pix3d/render_script.py

"""

Blender script to render images of 3D models.

This script is designed to render data used in the [OpenLRM project](https://github.com/3DTopia/OpenLRM).



Modified from https://github.com/cvlab-columbia/zero123/blob/main/objaverse-rendering/scripts/blender_script.py

Original script licensed under MIT, found at the root of its repository.

Modifications are licensed under Apache 2.0.

"""

import argparse
import math
import os
import random
import sys
import time
import urllib.request
from typing import Tuple
from mathutils import Vector
import numpy as np
import bpy


parser = argparse.ArgumentParser()
parser.add_argument(
    "--object_path",
    type=str,
    required=True,
    help="Path to the object file",
)
parser.add_argument("--is_directory", type=bool, default=False)
parser.add_argument("--output_dir", type=str, default="./views")
parser.add_argument(
    "--engine", type=str, default="CYCLES", choices=["CYCLES", "BLENDER_EEVEE"]
)
parser.add_argument("--num_images", type=int, default=32)
parser.add_argument("--resolution", type=int, default=1024)
    
argv = sys.argv[sys.argv.index("--") + 1 :]
args = parser.parse_args(argv)

print('===================', args.engine, '===================')

context = bpy.context
scene = context.scene
render = scene.render

render.engine = args.engine
render.image_settings.file_format = "PNG"
render.image_settings.color_mode = "RGBA"
render.resolution_x = args.resolution
render.resolution_y = args.resolution
render.resolution_percentage = 100

scene.cycles.device = "GPU"
scene.cycles.samples = 128
scene.cycles.diffuse_bounces = 1
scene.cycles.glossy_bounces = 1
scene.cycles.transparent_max_bounces = 3
scene.cycles.transmission_bounces = 3
scene.cycles.filter_width = 0.01
scene.cycles.use_denoising = True
scene.render.film_transparent = True

# Set the device_type
cycles_preferences = bpy.context.preferences.addons["cycles"].preferences
cycles_preferences.compute_device_type = "CUDA"  # or "OPENCL"
cuda_devices = cycles_preferences.get_devices_for_type("CUDA")
for device in cuda_devices:
    device.use = True

def compose_RT(R, T):
    return np.hstack((R, T.reshape(-1, 1)))

def sample_point_on_sphere(radius: float) -> Tuple[float, float, float]:
    theta = random.random() * 2 * math.pi
    phi = math.acos(2 * random.random() - 1)
    return (
        radius * math.sin(phi) * math.cos(theta),
        radius * math.sin(phi) * math.sin(theta),
        radius * math.cos(phi),
    )

def sample_spherical(radius=3.0, maxz=3.0, minz=0.):
    correct = False
    while not correct:
        vec = np.random.uniform(-1, 1, 3)
        vec[2] = np.abs(vec[2])
        vec = vec / np.linalg.norm(vec, axis=0) * radius
        if maxz > vec[2] > minz:
            correct = True
    return vec

def sample_spherical(radius_min=1.5, radius_max=2.0, maxz=1.6, minz=-0.75):
    correct = False
    while not correct:
        vec = np.random.uniform(-1, 1, 3)
#         vec[2] = np.abs(vec[2])
        radius = np.random.uniform(radius_min, radius_max, 1)
        vec = vec / np.linalg.norm(vec, axis=0) * radius[0]
        if maxz > vec[2] > minz:
            correct = True
    return vec

def set_camera_location(camera, option: str):
    assert option in ['fixed', 'random', 'front']

    if option == 'fixed':
        x, y, z = 0, -2.25, 0
    elif option == 'random':
        # from https://blender.stackexchange.com/questions/18530/
        x, y, z = sample_spherical(radius_min=1.9, radius_max=2.6, maxz=1.60, minz=-0.75)
    elif option == 'front':
        x, y, z = 0, -np.random.uniform(1.9, 2.6, 1)[0], 0

    camera.location = x, y, z

    # adjust orientation
    direction = - camera.location
    rot_quat = direction.to_track_quat('-Z', 'Y')
    camera.rotation_euler = rot_quat.to_euler()
    return camera

def add_lighting(option: str) -> None:
    assert option in ['fixed', 'random']
    
    # delete the default light
    if "Light" in bpy.data.objects:
        bpy.data.objects["Light"].select_set(True)
        bpy.ops.object.delete()
    
    # add a new light
    bpy.ops.object.light_add(type="AREA")
    light = bpy.data.lights["Area"]

    if option == 'fixed':
        light.energy = 30000
        bpy.data.objects["Area"].location[0] = 0
        bpy.data.objects["Area"].location[1] = 1
        bpy.data.objects["Area"].location[2] = 0.5

    elif option == 'random':
        light.energy = random.uniform(80000, 120000)
        bpy.data.objects["Area"].location[0] = random.uniform(-2., 2.)
        bpy.data.objects["Area"].location[1] = random.uniform(-2., 2.)
        bpy.data.objects["Area"].location[2] = random.uniform(1.0, 3.0)

    # set light scale
    bpy.data.objects["Area"].scale[0] = 200
    bpy.data.objects["Area"].scale[1] = 200
    bpy.data.objects["Area"].scale[2] = 200


def reset_scene() -> None:
    """Resets the scene to a clean state."""
    # delete everything that isn't part of a camera or a light
    for obj in bpy.data.objects:
        if obj.type not in {"CAMERA", "LIGHT"}:
            bpy.data.objects.remove(obj, do_unlink=True)
    # delete all the materials
    for material in bpy.data.materials:
        bpy.data.materials.remove(material, do_unlink=True)
    # delete all the textures
    for texture in bpy.data.textures:
        bpy.data.textures.remove(texture, do_unlink=True)
    # delete all the images
    for image in bpy.data.images:
        bpy.data.images.remove(image, do_unlink=True)


# load the glb model
def load_object(object_path: str) -> None:
    """Loads a glb model into the scene."""
    if object_path.endswith(".glb"):
        bpy.ops.import_scene.gltf(filepath=object_path, merge_vertices=True)
    elif object_path.endswith(".fbx"):
        bpy.ops.import_scene.fbx(filepath=object_path)
    elif object_path.endswith(".obj"):
        bpy.ops.wm.obj_import(filepath=object_path)
    else:
        raise ValueError(f"Unsupported file type: {object_path}")


def scene_bbox(single_obj=None, ignore_matrix=False):
    bbox_min = (math.inf,) * 3
    bbox_max = (-math.inf,) * 3
    found = False
    for obj in scene_meshes() if single_obj is None else [single_obj]:
        found = True
        for coord in obj.bound_box:
            coord = Vector(coord)
            if not ignore_matrix:
                coord = obj.matrix_world @ coord
            bbox_min = tuple(min(x, y) for x, y in zip(bbox_min, coord))
            bbox_max = tuple(max(x, y) for x, y in zip(bbox_max, coord))
    if not found:
        raise RuntimeError("no objects in scene to compute bounding box for")
    return Vector(bbox_min), Vector(bbox_max)


def scene_root_objects():
    for obj in bpy.context.scene.objects.values():
        if not obj.parent:
            yield obj


def scene_meshes():
    for obj in bpy.context.scene.objects.values():
        if isinstance(obj.data, (bpy.types.Mesh)):
            yield obj


def normalize_scene(box_scale: float):
    bbox_min, bbox_max = scene_bbox()
    scale = box_scale / max(bbox_max - bbox_min)
    for obj in scene_root_objects():
        obj.scale = obj.scale * scale
    # Apply scale to matrix_world.
    bpy.context.view_layer.update()
    bbox_min, bbox_max = scene_bbox()
    offset = -(bbox_min + bbox_max) / 2
    for obj in scene_root_objects():
        obj.matrix_world.translation += offset
    bpy.ops.object.select_all(action="DESELECT")


def setup_camera():
    cam = scene.objects["Camera"]
    cam.location = (0, 1.2, 0)
    cam.data.lens = 24
    cam.data.sensor_width = 32
    cam.data.sensor_height = 32  # affects instrinsics calculation, should be set explicitly
    cam_constraint = cam.constraints.new(type="TRACK_TO")
    cam_constraint.track_axis = "TRACK_NEGATIVE_Z"
    cam_constraint.up_axis = "UP_Y"
    return cam, cam_constraint


def save_images(object_file: str) -> None:
    """Saves rendered images of the object in the scene."""
    os.makedirs(args.output_dir, exist_ok=True)
    reset_scene()

    # load the object
    load_object(object_file)
    object_uid = os.path.basename(object_file).split(".")[0]
    normalize_scene(box_scale=2)
    add_lighting(option='random')
    camera, cam_constraint = setup_camera()

    # create an empty object to track
    empty = bpy.data.objects.new("Empty", None)
    scene.collection.objects.link(empty)
    cam_constraint.target = empty

    # prepare to save
    img_dir = os.path.join(args.output_dir, object_uid, 'rgba')
    pose_dir = os.path.join(args.output_dir, object_uid, 'pose')
    os.makedirs(img_dir, exist_ok=True)
    os.makedirs(pose_dir, exist_ok=True)

    for i in range(args.num_images):
        # set the camera position
        camera_option = 'random' if i > 0 else 'front'
        camera = set_camera_location(camera, option=camera_option)

        # render the image
        render_path = os.path.join(img_dir, f"{i:03d}.png")
        scene.render.filepath = render_path
        bpy.ops.render.render(write_still=True)

        # save camera RT matrix (C2W)
        location, rotation = camera.matrix_world.decompose()[0:2]
        RT = compose_RT(rotation.to_matrix(), np.array(location))
        RT_path = os.path.join(pose_dir, f"{i:03d}.npy")
        np.save(RT_path, RT)
    
    # save the camera intrinsics
    intrinsics = get_calibration_matrix_K_from_blender(camera.data, return_principles=True)
    with open(os.path.join(args.output_dir, object_uid,'intrinsics.npy'), 'wb') as f_intrinsics:
        np.save(f_intrinsics, intrinsics)

def save_images_directory(object_dir: str) -> None:
    """Saves rendered images of the object in the scene."""
    os.makedirs(args.output_dir, exist_ok=True)
    reset_scene()

    for file in sorted(os.listdir(object_dir)):
        # load the object
        if file.endswith(".obj") or file.endswith(".fbx") or file.endswith(".glb"):
            load_object(os.path.join(object_dir, file))
            object_uid = os.path.basename(file).split(".")[0]
            normalize_scene(box_scale=2)
            add_lighting(option='fixed')
            camera, cam_constraint = setup_camera()

            # create an empty object to track
            empty = bpy.data.objects.new("Empty", None)
            scene.collection.objects.link(empty)
            cam_constraint.target = empty

            # prepare to save
            img_dir = os.path.join(args.output_dir, object_uid, 'rgba')
            pose_dir = os.path.join(args.output_dir, object_uid, 'pose')
            os.makedirs(img_dir, exist_ok=True)
            os.makedirs(pose_dir, exist_ok=True)

            for i in range(args.num_images):
                # set the camera position
                camera_option = 'random' if i > 0 else 'front'
                camera = set_camera_location(camera, option=camera_option)

                # render the image
                render_path = os.path.join(img_dir, f"{i:03d}.png")
                scene.render.filepath = render_path
                bpy.ops.render.render(write_still=True)

                # save camera RT matrix (C2W)
                location, rotation = camera.matrix_world.decompose()[0:2]
                RT = compose_RT(rotation.to_matrix(), np.array(location))
                RT_path = os.path.join(pose_dir, f"{i:03d}.npy")
                np.save(RT_path, RT)
            
            # save the camera intrinsics
            intrinsics = get_calibration_matrix_K_from_blender(camera.data, return_principles=True)
            with open(os.path.join(args.output_dir, object_uid,'intrinsics.npy'), 'wb') as f_intrinsics:
                np.save(f_intrinsics, intrinsics)
            reset_scene()


def download_object(object_url: str) -> str:
    """Download the object and return the path."""
    # uid = uuid.uuid4()
    uid = object_url.split("/")[-1].split(".")[0]
    tmp_local_path = os.path.join("tmp-objects", f"{uid}.glb" + ".tmp")
    local_path = os.path.join("tmp-objects", f"{uid}.glb")
    # wget the file and put it in local_path
    os.makedirs(os.path.dirname(tmp_local_path), exist_ok=True)
    urllib.request.urlretrieve(object_url, tmp_local_path)
    os.rename(tmp_local_path, local_path)
    # get the absolute path
    local_path = os.path.abspath(local_path)
    return local_path


def get_calibration_matrix_K_from_blender(camera, return_principles=False):
    """

        Get the camera intrinsic matrix from Blender camera.

        Return also numpy array of principle parameters if specified.

        

        Intrinsic matrix K has the following structure in pixels:

            [fx  0 cx]

            [0  fy cy]

            [0   0  1]

        

        Specified principle parameters are:

            [fx, fy] - focal lengths in pixels

            [cx, cy] - optical centers in pixels

            [width, height] - image resolution in pixels

        

    """
    # Render resolution
    render = bpy.context.scene.render
    width = render.resolution_x * render.pixel_aspect_x
    height = render.resolution_y * render.pixel_aspect_y

    # Camera parameters
    focal_length = camera.lens  # Focal length in millimeters
    sensor_width = camera.sensor_width  # Sensor width in millimeters
    sensor_height = camera.sensor_height  # Sensor height in millimeters

    # Calculate the focal length in pixel units
    focal_length_x = width * (focal_length / sensor_width)
    focal_length_y = height * (focal_length / sensor_height)

    # Assuming the optical center is at the center of the sensor
    optical_center_x = width / 2
    optical_center_y = height / 2

    # Constructing the intrinsic matrix
    K = np.array([[focal_length_x, 0, optical_center_x],
                [0, focal_length_y, optical_center_y],
                [0, 0, 1]])
    
    if return_principles:
        return np.array([
            [focal_length_x, focal_length_y],
            [optical_center_x, optical_center_y],
            [width, height],
        ])
    else:
        return K


if __name__ == "__main__":
    try:
        start_i = time.time()
        if args.object_path.startswith("http"):
            local_path = download_object(args.object_path)
        else:
            local_path = args.object_path
        
        if args.is_directory:
            save_images_directory(local_path)
        else:
            save_images(local_path)

        end_i = time.time()
        print("Finished", local_path, "in", end_i - start_i, "seconds")
        # delete the object if it was downloaded
        if args.object_path.startswith("http"):
            os.remove(local_path)
    except Exception as e:
        print("Failed to render", args.object_path)
        print(e)