From 659cad5de81cdb7a3490fb37c8b1a5a21e5fc0cd Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Wed, 30 May 2018 14:42:31 +0200
Subject: [PATCH] Create config file for BlenderRender This feature will be
useful for easy trajectory rendering
---
navipy/resources/configs/BlenderRender.yaml | 24 ++++---
navipy/sensors/renderer.py | 77 +++++++++++++++++++--
setup.py | 8 ++-
3 files changed, 88 insertions(+), 21 deletions(-)
diff --git a/navipy/resources/configs/BlenderRender.yaml b/navipy/resources/configs/BlenderRender.yaml
index bc2090a..fca41dc 100644
--- a/navipy/resources/configs/BlenderRender.yaml
+++ b/navipy/resources/configs/BlenderRender.yaml
@@ -3,15 +3,17 @@
#
BlenderRender:
+ # field of view of the camera
+ # elevation, two numbers [min, max]
+ # azimuth, two numbers [min, max]
fov:
- - min_elevation: -90
- - max_elevation: 90
- - min_azimuth: -180
- - max_azimuth: 180
- resolution:
- - nbpx_azimtuh: 360
- - nbpx_elevation: 180
- gaussian:
- - gaussian_width: 1.5
- cycle:
- - samples: 30
\ No newline at end of file
+ elevation: [-90,90]
+ azimuth: [-180, 180]
+ # Number of pixel along the azimuth, and elevation
+ resolution: [360, 180]
+ # Filter width for each pixel
+ gaussian_width: 1.5
+ # Number of rays (samples) used for redering
+ # Higher number give better results, but
+ # require more computation time.
+ samples: 30
\ No newline at end of file
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index f1cb8b9..c480dc1 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -12,6 +12,8 @@ import numpy as np
import tempfile
import os
import pandas as pd
+import yaml # Used to load config files
+import pkg_resources
from navipy.maths.homogeneous_transformations import compose_matrix
import navipy.maths.constants as constants
@@ -34,6 +36,7 @@ class BlenderRender():
# Rendering engine needs to be Cycles to support panoramic
# equirectangular camera
bpy.context.scene.render.engine = 'CYCLES'
+ # To get the distances we need to pass the z-buffer
bpy.context.scene.render.layers["RenderLayer"].use_pass_z = True
# Look for object camera
camera_found = False
@@ -46,15 +49,11 @@ class BlenderRender():
# The bee eye is panoramic, and with equirectangular projection
self.camera.data.type = 'PANO'
self.camera.data.cycles.panorama_type = 'EQUIRECTANGULAR'
- # Filtering props
- bpy.context.scene.cycles.filter_type = 'GAUSSIAN'
- # Call all set function with default values
- self.camera_fov = [[-90, 90], [-180, 180]]
- self.camera_gaussian_width = 1.5
- self.camera_resolution = [360, 180]
- self.cycle_samples = 30
# switch on nodes
# Create render link to OutputFile with Image and Z buffer
+ # so that we can read the image from somewhere.
+ # This is a hack, because we did not manage to
+ # directly blender buffer...
bpy.context.scene.use_nodes = True
scene = bpy.context.scene
nodes = scene.node_tree.nodes
@@ -75,6 +74,7 @@ class BlenderRender():
render_layers.outputs['Image'],
output_file.inputs['Image']
)
+ # Z buffer has been renamed in Depth in newer versionW
if bpy.app.version < (2, 79, 0):
scene.node_tree.links.new(
render_layers.outputs['Z'],
@@ -87,6 +87,69 @@ class BlenderRender():
)
self.tmp_fileoutput = tmp_fileoutput
+ # Filtering props
+ bpy.context.scene.cycles.filter_type = 'GAUSSIAN'
+ self.config_file = pkg_resources.resource_filename(
+ 'navipy', 'resources/configs/BlenderRender.yaml')
+
+ @property
+ def config_file(self):
+ return self.__config_file
+
+ @config_file.setter
+ def config_file(self, config_file):
+ if not isinstance(config_file, str):
+ raise TypeError('Config file should be a file path')
+ try:
+ with open(config_file, 'r') as stream:
+ try:
+ config = yaml.load(stream)
+ except yaml.YAMLError as exc:
+ print(exc)
+ except IOError:
+ print("The file could not be read")
+ if 'BlenderRender' not in config.keys():
+ raise KeyError(
+ 'BlenderRender should be a section in the yaml config file')
+ blendconfig = config['BlenderRender']
+ # Loading the field of view in the camera
+ print(blendconfig)
+ print(blendconfig.keys())
+ if 'fov' in blendconfig.keys():
+ fov = np.zeros((2, 2))
+ if 'elevation' in blendconfig['fov'].keys():
+ fov[0, 0] = min(blendconfig['fov']['elevation'])
+ fov[0, 1] = max(blendconfig['fov']['elevation'])
+ else:
+ raise KeyError(
+ 'Yaml config file should contain fov/elevation key')
+ if 'azimuth' in blendconfig['fov'].keys():
+ fov[1, 0] = min(blendconfig['fov']['azimuth'])
+ fov[1, 1] = max(blendconfig['fov']['azimuth'])
+ else:
+ raise KeyError(
+ 'Yaml config file should contain fov/azimuth key')
+ self.camera_fov = fov
+ else:
+ raise KeyError('Yaml config file should contain fov')
+ # Loading the resolution ie number of pixel of the camera
+ if 'resolution' in blendconfig.keys():
+ self.camera_resolution = blendconfig['resolution']
+ else:
+ raise KeyError('Yaml config file should contain resolution')
+ # Load the filter of rendering
+ if 'gaussian_width' in blendconfig.keys():
+ self.camera_gaussian_width = blendconfig['gaussian_width']
+ else:
+ raise KeyError(
+ 'Yaml config file should contain gaussian_width')
+ # Load cycle for rendering
+ if 'samples' in blendconfig.keys():
+ self.camera_samples = blendconfig['samples']
+ else:
+ raise KeyError(
+ 'Yaml config file should contain samples')
+
@property
def cycle_samples(self):
"""get the samples for rendering with cycle
diff --git a/setup.py b/setup.py
index ef697e0..46e6e66 100644
--- a/setup.py
+++ b/setup.py
@@ -33,7 +33,8 @@ setup_dict = {'name': 'navipy',
'matplotlib',
'scipy',
'networkx',
- 'ipython'],
+ 'ipython',
+ 'yaml'],
'install_requires': ["numpy",
'pandas',
'matplotlib',
@@ -43,11 +44,12 @@ setup_dict = {'name': 'navipy',
'sphinx-argparse',
'ipython',
'flake8',
- 'tox'],
+ 'tox',
+ 'pyyaml'],
'package_data': {'navipy':
['resources/*.db',
'resources/*.blend',
- 'resources/confgis/*.yaml']},
+ 'resources/configs/*.yaml']},
'include_package_data': True,
'entry_points': {
'console_scripts': [
--
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