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import os
import sys
import pkgutil
import inspect
import subprocess
try:
import bpy # Blender
except ImportError:
print("Could not import bpy, run with Blender\n"
"blender -P components_exhibit.py")
sys.exit(-1)
from mathutils import Euler
def ext_exec(cmd, python=None):
if not python:
python = 'python%i.%i'%(sys.version_info.major, sys.version_info.minor)
return subprocess.getoutput('%s -c"%s"' % (python, cmd) )
def fix_python_path(python=None):
pythonpath = ext_exec("import os,sys;print(os.pathsep.join(sys.path))")
sys.path.extend(pythonpath.split(os.pathsep))
fix_python_path()
try:
import morse # MORSE
except ImportError:
raise ImportError("Could not import morse, set your PYTHONPATH\n"
'export PYTHONPATH="/usr/local/lib/python3.3/site-packages/:$PYTHONPATH"')
from morse.builder import *
#
# helpers
#
def get_classes_from_module(module_name):
__import__(module_name)
# Predicate to make sure the classes only come from the module in question
def predicate(member):
return inspect.isclass(member) and member.__module__.startswith(module_name)
# fetch all members of module name matching 'pred'
return inspect.getmembers(sys.modules[module_name], predicate)
def get_submodules(module_name):
""" Get a list of submodules from a module name.
Not recursive, don't return nor look in subpackages """
__import__(module_name)
module = sys.modules[module_name]
module_path = getattr(module, '__path__')
return [name for _, name, ispkg in pkgutil.iter_modules(module_path) if not ispkg]
def get_subclasses(module_name, skip_submodules=[]):
subclasses = []
submodules = get_submodules(module_name)
for submodule_name in submodules:
if submodule_name in skip_submodules:
pass
submodule = "%s.%s"%(module_name, submodule_name)
try:
submodule_classes = get_classes_from_module(submodule)
for _, klass in submodule_classes:
subclasses.append(klass)
except Exception:
# can not import some resources
pass
return subclasses
modules = [
"morse.builder.sensors",
"morse.builder.actuators",
"morse.builder.robots",
]
specific_camera_pose_per_component = {
# Robots
'BasePR2': (.36, -2.25, 1.77),
'Morsy': (3.84, -3.12, 2.12, 1.32, 0.0, 0.86),
'SegwayRMP400': (.36, -2.25, 1.77),
'ATRV': (.36, -2.25, 1.77),
'Human': (4, 0, 2.8), # 65°,0,90°
'Hummer': (.36, -2.25, 1.77),
'Jido': (.36, -2.25, 1.77),
'B21': (.36, -2.25, 1.77),
'RMax': (.36, -2.25, 1.77),
'Submarine': (.36, -2.25, 1.77),
'Vicitm': (.36, -2.25, 1.77),
'NavPR2': (.36, -2.25, 1.77),
'QUAD2012': (.36, -1.25, .77),
'Quadrotor': (.36, -1.25, .77),
'Pioneer3DX': (.36, -1.25, .77),
# Sensors
'Accelerometer': (.36, -1.25, .77),
'Battery': (.36, -1.25, .77),
'DepthCamera': (.36, -1.25, .77),
'GPS': (.36, -1.25, .77),
'Gyroscope': (.36, -1.25, .77),
'Hokuyo': (.36, -1.25, .77),
'IMU': (.36, -1.25, .77),
'Infrared': (.36, -1.25, .77),
'Kinect': (.36, -1.25, .77),
'Odometry': (.36, -1.25, .77),
'Pose': (.36, -1.25, .77),
'Proximity': (.36, -1.25, .77),
'SearchAndRescue': (.36, -1.25, .77),
'SemanticCamera': (.36, -1.25, .77),
'Sick': (.36, -1.25, .77),
'SickLDMRS': (.36, -1.25, .77),
'StereoUnit': (.36, -1.25, .77),
'Thermometer': (.36, -1.25, .77),
'VideoCamera': (.36, -1.25, .77),
'Velodyne': (.36, -1.25, .77),
# Actuators
'PTU': (.36, -1.25, .77),
'PA10': (.36, -2.25, 1.77),
'KukaLWR': (.36, -2.25, 1.77),
'Gripper': (.36, -1.25, .77),
}
def pose_camera(location = (.36, -1.25, .77), rotation = (1.1, 0, 0.25)):
if len(location) == 6:
rotation = location[3:]
location = location[:3]
scene = bpy.context.scene
scene.camera.rotation_euler = Euler(rotation, 'XYZ')
scene.camera.location = location
def setup_scene():
scene = bpy.context.scene
if 'Cube' in bpy.data.objects:
bpymorse.delete('Cube')
# Set the scene's camera
scene.camera = bpy.data.objects['Camera']
# Set the scene's output file format
scene.render.image_settings.file_format = 'PNG'
# RGBA, Images are saved with RGB and Alpha data (if supported).
scene.render.image_settings.color_mode = 'RGBA'
if bpy.app.version < (2, 66, 0):
# Premultiplied, Transparent RGB pixels are multiplied by the alpha channel.
scene.render.alpha_mode = 'PREMUL'
else:
# Transparent, World background is transparent with premultiplied alpha.
scene.render.alpha_mode = 'TRANSPARENT'
# Move the default Lamp
bpy.data.objects['Lamp'].location = (-2, 3, 6)
if len(bpy.data.lamps) < 3:
# Add new lamp point
bpy.ops.object.lamp_add(type='POINT', location=(5, 2, 1))
bpy.data.lamps[-1].energy = 0.6
bpy.ops.object.lamp_add(type='POINT', location=(-4, 3, 4))
bpy.data.lamps[-1].energy = 0.4
# Move the default Camera
pose_camera()
def render_component(klass, save_path):
scene = bpy.context.scene
class_name = klass.__name__
if class_name in specific_camera_pose_per_component:
pose_camera(specific_camera_pose_per_component[class_name])
else:
print("#### class not in dict: %s"%str(class_name))
pose_camera()
origin_objects = [obj.name for obj in bpy.data.objects]
try:
# load class
component = klass()
# Refresh the view
bpy.ops.wm.redraw_timer(type='DRAW_WIN_SWAP', iterations=1)
# Render the scene
scene.render.filepath = os.path.join(save_path, klass.__name__ + ".png")
bpy.ops.render.render(write_still=True)
except Exception as e:
print("[ERROR] Could not load %s.\nSet MORSE_ROOT to the prefix " \
"used to install MORSE.\n%s"% (str(klass), str(e) ) )
finally:
# Remove the inserted objects
bpymorse.delete([obj for obj in bpy.data.objects \
if obj.name not in origin_objects])
def main():
""" Generate "studio" image of MORSE components
HOWTO
export PYTHONPATH="/usr/local/lib/python3.3/site-packages/:$PYTHONPATH"
blender -P components_exhibit.py
Et voila!
"""
print ("==== PHOTO STUDIO FOR MORSE COMPONENTS ====\n\n")
save_path = "//morse_renders"
scene = bpy.context.scene
print('Using Scene[%s]'%scene.name)
setup_scene()
# browse morse components modules
for module in modules:
print("browse %s classes"%module)
for _, klass in get_classes_from_module(module):
print("process %s"%str(klass))
if issubclass(klass, AbstractComponent):
try:
render_component(klass, save_path)
except Exception as e:
print("[ERROR] Could not render %s : %s"%(str(klass), str(e)))
else:
print("[ERROR] Not a Component : %s"%str(klass))
print("\n\n")
print ("DONE!")
if __name__ == '__main__':
main()
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