f}] y[{min(ys):7.2f},{max(ys):7.2f}] z[{min(zs):7.2f},{max(zs):7.2f}]")
print("=== camera projection of pin COMs (should be in-frame) ===")
bpy.context.view_layer.update()
for name in ["Pin00", "Pin05", "Pin09"]:
pos = np.load(world / "dyn" / f"{name}.npz")["pos"]
p = Vector(pos[0].mean(0))
uv = bpy_extras.object_utils.world_to_camera_view(scene, cam_ob, p)
print(f"{name}: blender uv=({uv.x:.3f},{uv.y:.3f}) depth={uv.z:.2f}")
ball = np.load(world / "dyn" / "Ball.npz")["pos"]
p = Vector(ball[0].mean(0))
uv = bpy_extras.object_utils.world_to_camera_view(scene, cam_ob, p)
print(f"Ball f0: blender uv=({uv.x:.3f},{uv.y:.3f}) depth={uv.z:.2f}")
p30 = Vector(ball[30].mean(0))
uv = bpy_extras.object_utils.world_to_camera_view(scene, cam_ob, p30)
print(f"Ball f30: blender uv=({uv.x:.3f},{uv.y:.3f}) depth={uv.z:.2f}")
scene.render.engine = "BLENDER_WORKBENCH"
scene.display.render_aa = "5"
scene.render.filepath = str(out / "dbg_f1.png")
scene.frame_set(1)
bpy.ops.render.render(write_still=True)
print("wrote", out / "dbg_f1.png")
if __name__ == "__main__":
main()
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