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newline at end of file diff --git a/data/evaluations/Scene5/render_a_camera_pose.json b/data/evaluations/Scene5/render_a_camera_pose.json index e2e4794..9f2a21e 100644 --- a/data/evaluations/Scene5/render_a_camera_pose.json +++ b/data/evaluations/Scene5/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-01T20:35:31Z", + "created_utc": "2026-06-02T05:24:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" @@ -9,14 +9,14 @@ "camera_id": "a", "camera_matrix": [ [ - 1777.77783203125, + 2000.0, 0.0, - 640.0 + 720.0 ], [ 0.0, - 1777.77783203125, - 360.0 + 2000.0, + 540.0 ], [ 0.0, @@ -36,37 +36,26 @@ "method": "single_camera_marker_center_lm", "description": "Rigid init from per-marker pose estimates, followed by LM 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file diff --git a/data/evaluations/Scene5/render_f_camera_pose.json b/data/evaluations/Scene5/render_f_camera_pose.json index a2f36d9..63ae4f8 100644 --- a/data/evaluations/Scene5/render_f_camera_pose.json +++ b/data/evaluations/Scene5/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-01T20:35:32Z", + "created_utc": "2026-06-02T05:24:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" @@ -9,14 +9,14 @@ "camera_id": "f", "camera_matrix": [ [ - 1777.77783203125, + 2000.0, 0.0, - 640.0 + 720.0 ], [ 0.0, - 1777.77783203125, - 360.0 + 2000.0, + 540.0 ], [ 0.0, @@ -36,543 +36,526 @@ "method": "single_camera_marker_center_lm", "description": "Rigid init from per-marker pose estimates, followed by LM on normalized 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a/data/evaluations/Scene5/robot_state.json +++ b/data/evaluations/Scene5/robot_state.json @@ -1,51 +1,58 @@ { "schema_version": "1.0", - "created_utc": "2026-06-01T23:03:41Z", + "created_utc": "2026-06-02T05:24:15Z", "method": "hybrid", "movements": { "x": { - "value": 179.991517598722, + "value": 181.8150249984055, "unit": "mm", "observable": true, + "confidence": "medium", "n_markers": 2 }, "y": { - "value": 85.93989063349923, + "value": 86.04506485296203, "unit": "deg", "observable": true, + "confidence": "medium", "n_markers": 2 }, "z": { - "value": -119.9518210353352, + "value": -120.10960047434139, "unit": "deg", "observable": true, + "confidence": "high", "n_markers": 3 }, "a": { - "value": -59.85650717836188, + "value": -60.43040541176247, "unit": "deg", "observable": true, + "confidence": "high", "n_markers": 4 }, "b": { - "value": 22.098148948684177, + "value": 22.30598267771704, "unit": "deg", "observable": true, + "confidence": "medium", "n_markers": 3 }, "c": { - "value": 90.8969120993795, + "value": 90.28963680475427, "unit": "deg", "observable": true, + "confidence": "medium", "n_markers": 3 }, "e": { - "value": 9.979643959347445, + "value": 8.753900124340632, "unit": "mm", "observable": true, + "confidence": "medium", "n_markers": 3 } }, - "residual_rms": 1.4479700331268524, - "num_markers": 56 + "residual_rms": 2.1395071696605545, + "num_markers": 44 } \ No newline at end of file diff --git a/data/robot/robot.json b/data/robot/robot.json index 5edbf12..531d294 100644 --- a/data/robot/robot.json +++ b/data/robot/robot.json @@ -1,26 +1,89 @@ { - "coordinateSystem": {"handedness": "right", "x": "right", "y": "backward", "z": "up"}, - "units": {"length": "mm", "rotation": "degree"}, - "vision_config": {"MarkerType": "DICT_4X4_250", "MarkerSize": 0.025}, + "coordinateSystem": { + "handedness": "right", + "x": "right", + "y": "backward", + "z": "up" + }, + "units": { + "length": "mm", + "rotation": "degree" + }, + "vision_config": { + "MarkerType": "DICT_4X4_250", + "MarkerSize": 0.025 + }, "renderingInfo": { "width": 1440, "height": 1080, - "cameraPosition__1": [-10, -800, 500], - "cameraPosition__2": [-500, 300, 1200], - "cameraPosition__3": [-200, -900, 200], - "cameraPosition__4": [1200, 200, 300], - "cameraPosition_a": [-300, -800, 500], - "cameraPosition": [-200, 200, 1400], - "cameraPosition_c": [600, -500, 600], - "cameraTarget": [200, -200, 180], - "cameraUpVector": [0, 0, 1], - "lightPosition": [-500, -500, 500], - "lightTarget": [0, 0, 0], - "lightUpVector": [0, 0, 1], + "cameraPosition__1": [ + -10, + -800, + 500 + ], + "cameraPosition__2": [ + -500, + 300, + 1200 + ], + "cameraPosition__3": [ + -200, + -900, + 200 + ], + "cameraPosition__4": [ + 1200, + 200, + 300 + ], + "cameraPosition_a": [ + -300, + -800, + 500 + ], + "cameraPosition": [ + -200, + 200, + 1400 + ], + "cameraPosition_c": [ + 600, + -500, + 600 + ], + "cameraTarget": [ + 200, + -200, + 180 + ], + "cameraUpVector": [ + 0, + 0, + 1 + ], + "lightPosition": [ + -500, + -500, + 500 + ], + "lightTarget": [ + 0, + 0, + 0 + ], + "lightUpVector": [ + 0, + 0, + 1 + ], "metric": "mm", "showSkeleton": true, "showMarkers": true, - "backgroundColor": [0.7, 0.85, 1.0], + "backgroundColor": [ + 0.7, + 0.85, + 1.0 + ], "backgroundStrength": 0.2, "sunEnergy": 0.35, "areaEnergy": 120, @@ -29,8 +92,13 @@ "lensDirtStrength": 0.08, "dofEnabled": true, "dofFStop": 11.0, - "arucoDust": false, - "arucoDustStrength": 5e-05, + "arucoDust": true, + "arucoDustStrength": 1.6, + "markerOffsetMaxMm": 4.0, + "markerOffsetSeed": 0, + "markerRotationMaxDeg": 3, + "motionBlur": true, + "motionBlurMaxPx": 5.5, "localizedBlur": false, "localizedBlurStrength": 0.15, "vignette": true, @@ -40,28 +108,149 @@ "lensDistortion": true, "lensDistortionStrength": 0.002, "materials": { - "wood": {"baseColor": [0.72, 0.52, 0.33], "roughness": 0.85, "metallic": 0.0}, - "plaWhite": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.45, "metallic": 0.0}, - "steel": {"baseColor": [0.72, 0.72, 0.75], "roughness": 0.25, "metallic": 1.0}, - "powderCoatBlue": {"baseColor": [0.15, 0.25, 0.7], "roughness": 0.55, "metallic": 0.0}, - "defaultPlastic": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.4, "metallic": 0.0}, - "skeletonRed": {"baseColor": [0.85, 0.2, 0.2], "roughness": 0.35, "metallic": 0.0}, - "markerBlack": {"baseColor": [0.04, 0.04, 0.04], "roughness": 0.8, "metallic": 0.0} + "wood": { + "baseColor": [ + 0.72, + 0.52, + 0.33 + ], + "roughness": 0.85, + "metallic": 0.0 + }, + "plaWhite": { + "baseColor": [ + 0.95, + 0.95, + 0.95 + ], + "roughness": 0.45, + "metallic": 0.0 + }, + "steel": { + "baseColor": [ + 0.72, + 0.72, + 0.75 + ], + "roughness": 0.25, + "metallic": 1.0 + }, + "powderCoatBlue": { + "baseColor": [ + 0.15, + 0.25, + 0.7 + ], + "roughness": 0.55, + "metallic": 0.0 + }, + "defaultPlastic": { + "baseColor": [ + 0.95, + 0.95, + 0.95 + ], + "roughness": 0.4, + "metallic": 0.0 + }, + "skeletonRed": { + "baseColor": [ + 0.85, + 0.2, + 0.2 + ], + "roughness": 0.35, + "metallic": 0.0 + }, + "markerBlack": { + "baseColor": [ + 0.04, + 0.04, + 0.04 + ], + "roughness": 0.8, + "metallic": 0.0 + } }, - "skeletonDefaults": {"radius": 4, "color": [0.85, 0.2, 0.2]}, - "markerDefaults": {"size": 25, "thickness": 1, "color": [0.04, 0.04, 0.04]}, - "defaultPosition": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3} + "skeletonDefaults": { + "radius": 4, + "color": [ + 0.85, + 0.2, + 0.2 + ] + }, + "markerDefaults": { + "size": 25, + "thickness": 1, + "color": [ + 0.04, + 0.04, + 0.04 + ] + }, + "defaultPosition": { + "x": 80, + "y": 20, + "z": 80, + "a": -120, + "b": 23, + "c": 9, + "e": 3 + } + }, + "defaultPosition__": { + "x": 10, + "y": 4, + "z": 20, + "a": 10, + "b": 2, + "c": 9, + "e": 1 + }, + "defaultPosition": { + "x": 180, + "y": 86, + "z": -120, + "a": -60, + "b": 22, + "c": 91, + "e": 10 + }, + "recognized": { + "x": null, + "y": null, + "z": null, + "a": null, + "b": null, + "c": null, + "e": null }, - "defaultPosition__": {"x": 10, "y": 4, "z": 20, "a": 10, "b": 2, "c": 9, "e": 1}, - "defaultPosition": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4}, - "recognized": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null}, "constraint_rules": { - "rigid_distance": {"enabled": true, "mode": "mst", "weight": 1.0}, - "joint_axis_projection": {"enabled": true, "max_pairs": 2, "weight": 0.35}, - "chain_axis_projection": {"enabled": false, "max_depth": 3, "max_pairs": 2, "weight": 0.15}, + "rigid_distance": { + "enabled": true, + "mode": "mst", + "weight": 1.0 + }, + "joint_axis_projection": { + "enabled": true, + "max_pairs": 2, + "weight": 0.35 + }, + "chain_axis_projection": { + "enabled": false, + "max_depth": 3, + "max_pairs": 2, + "weight": 0.15 + }, "axis_alignment_threshold": 0.95 }, - "observation_weighting": {"enabled": true, "distance_weight": true, "marker_size_weight": true, "view_angle_weight": true}, + "observation_weighting": { + "enabled": true, + "distance_weight": true, + "marker_size_weight": true, + "view_angle_weight": true + }, "multiview_calculation": { "combine_mode": "mean", "size_ref_px": 50.0, @@ -88,16 +277,68 @@ "huber_delta_mm": 8.0, "max_iterations": 200, "min_cameras_per_marker": 2, - "finger_block_joints": ["b", "c", "e"], + "finger_block_joints": [ + "b", + "c", + "e" + ], "per_link_method": {} }, "robot_test_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}, + "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 + }, "9a": { "x": 60, "y": -2, @@ -106,7 +347,11 @@ "b": 60, "c": 9, "e": 8, - "rendering": {"width": 1440, "height": 1080, "dofFStop": 11} + "rendering": { + "width": 1440, + "height": 1080, + "dofFStop": 11 + } }, "9b": { "x": 60, @@ -116,31 +361,123 @@ "b": 60, "c": 9, "e": 8, - "rendering": {"width": 4896, "height": 3264, "dofFStop": 5.6} + "rendering": { + "width": 4896, + "height": 3264, + "dofFStop": 5.6 + } }, - "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} + "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 + } }, "test_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] + "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 + ] }, "test_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] + "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 + ] + }, + "movements": { + "x": null, + "y": null, + "z": null, + "a": null, + "b": null, + "c": null, + "e": null }, - "movements": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null}, "state_pose_params": { "numbers_of_Elements_to_consider_start": 3, "numbers_of_Elements_to_consider_final": 5, @@ -156,303 +493,1938 @@ "links": { "Board": { "parent": null, - "size": [1000, 200, 25], - "mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - "skeleton": {"from": [0, 0, 16], "to": [1000, 0, 16], "radius": 4, "color": [0.85, 0.2, 0.2]}, + "size": [ + 1000, + 200, + 25 + ], + "mountPosition": [ + 0, + 0, + 0 + ], + "mountRotation": [ + 0, + 0, + 0 + ], + "skeleton": { + "from": [ + 0, + 0, + 16 + ], + "to": [ + 1000, + 0, + 16 + ], + 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-0.7179674506187439 ] }, { @@ -2292,25 +2292,25 @@ "id": 40, "link": "FingerA", "position_m": [ - 0.3062950074672699, - -0.20070452988147736, - 0.027143435552716255 + 0.3914892375469208, + -0.16435910761356354, + 0.12156370282173157 ], "position_mm": [ - 306.2950074672699, - -200.70452988147736, - 27.143435552716255 + 391.4892375469208, + -164.35910761356354, + 121.56370282173157 ], "rotation_quaternion": [ - 0.7735369801521301, - 0.624555230140686, - -0.003756820224225521, - 0.10750453174114227 + 0.008576338179409504, + 0.15523435175418854, + 0.9162014722824097, + 0.36932870745658875 ], "normal": [ - 0.1284729540348053, - -0.9670408964157104, - 0.21983331441879272 + 0.1303802877664566, + 0.6740962862968445, + -0.7270455360412598 ] }, { @@ -2318,25 +2318,25 @@ "id": 41, "link": "FingerA", "position_m": [ - 0.3252080976963043, - -0.15807893872261047, - 0.0439019612967968 + 0.3646829128265381, + -0.16163456439971924, + 0.16649426519870758 ], "position_mm": [ - 325.2080976963043, - 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0.32767537236213684, - -0.21213732659816742, - 0.0553557313978672 + 0.3708168864250183, + -0.11914579570293427, + 0.12279202044010162 ], "position_mm": [ - 327.67537236213684, - -212.13732659816742, - 55.3557313978672 + 370.8168864250183, + -119.14579570293427, + 122.79202044010162 ], "rotation_quaternion": [ - 0.23388497531414032, - 0.7835131287574768, - 0.5606216192245483, - -0.13079914450645447 + 0.1570289433002472, + 0.40392592549324036, + -0.8814878463745117, + 0.18752315640449524 ], "normal": [ - 0.05727626383304596, - -0.5131615400314331, - -0.8563787937164307 + -0.1253472864627838, + -0.4574548900127411, + -0.8803539276123047 ] }, { @@ -2422,25 +2422,25 @@ "id": 45, "link": "FingerB", "position_m": [ - 0.35379403829574585, - -0.19850373268127441, - 0.01837557554244995 + 0.33433204889297485, + -0.14838381111621857, + 0.11471820622682571 ], "position_mm": [ - 353.79403829574585, - -198.5037326812744, - 18.37557554244995 + 334.33204889297485, + -148.38381111621857, + 114.71820622682571 ], "rotation_quaternion": [ - 0.6868346929550171, - 0.43043267726898193, - 0.5849026441574097, - -0.029576977714896202 + 0.17051881551742554, + 0.4431733191013336, + -0.785284698009491, + -0.3973018229007721 ], "normal": [ - 0.7780009508132935, - -0.6258714199066162, - -0.05476672202348709 + -0.619958758354187, + 0.4728512763977051, + -0.6261492371559143 ] } ] \ No newline at end of file diff --git a/data/simulation/debug/render.png b/data/simulation/debug/render.png index 9810932..69685d0 100644 Binary files a/data/simulation/debug/render.png and b/data/simulation/debug/render.png differ diff --git a/setup/generateSets/__pycache__/render_robot.cpython-311.pyc b/setup/generateSets/__pycache__/render_robot.cpython-311.pyc index cba11b3..c6f39ed 100644 Binary files a/setup/generateSets/__pycache__/render_robot.cpython-311.pyc and b/setup/generateSets/__pycache__/render_robot.cpython-311.pyc differ diff --git a/setup/generateSets/render_robot.py b/setup/generateSets/render_robot.py index 638a840..e139a12 100644 --- a/setup/generateSets/render_robot.py +++ b/setup/generateSets/render_robot.py @@ -2,6 +2,7 @@ from unicodedata import name import bpy import math +import random import mathutils import json from pathlib import Path @@ -75,7 +76,17 @@ dof_enabled = as_bool(rendering_info.get("dofEnabled", True)) dof_fstop = float(rendering_info.get("dofFStop", 7.5)) aruco_dust = as_bool(rendering_info.get("arucoDust", False)) -aruco_dust_strength = float(rendering_info.get("arucoDustStrength", 0.0005)) +aruco_dust_strength = float(rendering_info.get("arucoDustStrength", 0.5)) + +# ── Realismus-Störungen ──────────────────────────────────────────── +# Marker leicht "falsch aufgeklebt": tangentiale Verschiebung (mm). Deterministisch +# pro Marker-ID, damit der Marker in ALLEN Kameraansichten konsistent versetzt ist. +marker_offset_max_mm = float(rendering_info.get("markerOffsetMaxMm", 0.0)) +marker_offset_seed = int(rendering_info.get("markerOffsetSeed", 0)) +marker_rot_max_deg = float(rendering_info.get("markerRotationMaxDeg", 0.0)) +# Leichtes Verwackeln: pro Aufnahme zufällig gerichteter, kleiner Blur (Pixel). +motion_blur = as_bool(rendering_info.get("motionBlur", False)) +motion_blur_max_px = float(rendering_info.get("motionBlurMaxPx", 1.5)) state: Dict[str, float] = {k: 0.0 for k in STATE_KEYS} for source_name in ("defaultPosition", "recognized", "movements"): @@ -698,32 +709,38 @@ for link_name, link_info in links_def.items(): tex.image = image if aruco_dust: + # Wenige feine Staubkörner: hoch aufgelöstes Noise, hohe Schwelle in der + # Ramp (nur Spitzen -> wenige kleine Punkte), Stärke als echter Faktor. noise = nodes.new("ShaderNodeTexNoise") - ramp = nodes.new("ShaderNodeValToRGB") - mix = nodes.new("ShaderNodeMixRGB") + ramp = nodes.new("ShaderNodeValToRGB") + mult = nodes.new("ShaderNodeMath") + mix = nodes.new("ShaderNodeMixRGB") - noise.location = (-600, -220) - ramp.location = (-360, -220) - mix.location = (-120, -120) + noise.location = (-700, -220) + ramp.location = (-480, -220) + mult.location = (-280, -220) + mix.location = (-120, -120) - noise.inputs["Scale"].default_value = 80.0 - noise.inputs["Detail"].default_value = 1.0 + noise.inputs["Scale"].default_value = 220.0 # feine Körnung + noise.inputs["Detail"].default_value = 2.0 - ramp.color_ramp.elements[0].position = 0.49 - ramp.color_ramp.elements[1].position = 0.51 + # nur die obersten ~5-8 % der Noise-Werte werden zu Staub + ramp.color_ramp.elements[0].position = 0.82 + ramp.color_ramp.elements[1].position = 0.90 + + mult.operation = "MULTIPLY" + mult.inputs[1].default_value = max(0.0, min(1.0, aruco_dust_strength)) mix.blend_type = "MIX" - mix.inputs["Fac"].default_value = aruco_dust_strength - mix.inputs["Color2"].default_value = (0.97, 0.97, 0.97, 1.0) - + mix.inputs["Color2"].default_value = (0.78, 0.76, 0.72, 1.0) # heller, matter Staub - if aruco_dust: links.new(tex.outputs["Color"], mix.inputs["Color1"]) links.new(noise.outputs["Fac"], ramp.inputs["Fac"]) - links.new(ramp.outputs["Color"], mix.inputs["Fac"]) + links.new(ramp.outputs["Color"], mult.inputs[0]) + links.new(mult.outputs["Value"], mix.inputs["Fac"]) links.new(mix.outputs["Color"], bsdf.inputs["Base Color"]) else: - links.new(tex.outputs["Color"], bsdf.inputs["Base Color"]) + links.new(tex.outputs["Color"], bsdf.inputs["Base Color"]) links.new(bsdf.outputs["BSDF"], out.inputs["Surface"]) @@ -805,9 +822,29 @@ for link_name, link_info in links_def.items(): ) normal_local.normalize() + # Marker "falsch aufgeklebt": deterministische tangentiale Verschiebung + # (gleicher Versatz in allen Kameraansichten -> konsistente Geometrie). + place_offset = mathutils.Vector((0.0, 0.0, 0.0)) + if marker_offset_max_mm > 0.0: + rng = random.Random(marker_id + 1000 * marker_offset_seed) + ref = mathutils.Vector((1.0, 0.0, 0.0)) + if abs(normal_local.dot(ref)) > 0.9: + ref = mathutils.Vector((0.0, 1.0, 0.0)) + u = normal_local.cross(ref).normalized() + v = normal_local.cross(u).normalized() + r_m = mm_to_m(marker_offset_max_mm * math.sqrt(rng.random())) # gleichvert. in Kreisfläche + ang = rng.uniform(0.0, 2.0 * math.pi) + place_offset = u * (r_m * math.cos(ang)) + v * (r_m * math.sin(ang)) + if marker_rot_max_deg > 0.0: + d_ang = math.radians(rng.uniform(-marker_rot_max_deg, marker_rot_max_deg)) + marker_obj.rotation_quaternion = ( + mathutils.Quaternion(normal_local, d_ang) @ marker_obj.rotation_quaternion + ) + # minimal vorziehen gegen Z-Fighting (lokaler Versatz) marker_obj.location = ( mathutils.Vector(marker_pos) + + place_offset + normal_local * mm_to_m(0.5) ) @@ -1008,6 +1045,28 @@ enable_best_device(scene) # RENDER # ============================================================ +# ── leichtes Verwackeln: pro Aufnahme zufällig gerichteter kleiner Blur ── +if motion_blur and motion_blur_max_px > 0.0: + scene.use_nodes = True + tree = scene.node_tree + for _n in list(tree.nodes): + tree.nodes.remove(_n) + rl = tree.nodes.new("CompositorNodeRLayers") + blur = tree.nodes.new("CompositorNodeBlur") + comp = tree.nodes.new("CompositorNodeComposite") + blur.filter_type = "GAUSS" + blur.use_relative = False + _ang = random.uniform(0.0, math.pi) # zufällige Verwackel-Richtung + _amp = random.uniform(0.35, 1.0) * motion_blur_max_px + blur.size_x = max(0, int(round(abs(_amp * math.cos(_ang))))) + blur.size_y = max(0, int(round(abs(_amp * math.sin(_ang))))) + rl.location = (-300, 0) + blur.location = (0, 0) + comp.location = (300, 0) + tree.links.new(rl.outputs["Image"], blur.inputs["Image"]) + tree.links.new(blur.outputs["Image"], comp.inputs["Image"]) + print(f"[render] motion blur size=({blur.size_x},{blur.size_y}) px") + bpy.ops.render.render(write_still=True) print("Finished rendering:", OUTPUT_FILE)