| |
| """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() |
|
|
