Scene Generated

setup/generateSets/render_Loop.py

@@ -0,0 +1,153 @@
+import json
+import os
+import subprocess
+import shutil
+from pathlib import Path
+import argparse
+
+def update_robot_json(robot_json_file, camera_position, camera_target, default_position):
+    """Aktualisiert die cameraPosition und defaultPosition in der robot.json-Datei."""
+    try:
+        with open(robot_json_file, 'r') as f:
+            data = json.load(f)
+
+        data['renderingInfo']['cameraPosition'] = camera_position
+        data['renderingInfo']['cameraTarget'] = camera_target
+        data['defaultPosition'] = default_position
+
+        with open(robot_json_file, 'w') as f:
+            json.dump(data, f, indent=2)
+    except FileNotFoundError:
+        print(f"Fehler: Datei {robot_json_file} nicht gefunden.")
+        return False
+    except json.JSONDecodeError:
+        print(f"Fehler: JSON-Datei {robot_json_file} ist ungültig.")
+        return False
+    return True
+
+def run_blender(blender_executable, script_path, log_level):
+    """Führt Blender mit dem angegebenen Skript aus."""
+    try:
+        command = [
+            blender_executable,
+            "-b",
+            "--python",
+            script_path,
+            "--log-level",
+            str(log_level)
+        ]
+        subprocess.run(command, check=True, capture_output=True, text=True)
+        return True
+    except subprocess.CalledProcessError as e:
+        print(f"Blender-Skript fehlgeschlagen:\n{e.stderr}")
+        return False
+
+def copy_and_rename_file(source_file, destination_dir, new_filename):
+    """Kopiert die erstellte Bilddatei in den Zielordner und benennt sie um."""
+    destination_path = os.path.join(destination_dir, new_filename)
+    try:
+        shutil.copy2(source_file, destination_path)  # copy2 behält Metadaten
+        return True
+    except FileNotFoundError:
+        print(f"Fehler: Quelldatei {source_file} nicht gefunden.")
+        return False
+    except Exception as e:
+        print(f"Fehler beim Kopieren/Umbenennen der Datei: {e}")
+        return False
+
+def main():
+    USER_HOME = Path.home()
+    ROBOT_JSON_FILE = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "robot" / "robot.json")
+    OUTPUT_DIR = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "simulation" / "debug"  )
+    BLENDER_EXE = str("C:/Program Files/Blender Foundation/Blender 4.5/blender.exe")
+    RENDER_PY= str(USER_HOME /"SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering"/ "setup"/"generateSets"/"render_robot.py")
+    RENDER_PNG=str(USER_HOME /"SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering"/"data"/"simulation"/"debug"/"render.png")
+    OUTPUT_SET = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "simulation" )
+    
+    parser = argparse.ArgumentParser(description="Automatisiert die Roboter-Rendering-Pipeline.")
+    parser.add_argument("robot_json", nargs="?",
+                        default=ROBOT_JSON_FILE, help="Pfad zur robot.json-Datei.")
+    parser.add_argument("blender_executable",nargs="?",
+                        default=BLENDER_EXE, help="Pfad zur Blender-Executable.")
+    parser.add_argument("render_script", 
+                        default=RENDER_PY,
+                        help="Pfad zum render_robot.py-Skript.",nargs="?")
+    parser.add_argument("render_png",nargs="?",
+                        default=RENDER_PNG,help="script erzeugte png")
+    parser.add_argument("output_dir", nargs="?",
+                        default=OUTPUT_DIR, help="Zielordner für die gerenderten Blender Bilder.")
+    parser.add_argument("output_set", nargs="?",
+                        default=OUTPUT_SET, help="Zielordner in dem die Sets abgelegt werden")
+    parser.add_argument("--log_level", type=int, default=2, help="Log-Level für Blender (Standard: 2).")
+    args = parser.parse_args()
+
+    # Kamerapositions-Dictionary
+    camera_positions = {
+        "a": [-300, -800, 800],
+        "b": [300, -900, 1200],
+        "c": [300, -900, 400],
+        "d": [700, -800, 400],
+        "e": [1200, -900, 400],
+        "f": [500, -300, 1400],
+        "g": [-200,  200, 1400],
+    }
+    camera_targets = {
+        "a": [210, -100, 180],
+        "b": [310, -80, 180],
+        "c": [210, -100, 150],
+        "d": [210, -100, 150],
+        "e": [210, -100, 50],
+        "f": [200, -200, 180],
+        "g": [200, -200, 180],
+    }
+
+    # Robot-Pose-Dictionary
+    robot_poses = {
+        #"4": {"x": 70, "y": 50,"z": -70,"a": 120,"b": 50,"c": 30,"e": 20},
+        #"5": {"x": 180,"y": 86,"z": -120,"a": -60,"b": 22,"c": 91,"e": 10},
+        #"6": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3},
+        #"7": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9},
+        #"8": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3},
+        "9": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
+        "10": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
+        #"11": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
+        #"12": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6},
+    }
+
+    for pose_name, default_position in robot_poses.items():
+        new_folder = Path(args.output_set) / f"Set{pose_name}"
+        os.makedirs(new_folder, exist_ok=True)
+        
+        
+        pose_file = new_folder / "pose.json"
+        pose_data = {"name": pose_name,"position": default_position, "camera_positions": camera_positions}
+        with open(pose_file, "w") as f:
+            json.dump(pose_data, f, indent=2)
+
+        for frame_name, camera_position in camera_positions.items():
+
+            camera_target = camera_targets[frame_name]
+
+            # 1. JSON aktualisieren
+            if not update_robot_json(args.robot_json, camera_position, camera_target, default_position):
+                continue  # Gehe zum nächsten Schleifendurchlauf
+
+            # 2. Blender-Skript ausführen
+            if not run_blender(args.blender_executable, args.render_script, args.log_level):
+                continue # Gehe zum nächsten Schleifendurchlauf
+
+            # 3. Datei kopieren und umbenennen
+            new_filename = f"render_{frame_name}.png"
+            if not copy_and_rename_file(args.render_png, new_folder, new_filename):
+                continue # Gehe zum nächsten Schleifendurchlauf
+            
+            if not copy_and_rename_file(args.render_png.replace(".png",".npz"), new_folder, new_filename.replace(".png",".npz")):
+                continue # Gehe zum nächsten Schleifendurchlauf
+            
+            if not copy_and_rename_file(args.render_png.replace("render.png","markers.json"), new_folder, new_filename.replace(".png",".json")):
+                continue # Gehe zum nächsten Schleifendurchlauf
+
+            print(f"Rendering für Frame {frame_name}, Set {pose_name} erfolgreich abgeschlossen.")
+
+if __name__ == "__main__":
+    main()

setup/generateSets/render_robot.py

@@ -15,6 +15,18 @@ from mathutils import Matrix
 ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\robot\robot.json"
 OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\simulation\debug\render.png"
 
+from pathlib import Path
+
+# Holt dynamisch den Pfad zum aktuellen Benutzerverzeichnis (z.B. C:\Users\Name)
+USER_HOME = Path.home()
+
+# Kombiniert den Benutzerpfad mit dem spezifischen Ordnerpfad und konvertiert direkt zu str
+ROBOT_JSON_FILE = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "robot" / "robot.json")
+OUTPUT_FILE = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "simulation" / "debug" / "render.png")
+
+print("Using robot JSON file:", ROBOT_JSON_FILE)
+print("Using output file:", OUTPUT_FILE)
+
 # ============================================================
 # DEFAULT MATERIALS
 # ============================================================
@@ -83,6 +95,8 @@ links_def = robot.get("links", {})
 if not isinstance(links_def, dict):
     raise ValueError("robot.json must contain a top-level 'links' object")
 
+
+
 # ============================================================
 # HELPERS
 # ============================================================
@@ -345,8 +359,11 @@ bg.inputs[1].default_value = float(rendering_info.get("backgroundStrength", 0.20
 
 scene.render.engine = "CYCLES"
 scene.view_settings.exposure = float(rendering_info.get("exposure", -1.5))
-scene.cycles.samples = 16
+scene.cycles.samples = 32
 scene.cycles.preview_samples = 32
+scene.cycles.use_adaptive_sampling = True
+scene.cycles.adaptive_threshold = 0.02
+scene.cycles.use_denoising = True
 scene.render.resolution_x = RENDER_WIDTH
 scene.render.resolution_y = RENDER_HEIGHT
 scene.render.resolution_percentage = 100
@@ -931,6 +948,52 @@ create_axis_arrow("AxisX", (1, 0, 0), (1, 0, 0))
 create_axis_arrow("AxisY", (0, 1, 0), (0, 1, 0))
 create_axis_arrow("AxisZ", (0, 0, 1), (0, 0, 1))
 
+
+# ============================================================
+# AUTO GPU DETECTION (robust, plattformübergreifend)
+# ============================================================
+
+def enable_best_device(scene):
+    prefs = bpy.context.preferences
+    cycles_prefs = prefs.addons['cycles'].preferences
+
+    # Prioritäten (schnell → weniger schnell)
+    backends = ['OPTIX', 'CUDA', 'HIP', 'METAL', 'ONEAPI']
+
+    selected_backend = None
+
+    for backend in backends:
+        try:
+            cycles_prefs.compute_device_type = backend
+            cycles_prefs.get_devices()
+
+            devices = cycles_prefs.devices
+
+            # Prüfen, ob eine GPU dabei ist
+            gpu_devices = [d for d in devices if d.type != 'CPU']
+
+            if gpu_devices:
+                selected_backend = backend
+
+                # Aktiviere alle Geräte (GPU + optional CPU fallback)
+                for d in devices:
+                    d.use = True
+
+                break
+        except Exception:
+            continue
+
+    if selected_backend:
+        print(f"[Render] Using GPU via {selected_backend}")
+        scene.cycles.device = 'GPU'
+    else:
+        print("[Render] No GPU found, falling back to CPU")
+        scene.cycles.device = 'CPU'
+
+
+enable_best_device(scene)
+
+
 # ============================================================
 # RENDER
 # ============================================================

setup/generateSets/runLoop.py

@@ -1,104 +0,0 @@
-import json
-import os
-import subprocess
-import shutil
-import argparse
-
-def update_robot_json(robot_json_file, camera_position, default_position):
-    """Aktualisiert die cameraPosition und defaultPosition in der robot.json-Datei."""
-    try:
-        with open(robot_json_file, 'r') as f:
-            data = json.load(f)
-
-        data['renderingInfo']['cameraPosition'] = camera_position
-        data['renderingInfo']['defaultPosition'] = default_position
-
-        with open(robot_json_file, 'w') as f:
-            json.dump(data, f, indent=2)
-    except FileNotFoundError:
-        print(f"Fehler: Datei {robot_json_file} nicht gefunden.")
-        return False
-    except json.JSONDecodeError:
-        print(f"Fehler: JSON-Datei {robot_json_file} ist ungültig.")
-        return False
-    return True
-
-def run_blender(blender_executable, script_path, log_level):
-    """Führt Blender mit dem angegebenen Skript aus."""
-    try:
-        command = [
-            blender_executable,
-            "-b",
-            "--python",
-            script_path,
-            "--log-level",
-            str(log_level)
-        ]
-        subprocess.run(command, check=True, capture_output=True, text=True)
-        return True
-    except subprocess.CalledProcessError as e:
-        print(f"Blender-Skript fehlgeschlagen:\n{e.stderr}")
-        return False
-
-def copy_and_rename_file(source_file, destination_dir, new_filename):
-    """Kopiert die erstellte Bilddatei in den Zielordner und benennt sie um."""
-    destination_path = os.path.join(destination_dir, new_filename)
-    try:
-        shutil.copy2(source_file, destination_path)  # copy2 behält Metadaten
-        return True
-    except FileNotFoundError:
-        print(f"Fehler: Quelldatei {source_file} nicht gefunden.")
-        return False
-    except Exception as e:
-        print(f"Fehler beim Kopieren/Umbenennen der Datei: {e}")
-        return False
-
-def main():
-    parser = argparse.ArgumentParser(description="Automatisiert die Roboter-Rendering-Pipeline.")
-    parser.add_argument("robot_json", help="Pfad zur robot.json-Datei.")
-    parser.add_argument("blender_executable", help="Pfad zur Blender-Executable.")
-    parser.add_argument("render_script", help="Pfad zum render_robot.py-Skript.")
-    parser.add_argument("output_dir", help="Zielordner für die gerenderten Bilder.")
-    parser.add_argument("--log_level", type=int, default=2, help="Log-Level für Blender (Standard: 2).")
-    args = parser.parse_args()
-
-    # Kamerapositions-Dictionary
-    camera_positions = {
-        "a": [-300, -800, 500],
-        "b": [300, -700, 500],
-        "c": [600, -500, 600],
-        "d": [-10, -800, 500],
-        "e": [-500, 300, 1200],
-        "f": [1200, 200, 300]
-    }
-
-    # Robot-Pose-Dictionary
-    robot_poses = {
-        "3": {"x": 10, "y": 4, "z": 20, "a": 10, "b": 2, "c": 9, "e": 1},
-        "4": {"x": 40, "y": 48, "z": -30, "a": 30, "b": 23, "c": 9, "e": 8},
-        "5": {"x": 80, "y": 93, "z": -120, "a": 120, "b": 23, "c": 9, "e": 3},
-        "6": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3}
-    }
-
-    for set_name, camera_position in camera_positions.items():
-        for pose_name, default_position in robot_poses.items():
-
-            # 1. JSON aktualisieren
-            if not update_robot_json(args.robot_json, camera_position, default_position):
-                continue  # Gehe zum nächsten Schleifendurchlauf
-
-            # 2. Blender-Skript ausführen
-            if not run_blender(args.blender_executable, args.render_script, args.log_level):
-                continue # Gehe zum nächsten Schleifendurchlauf
-
-            # 3. Datei kopieren und umbenennen
-            render_script_dir = os.path.dirname(args.render_script)
-            render_file = os.path.join(render_script_dir, "render.png")
-            new_filename = f"render_set{set_name}_{pose_name}.png"
-            if not copy_and_rename_file(render_file, args.output_dir, new_filename):
-                continue # Gehe zum nächsten Schleifendurchlauf
-
-            print(f"Rendering für Set {set_name}, Pose {pose_name} erfolgreich abgeschlossen.")
-
-if __name__ == "__main__":
-    main()