import blenderproc as bproc # Local research renderer. This is a measured BOP-style reconstruction, NOT a # claim that the unpublished original HANDAL lighting/material recipe is known. import argparse import hashlib import json import os from pathlib import Path import random import time import bpy import numpy as np def sha(path): h=hashlib.sha256() with Path(path).open('rb') as f: for b in iter(lambda:f.read(8*1024*1024),b''):h.update(b) return h.hexdigest() def choose_device(name): prefs=bpy.context.preferences.addons['cycles'].preferences prefs.compute_device_type='OPTIX';prefs.refresh_devices() choices=[d for d in prefs.devices if d.type=='OPTIX'] indices=[i for i,d in enumerate(choices) if d.name==name] if len(indices)!=1:raise ValueError('Requested GPU name must match exactly one OptiX device') bproc.renderer.set_render_devices(desired_gpu_device_type='OPTIX',desired_gpu_ids=indices) for device in prefs.devices: device.use = device.type=='OPTIX' and device.name==name selected=[d.name for d in prefs.devices if d.use] if selected!=[name]:raise ValueError(f'Wrong render devices: {selected}') return selected def main(): p=argparse.ArgumentParser() p.add_argument('--assets',type=Path,required=True);p.add_argument('--out',type=Path,required=True) p.add_argument('--target-id',type=int,choices=[2,12,37,40],default=40) p.add_argument('--seed',type=int,required=True);p.add_argument('--frames',type=int,default=25) p.add_argument('--gpu-name',default='NVIDIA GeForce RTX 4090') p.add_argument('--config',type=Path,required=True) a=p.parse_args();cfg=json.loads(a.config.read_text());a.assets=a.assets.resolve();a.out=a.out.resolve() if not 1<=a.frames<=25:raise ValueError('one physical layout, at most 25 views per invocation') if a.out.exists():raise FileExistsError('use a fresh attempt directory; do not overwrite rendered data') a.out.mkdir(parents=True) started=time.time();random.seed(a.seed);np.random.seed(a.seed) bproc.init();devices=choose_device(a.gpu_name) bpy.context.scene.render.threads_mode='FIXED';bpy.context.scene.render.threads=6 # Control objects use the observed source support 1..39. New obj40 is # conditioned into the set, never into a fixed pose or camera centre. candidates=[i for i in range(1,40) if i!=a.target_id] ids=[a.target_id]+np.random.choice(candidates,size=19,replace=False).tolist() np.random.shuffle(ids) targets=bproc.loader.load_bop_objs(str(a.assets/'bop/handal'),obj_ids=ids,object_model_unit='mm',move_origin_to_x_y_plane=False) distractors=[];distractor_ids={} for dataset,model_type in [('tless','cad'),('hb',''),('tyol','')]: folder=a.assets/'bop'/dataset info=folder/('models_cad' if model_type else 'models')/'models_info.json' available=sorted(map(int,json.loads(info.read_text()))) chosen=np.random.choice(available,2,replace=False).tolist();distractor_ids[dataset]=chosen distractors+=bproc.loader.load_bop_objs(str(folder),obj_ids=chosen,model_type=model_type,object_model_unit='mm') all_objects=targets+distractors;np.random.shuffle(all_objects) info=json.loads((a.assets/'bop/handal/models/models_info.json').read_text()) geometry={};asset_hashes={};material_samples=[] for obj in all_objects: obj.set_shading_mode('auto') model_path=Path(obj.get_cp('model_path'));asset_hashes[str(model_path)]=sha(model_path) if obj.get_cp('bop_dataset_name')=='handal': oid=obj.get_cp('category_id');v=np.asarray([v.co[:] for v in obj.blender_obj.data.vertices])*np.asarray(obj.get_scale()) extent=np.ptp(v,axis=0)*1000;expected=[info[str(oid)][f'size_{x}'] for x in 'xyz'] if not np.allclose(extent,expected,atol=1.,rtol=.01):raise ValueError(f'CAD units/frame mismatch {oid}') geometry[str(oid)]={'extent_mm':extent.tolist(),'local_centroid_m':v.mean(axis=0).tolist(),'uv_layers':len(obj.blender_obj.data.uv_layers)} if not obj.blender_obj.data.uv_layers:raise ValueError('HANDAL texture UVs missing') for mat in obj.blender_obj.data.materials: for node in mat.node_tree.nodes: if node.type=='TEX_IMAGE' and node.image:asset_hashes[node.image.filepath]=sha(node.image.filepath) mat=obj.get_materials()[0] if obj.get_cp('bop_dataset_name')=='tless': grey=float(np.random.uniform(.1,.9));mat.set_principled_shader_value('Base Color',[grey,grey,grey,1]) rough=float(np.random.uniform(0,1));spec=float(np.random.uniform(0,1)) mat.set_principled_shader_value('Roughness',rough);mat.set_principled_shader_value('Specular IOR Level',spec) material_samples.append({'dataset':obj.get_cp('bop_dataset_name'),'id':obj.get_cp('category_id'),'roughness':rough,'specular_ior_level':spec}) obj.enable_rigidbody(True,mass=1.,friction=100.,linear_damping=.99,angular_damping=.99) planes=[bproc.object.create_primitive('PLANE',scale=[2,2,1]), bproc.object.create_primitive('PLANE',scale=[2,2,1],location=[0,-2,2],rotation=[-np.pi/2,0,0]), bproc.object.create_primitive('PLANE',scale=[2,2,1],location=[0,2,2],rotation=[np.pi/2,0,0]), bproc.object.create_primitive('PLANE',scale=[2,2,1],location=[2,0,2],rotation=[0,-np.pi/2,0]), bproc.object.create_primitive('PLANE',scale=[2,2,1],location=[-2,0,2],rotation=[0,np.pi/2,0])] for plane in planes:plane.enable_rigidbody(False,collision_shape='BOX',mass=1.,friction=100.,linear_damping=.99,angular_damping=.99) materials=bproc.loader.load_ccmaterials(str(a.assets/'cctextures')) if len(materials)<8:raise ValueError('pilot material inventory incomplete') room_material=np.random.choice(materials) for plane in planes:plane.replace_materials(room_material) ceiling=bproc.object.create_primitive('PLANE',scale=[3,3,1],location=[0,0,10]);lightmat=bproc.material.create('ceiling_emission') emission=float(np.random.uniform(3,6));emission_color=np.random.uniform([.5,.5,.5,1],[1,1,1,1]).tolist() lightmat.make_emissive(emission_strength=emission,emission_color=emission_color);ceiling.replace_materials(lightmat) light=bproc.types.Light();light.set_energy(200) light_color=np.random.uniform([.5,.5,.5],[1,1,1]);light.set_color(light_color) light_position=bproc.sampler.shell(center=[0,0,0],radius_min=1.,radius_max=1.5,elevation_min=5,elevation_max=89);light.set_location(light_position) def sample_pose(obj): low=np.random.uniform([-.3,-.3,0],[-.2,-.2,0]);high=np.random.uniform([.2,.2,.4],[.3,.3,.6]) obj.set_location(np.random.uniform(low,high));obj.set_rotation_euler(bproc.sampler.uniformSO3()) bproc.object.sample_poses(objects_to_sample=all_objects,sample_pose_func=sample_pose,max_tries=1000) bproc.object.simulate_physics_and_fix_final_poses(min_simulation_time=3,max_simulation_time=10, check_object_interval=1,substeps_per_frame=20,solver_iters=25) bvh=bproc.object.create_bvh_tree_multi_objects(all_objects) K=np.asarray(cfg['camera']['K']).reshape(3,3) bproc.camera.set_intrinsics_from_K_matrix(K,cfg['camera']['width'],cfg['camera']['height']) poses=[];attempts=0 while len(poses)20000:raise RuntimeError('camera sampler could not find enough valid views') pos=bproc.sampler.shell(center=[0,0,0],radius_min=.61,radius_max=1.4,elevation_min=5,elevation_max=89) poi=bproc.object.compute_poi(np.random.choice(targets,size=15,replace=False)) rot=bproc.camera.rotation_from_forward_vec(poi-pos,inplane_rot=np.random.uniform(-np.pi,np.pi)) pose=bproc.math.build_transformation_mat(pos,rot) if bproc.camera.perform_obstacle_in_view_check(pose,{'min':.3},bvh): bproc.camera.add_camera_pose(pose,frame=len(poses));poses.append(np.asarray(pose).tolist()) bpy.context.scene.view_settings.view_transform=cfg['color_management']['view_transform'] bpy.context.scene.view_settings.look=cfg['color_management']['look'] bpy.context.scene.view_settings.exposure=0.;bpy.context.scene.view_settings.gamma=1. bproc.renderer.set_max_amount_of_samples(cfg['samples']);bproc.renderer.set_denoiser('INTEL') bproc.renderer.enable_depth_output(activate_antialiasing=False) scene={'status':'scene_frozen_before_render','recipe_sha256':sha(a.config),'renderer_sha256':sha(Path(__file__)), 'seed':a.seed,'target_id':a.target_id,'target_ids':ids,'distractors':distractor_ids,'frames':a.frames, 'blender_version':bpy.app.version_string,'devices':devices,'geometry':geometry,'asset_sha256':asset_hashes, 'asset_inventory_sha256':sha(a.assets/'pilot_assets.json'),'material_samples':material_samples, 'room_material':room_material.get_name(),'emission':emission,'emission_color':emission_color, 'point_light_position_m':list(light_position),'point_light_color':list(light_color), 'object_world_poses_m':[{'dataset':o.get_cp('bop_dataset_name'),'id':o.get_cp('category_id'),'matrix':np.asarray(o.get_local2world_mat()).tolist()} for o in all_objects], 'camera_world_poses_m':poses,'camera_attempts':attempts, 'provenance':'measured reconstruction; original HANDAL lighting/material asset identity not recovered'} (a.out/'scene_record.json').write_text(json.dumps(scene,indent=2)+'\n') render_start=time.time();data=bproc.renderer.render();render_seconds=time.time()-render_start bproc.writer.write_bop(str(a.out/'bop_data'),target_objects=targets,dataset='handal', depths=data['depth'],colors=data['colors'],color_file_format='JPEG',jpg_quality=95, depth_scale=1.,annotation_unit='mm',save_world2cam=True,frames_per_chunk=1000, calc_mask_info_coco=True,num_worker=2,ignore_dist_thres=10) receipt={'status':'render_and_bop_write_returned','frames':a.frames,'render_seconds':render_seconds, 'total_seconds':time.time()-started,'target_id':a.target_id,'seed':a.seed, 'note':'Completion requires separate image/mask/projection audit; not yet approved distribution match.'} (a.out/'render_receipt.json').write_text(json.dumps(receipt,indent=2)+'\n') print('LOCAL_HANDAL40_RENDER_RETURNED',json.dumps(receipt),flush=True) if __name__=='__main__':main()