test_blender_server.py

import matplotlib.pyplot as plt
import numpy as np
import scipy as sp
import zmq
import sys
import time

from blender_server_interface.blender_server_interface import BlenderServerInterface

'''

Demonstrates basic of the BlenderServerInterface by calling
a handful of calls to render some YCB objects.

To run, make sure you've already got the appropriate resources
by running `setup_bionic.py`, and that you're already running
`run_blender_server.sh` in another terminal. Then invoke this script with
no arguments.
'''

if __name__ == '__main__':
    if len(sys.argv) > 1:
        port = sys.argv[-1]
    else:
        port = "5556"

    bsi = BlenderServerInterface(zmq_url="tcp://127.0.0.1:%s" % port)

    bsi.send_remote_call("initialize_scene")

    # Setup the background of the scene by loading an environment map.
    env_map_path = "./data/env_maps/aerodynamics_workshop_4k.hdr"
    bsi.send_remote_call(
        "set_environment_map",
        path=env_map_path)

    # Register a metal material for the tabletop.
    metal26_path = "./data/test_pbr_mats/Metal26/Metal26"
    bsi.send_remote_call(
        "register_material",
        name="metal26",
        material_type="CC0_texture",
        path=metal26_path)

    # Register the tabletop as a cube.
    bsi.send_remote_call(
        "register_object",
        name="obj_table",
        type="cube",
        location=[0, 0, -0.45],
        scale=[1.0, 1.0, 0.25],
        material="metal26")

    # Register the YCB objects by first registering their material,
    # and then registering a mesh object using that material.
    object_classes = [
            "./data/test_objs/ycb/004_sugar_box/google_16k/",
            "./data/test_objs/ycb/035_power_drill/google_16k/"
    ]
    objs = []
    for i, obj_base_path in enumerate(object_classes):
        tex_path = obj_base_path + "texture_map.png"
        bsi.send_remote_call(
            "register_material",
            name="obj_%d_color" % i,
            material_type="color_texture",
            path=tex_path)
        for k in range(1):
            obj_name = "obj_%d_%d" % (i, k)
            bsi.send_remote_call(
                "register_object",
                name=obj_name,
                type="obj",
                path=obj_base_path + "textured.obj",
                scale=[1., 1., 1.],
                material="obj_%d_color" % i)
            objs.append(obj_name)

    # Add a camera looking at the scene.
    bsi.send_remote_call(
        "register_camera",
        name="cam_1",
        location=[-.54, -.54, .12],
        quaternion=[-0.677, -0.604, 0.242, 0.365])

    # Setup the camera resolution and output file format.
    bsi.send_remote_call(
        "configure_rendering",
        camera_name='cam_1',
        resolution=[1920, 1200],
        file_format="JPEG")

    # For a bunch of frames, randomize the object
    # poses and render the scene.
    plt.figure()
    for i in range(1000):
        bsi.send_remote_call("save_current_scene", path="./out/save.blend")

        for obj_tmp in objs:
            loc = [np.random.uniform(-0.4, 0.4),
                   np.random.uniform(-0.4, 0.4),
                   0.]
            quat = np.random.uniform(-1, 1, size=4)
            quat /= np.linalg.norm(quat)
            bsi.send_remote_call(
                "update_object_parameters",
                name=obj_tmp,
                location=loc,
                rotation_mode='QUATERNION',
                rotation_quaternion=quat.tolist())

        bsi.send_remote_call(
            "configure_rendering",
            camera_name='cam_1', 
            filepath="./out/pic%0.2d.jpg" % i)
        im = bsi.render_image("cam_1")

        plt.imshow(im)
        plt.pause(0.01)