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