initial

blender_generate_image_and_depth.py

+import bpy
+import numpy as np
+import os
+
+import sys
+
+'''
+Usage:
+
+~$ blender -b -P blender_generate_image_and_depth.py -- file1,file2,..,fileN
+or
+~$ <path-to-blender>/blender -b -P blender_generate_image_and_depth.py -- file1,file2,..,fileN
+
+  - file names must include path
+  - must be .obj format
+  - at the same path all accompanying files must be present - .mtl and textures
+  - no space after commas
+  - blender executable must be in the path
+    - ~$ which blender
+    - alternatively can call from blender path
+
+Example:
+
+~$ blender -b -P blender_generate_image_and_depth.py -- input/1527256815_550165_v01/1527256815_550165.obj,input/1527256858_750165_v01/1527256858_750165.obj
+
+Output:
+
+  - <model_output_folder>/name-image.jpeg - RGB
+  - <model_output_folder>/name-depth.exr  - D, 32-bit float data
+
+Comment:
+
+  - for some reason it worked ok with Blender v2.80.75
+  - didn't work for some models in Blender v2.82.7
+
+'''
+
+model_output_folder = "output"
+
+scene = bpy.context.scene
+world = scene.world
+camera = scene.camera
+
+scene.render.resolution_x = 2592
+scene.render.resolution_y = 1902
+scene.render.resolution_percentage = 100
+
+world.use_nodes = False
+world.color = (1.00 , 1.00 , 1.00)
+
+objs = bpy.data.objects
+objs.remove(objs["Cube"], do_unlink=True)
+objs.remove(objs["Light"], do_unlink=True)
+
+camera.location = (0,0,0)
+camera.rotation_mode = "XYZ"
+camera.rotation_euler = (90*np.pi/180.0, 0, 0)
+camera.data.clip_end = 10000
+camera.data.clip_start = 0.1
+camera.data.angle = 66.8*np.pi/180
+
+bpy.context.scene.use_nodes = True
+
+rn = scene.node_tree.nodes.new('CompositorNodeRLayers')
+depth = scene.node_tree.nodes.new('CompositorNodeOutputFile')
+depth.format.file_format = 'OPEN_EXR'
+depth.format.color_depth = '32'
+depth.format.color_mode = 'RGB'
+depth.format.exr_codec = 'ZIP'
+depth.base_path = model_output_folder
+depth.file_slots[0].path = 'depth-'
+
+scene.node_tree.links.new(rn.outputs[2], depth.inputs[0])
+
+fpaths = sys.argv[-1].split(',')
+
+TEST=False
+if (TEST):
+    fpaths = ['input/1527256815_550165_v01/1527256815_550165.obj',
+              'input/1527256903_350165/v03/1527256903_350165.obj',
+              'input/1488240695_710844_x3d105/1488240695_710844.obj']
+
+print(fpaths)
+
+if(not (os.path.isdir(model_output_folder))):
+    os.mkdir(model_output_folder)
+
+for fpath in fpaths:
+
+    obj_name = fpath.split('/')[-1][:-4]
+    print(obj_name)
+
+    bpy.ops.import_scene.obj(filepath=fpath, use_smooth_groups=False)
+
+    obj = bpy.data.objects[obj_name]
+    for mat in obj.material_slots:
+        mat.material.use_nodes = True
+
+    scene.render.filepath = os.path.join(model_output_folder,obj_name+"-image.jpeg")
+    scene.render.image_settings.file_format='JPEG'
+    bpy.ops.render.render(write_still = True)
+    bpy.data.objects.remove(obj)
+    # rename exr
+    os.rename(os.path.join(model_output_folder,'depth-0001.exr'),os.path.join(model_output_folder,obj_name+"-depth.exr"))
+
+

exr2png.py

+import OpenEXR
+import Imath
+import numpy as np
+import matplotlib
+import matplotlib.pyplot as plt
+from PIL import Image
+
+# From here: https://gist.github.com/arseniy-panfilov/4dc8fc5131277affe64619b1a9d00da0
+def exr2arr(exrfile):
+    file = OpenEXR.InputFile(exrfile)
+    dw = file.header()['dataWindow']
+
+    channels = file.header()['channels'].keys()
+    print(channels)
+    channels_list = list()
+    for c in ('R', 'G', 'B', 'A'):
+        if c in channels:
+            channels_list.append(c)
+
+    #size = (dw.max.x - dw.min.x + 1, dw.max.y - dw.min.y + 1)
+    size = (dw.max.y - dw.min.y + 1, dw.max.x - dw.min.x + 1)
+    color_channels = file.channels(channels_list, Imath.PixelType(Imath.PixelType.FLOAT))
+    channels_tuple = [np.fromstring(channel, dtype='f') for channel in color_channels]
+    res = np.dstack(channels_tuple)
+    res.reshape(size + (len(channels_tuple),))
+    return res[:,:,0]
+
+
+if __name__ == "__main__":
+    fname = "depth-0001.exr"
+    arr = exr_to_array(fname)
+    print(arr.shape)
+
+    dmap = arr[:,:,0]
+    print(np.max(dmap))
+
+    dmap[dmap==65504]=0
+    dmap[dmap==10000000000.0]=0
+
+    print(np.max(dmap))
+
+    k = 1
+    #k = 0xffff/np.max(dmap)
+    #k = 5 # 20cm
+    k = 100 # 1 cm
+    #k = 10 # 10cm /unit
+
+    print("scale = "+str(k))
+    dmap = k*dmap
+    dmap[dmap>65535]=0
+
+    im = Image.fromarray(dmap.astype(np.uint16))
+    im.save('model-depth.png')
+
+    plt.imshow(dmap)
+    plt.colorbar()
+    plt.show()
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obj2rgbd.py

+import os
+import subprocess
+
+import exr2png as e2p
+
+PATH_TO_BLENDER = ""
+
+fpaths = ['input/1527256815_550165_v01/1527256815_550165.obj',
+            'input/1527256903_350165/v03/1527256903_350165.obj',
+            'input/1488240695_710844_x3d105/1488240695_710844.obj']
+
+filelist = ','.join(fpaths)
+
+# this will run by Blender's bundled python
+subprocess.run(os.path.join(PATH_TO_BLENDER,'blender')+" -b -P blender_generate_image_and_depth.py -- "+filelist, shell=True)
+
+model_output_folder = "output"
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