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Y-up坐标系渲染工具
用于在Blender等渲染引擎中正确处理Y-up坐标系的场景数据
"""
import json
import numpy as np
from scipy.spatial.transform import Rotation as R
from typing import Dict, List, Tuple, Any
import math
class YUpRenderUtils:
"""Y-up坐标系渲染工具类"""
def __init__(self):
pass
def quaternion_to_euler_degrees(self, quaternion: List[float]) -> List[float]:
"""
将四元数转换为欧拉角（度数）
Args:
quaternion: [x, y, z, w] 四元数
Returns:
[rx, ry, rz] 欧拉角（度数）
"""
rotation = R.from_quat(quaternion)
euler_rad = rotation.as_euler('xyz', degrees=False)
euler_deg = np.degrees(euler_rad)
return euler_deg.tolist()
def quaternion_to_matrix(self, quaternion: List[float]) -> np.ndarray:
"""
将四元数转换为4x4变换矩阵
Args:
quaternion: [x, y, z, w] 四元数
Returns:
4x4变换矩阵
"""
rotation = R.from_quat(quaternion)
matrix = rotation.as_matrix()
# 扩展为4x4矩阵
transform_matrix = np.eye(4)
transform_matrix[:3, :3] = matrix
return transform_matrix
def create_blender_transform_data(self, y_up_layout: Dict) -> Dict:
"""
为Blender创建变换数据
Args:
y_up_layout: Y-up系统的布局数据
Returns:
Blender兼容的变换数据
"""
blender_data = {}
objects_data = y_up_layout.get('objects', y_up_layout)
for obj_id, obj_data in objects_data.items():
position = obj_data['position']
rotation = obj_data['rotation']
# Blender使用度数的欧拉角
if len(rotation) == 4: # 四元数
euler_degrees = self.quaternion_to_euler_degrees(rotation)
else: # 已经是欧拉角
euler_degrees = np.degrees(rotation).tolist()
blender_data[obj_id] = {
'location': position,
'rotation_euler': euler_degrees,
'rotation_quaternion': rotation if len(rotation) == 4 else None
}
return blender_data
def generate_blender_script(self, y_up_layout_path: str, output_script_path: str):
"""
生成Blender脚本来设置Y-up场景
Args:
y_up_layout_path: Y-up布局文件路径
output_script_path: 输出的Blender脚本路径
"""
# 加载Y-up布局数据
with open(y_up_layout_path, 'r', encoding='utf-8') as f:
y_up_data = json.load(f)
# 创建Blender变换数据
blender_data = self.create_blender_transform_data(y_up_data)
# 生成Blender Python脚本
script_content = self._generate_blender_script_content(blender_data, y_up_data)
with open(output_script_path, 'w', encoding='utf-8') as f:
f.write(script_content)
print(f"Blender script generated: {output_script_path}")
def _generate_blender_script_content(self, blender_data: Dict, y_up_data: Dict) -> str:
"""生成Blender脚本内容"""
script = '''import bpy
import bmesh
from mathutils import Vector, Quaternion, Euler
import math
# 清理现有场景
bpy.ops.object.select_all(action='SELECT')
bpy.ops.object.delete()
# 设置场景为Y-up坐标系
scene = bpy.context.scene
# 创建相机并设置为Y-up视角
bpy.ops.object.camera_add(location=(5, -10, 5))
camera = bpy.context.object
camera.rotation_euler = (math.radians(65), 0, 0)
# 设置渲染相机
scene.camera = camera
# 添加光照
bpy.ops.object.light_add(type='SUN', location=(5, 5, 10))
sun = bpy.context.object
sun.data.energy = 3
'''
# 添加房间信息
if 'room_center' in y_up_data:
room_center = y_up_data['room_center']
script += f'''
# 房间中心坐标: {room_center}
# 坐标系: Y-up 右手坐标系
# 旋转格式: 四元数 [x, y, z, w]
'''
# 为每个物体生成设置代码
script += '''
# 物体设置函数
def setup_object(name, location, rotation_euler=None, rotation_quaternion=None):
"""设置物体的位置和旋转"""
if name in bpy.data.objects:
obj = bpy.data.objects[name]
obj.location = location
if rotation_quaternion:
obj.rotation_mode = 'QUATERNION'
obj.rotation_quaternion = rotation_quaternion
elif rotation_euler:
obj.rotation_mode = 'XYZ'
obj.rotation_euler = [math.radians(x) for x in rotation_euler]
else:
# 创建一个立方体作为占位符
bpy.ops.mesh.primitive_cube_add(location=location)
obj = bpy.context.object
obj.name = name
if rotation_quaternion:
obj.rotation_mode = 'QUATERNION'
obj.rotation_quaternion = rotation_quaternion
elif rotation_euler:
obj.rotation_mode = 'XYZ'
obj.rotation_euler = [math.radians(x) for x in rotation_euler]
# 设置所有物体
'''
# 为每个物体添加设置代码
for obj_id, transform_data in blender_data.items():
location = transform_data['location']
rotation_euler = transform_data['rotation_euler']
rotation_quat = transform_data['rotation_quaternion']
script += f'''
setup_object(
name="{obj_id}",
location=Vector({location}),
rotation_euler={rotation_euler},
rotation_quaternion={"Quaternion(" + str(rotation_quat) + ")" if rotation_quat else "None"}
)
'''
script += '''
# 创建地面
bpy.ops.mesh.primitive_plane_add(location=(0, 0, 0), size=20)
floor = bpy.context.object
floor.name = "Floor"
# 更新场景
bpy.context.view_layer.update()
print("Y-up场景设置完成!")
'''
return script
class YUpUnityUtils:
"""Unity Y-up坐标系工具"""
def __init__(self):
pass
def generate_unity_scene_data(self, y_up_layout_path: str, output_json_path: str):
"""
生成Unity场景数据
Args:
y_up_layout_path: Y-up布局文件路径
output_json_path: 输出的Unity场景数据文件路径
"""
# 加载Y-up布局数据
with open(y_up_layout_path, 'r', encoding='utf-8') as f:
y_up_data = json.load(f)
unity_scene_data = {
"coordinateSystem": "Unity (Y-up, left-handed)",
"objects": []
}
objects_data = y_up_data.get('objects', y_up_data)
for obj_id, obj_data in objects_data.items():
position = obj_data['position']
rotation = obj_data['rotation']
# Unity使用左手坐标系，需要调整Z坐标
unity_position = [position[0], position[1], -position[2]]
# Unity四元数格式调整
if len(rotation) == 4:
# Unity四元数为 [x, y, z, w]，但Z轴需要反向
unity_rotation = [rotation[0], rotation[1], -rotation[2], rotation[3]]
else:
unity_rotation = rotation
unity_object = {
"name": obj_id,
"transform": {
"position": {
"x": unity_position[0],
"y": unity_position[1],
"z": unity_position[2]
},
"rotation": {
"x": unity_rotation[0],
"y": unity_rotation[1],
"z": unity_rotation[2],
"w": unity_rotation[3]
} if len(unity_rotation) == 4 else {
"x": unity_rotation[0],
"y": unity_rotation[1],
"z": unity_rotation[2]
},
"scale": {
"x": 1.0,
"y": 1.0,
"z": 1.0
}
}
}
unity_scene_data["objects"].append(unity_object)
# 保存Unity场景数据
with open(output_json_path, 'w', encoding='utf-8') as f:
json.dump(unity_scene_data, f, indent=2, ensure_ascii=False)
print(f"Unity scene data generated: {output_json_path}")
def convert_layout_for_rendering(input_layout_path: str, output_dir: str):
"""
将Y-up布局转换为各种渲染引擎格式
Args:
input_layout_path: Y-up布局文件路径
output_dir: 输出目录
"""
import os
# 确保输出目录存在
os.makedirs(output_dir, exist_ok=True)
# 生成Blender脚本
blender_utils = YUpRenderUtils()
blender_script_path = os.path.join(output_dir, "blender_setup.py")
blender_utils.generate_blender_script(input_layout_path, blender_script_path)
# 生成Unity场景数据
unity_utils = YUpUnityUtils()
unity_json_path = os.path.join(output_dir, "unity_scene.json")
unity_utils.generate_unity_scene_data(input_layout_path, unity_json_path)
print(f"渲染文件生成完成，输出目录: {output_dir}")
if __name__ == "__main__":
# 示例用法
input_layout = "/home/v-meiszhang/amlt-project/LayoutVLM/results/test_run/layout_y_up.json"
output_directory = "/home/v-meiszhang/amlt-project/LayoutVLM/results/test_run/render_outputs"
convert_layout_for_rendering(input_layout, output_directory) |