debug normal

blender_util.py

@@ -195,7 +195,7 @@ class BlenderUtils:
         return min_z
 
     @staticmethod
-    def render_normal(
+    def render_normal_and_depth(
         output_dir, file_name, binocular_vision=False, target_object=None
     ):
         target_cameras = [BlenderUtils.CAMERA_NAME]
@@ -220,37 +220,6 @@ class BlenderUtils:
             scene.render.use_overwrite = False
             scene.render.use_file_extension = False
             scene.render.use_placeholder = False
-            bpy.ops.render.render(write_still=True)
-
-        msg = "success"
-        return msg
-        
-    @staticmethod
-    def render_mask_and_depth(
-        output_dir, file_name, binocular_vision=False, target_object=None
-    ):
-        target_cameras = [BlenderUtils.CAMERA_NAME]
-        if binocular_vision:
-            target_cameras.append(BlenderUtils.CAMERA_RIGHT_NAME)
-        for cam_name in target_cameras:
-            bpy.context.scene.camera = BlenderUtils.get_obj(cam_name)
-            cam_suffix = "L" if cam_name == BlenderUtils.CAMERA_NAME else "R"
-            scene = bpy.context.scene
-            scene.render.filepath = ""
-
-            mask_dir = os.path.join(output_dir, "mask")
-            if not os.path.exists(mask_dir):
-                os.makedirs(mask_dir)
-
-            scene.render.filepath = os.path.join(
-                output_dir, mask_dir, f"{file_name}_{cam_suffix}.png"
-            )
-            scene.render.image_settings.color_depth = "8"
-            scene.render.resolution_percentage = 100
-            scene.render.use_overwrite = False
-            scene.render.use_file_extension = False
-            scene.render.use_placeholder = False
-
             scene.use_nodes = True
             tree = scene.node_tree
 
@@ -276,6 +245,41 @@ class BlenderUtils:
             output_depth.format.file_format = "PNG"
             output_depth.format.color_mode = "BW"
             output_depth.format.color_depth = "16"
+            tree.links.new(map_range.outputs[0], output_depth.inputs[0])
+            bpy.ops.render.render(write_still=True)
+
+        msg = "success"
+        return msg
+        
+    @staticmethod
+    def render_mask(
+        output_dir, file_name, binocular_vision=False, target_object=None
+    ):
+        target_cameras = [BlenderUtils.CAMERA_NAME]
+        if binocular_vision:
+            target_cameras.append(BlenderUtils.CAMERA_RIGHT_NAME)
+        # use pass z
+        bpy.context.scene.view_layers["ViewLayer"].use_pass_z = True
+        for cam_name in target_cameras:
+            bpy.context.scene.camera = BlenderUtils.get_obj(cam_name)
+            cam_suffix = "L" if cam_name == BlenderUtils.CAMERA_NAME else "R"
+            scene = bpy.context.scene
+            scene.render.filepath = ""
+
+            mask_dir = os.path.join(output_dir, "mask")
+            if not os.path.exists(mask_dir):
+                os.makedirs(mask_dir)
+
+            scene.render.filepath = os.path.join(
+                output_dir, mask_dir, f"{file_name}_{cam_suffix}.png"
+            )
+            scene.render.image_settings.color_depth = "8"
+            scene.render.resolution_percentage = 100
+            scene.render.use_overwrite = False
+            scene.render.use_file_extension = False
+            scene.render.use_placeholder = False
+
+            
             bpy.ops.render.render(write_still=True)
 
         msg = "success"

data_generator.py

@@ -243,11 +243,22 @@ class DataGenerator:
         np.savetxt(os.path.join(scene_dir, "points_and_normals.txt"), points_normals)
         for i, cam_pose in enumerate(view_data["cam_poses"]):
             BlenderUtils.set_camera_at(cam_pose)
-            BlenderUtils.render_mask_and_depth(scene_dir, f"{i}", binocular_vision=self.binocular_vision, target_object = self.target_obj)
+            BlenderUtils.render_mask(scene_dir, f"{i}", binocular_vision=self.binocular_vision, target_object = self.target_obj)
             BlenderUtils.save_cam_params(scene_dir, i, binocular_vision=self.binocular_vision)
             self.set_progress("render frame", i, len(view_data["cam_poses"]))
         self.set_progress("render frame", len(view_data["cam_poses"]), len(view_data["cam_poses"]))
         BlenderUtils.save_scene_info(scene_dir, self.display_table_config, object_name)
+        
+        
+        
+        self.change_target_obj_material_to_normal()
+        for i, cam_pose in enumerate(view_data["cam_poses"]):
+            BlenderUtils.set_camera_at(cam_pose)
+            BlenderUtils.render_normal_and_depth(scene_dir, f"{i}", binocular_vision=self.binocular_vision, target_object = self.target_obj)
+            BlenderUtils.save_cam_params(scene_dir, i, binocular_vision=self.binocular_vision)
+            self.set_progress("render normal frame", i, len(view_data["cam_poses"]))
+        self.set_progress("render normal frame", len(view_data["cam_poses"]), len(view_data["cam_poses"]))
+        
         depth_dir = os.path.join(scene_dir, "depth")
         for depth_file in os.listdir(depth_dir):
             if not depth_file.endswith(".png"):
@@ -256,14 +267,6 @@ class DataGenerator:
                 new_file_path = os.path.join(depth_dir, f"{name}.png")
                 os.rename(file_path,new_file_path)
         
-        self.change_target_obj_material_to_normal()
-        for i, cam_pose in enumerate(view_data["cam_poses"]):
-            BlenderUtils.set_camera_at(cam_pose)
-            BlenderUtils.render_normal(scene_dir, f"{i}", binocular_vision=self.binocular_vision, target_object = self.target_obj)
-            BlenderUtils.save_cam_params(scene_dir, i, binocular_vision=self.binocular_vision)
-            self.set_progress("render normal frame", i, len(view_data["cam_poses"]))
-        self.set_progress("render normal frame", len(view_data["cam_poses"]), len(view_data["cam_poses"]))
-        
         return True
     
     def change_target_obj_material_to_normal(self):