import logging; logger = logging.getLogger("morse." + __name__)
from morse.core import blenderapi
import morse.core.sensor
from morse.helpers.components import add_property
[docs]def copy_pose(obj_from, obj_to):
obj_to.worldPosition = obj_from.worldPosition
obj_to.worldOrientation = obj_from.worldOrientation
[docs]class Camera(morse.core.sensor.Sensor):
"""
A generic camera class, which is expected to be used as a base class
for real camera. Concrete instantiation are currently:
- :doc:`video_camera <../sensors/video_camera>`
- :doc:`depth_camera <../sensors/depth_camera>`
- :doc:`semantic_camera <../sensors/semantic_camera>`
.. note::
The cameras make use of Blender's **bge.texture** module, which
requires a graphic card capable of GLSL shading. Also, the 3D view
window in Blender must be set to draw **Textured** objects.
.. note::
The streaming of data from this sensor can be toggled off and on by
pressing the SPACE key during the simulation. This will affect all the
video cameras on the scene.
Toggling off the cameras can help make the simulation run faster,
specially when there are several cameras. However, the lack of
data on the stream may cause problems to some middlewares.
.. note::
The **cam_focal** and **cam_fov** properties are linked
together. Blender automatically computes one when setting the
other. Therefore when setting **cam_fov** to something other than None,
the **cam_focal** parameter is ignored.
.. warning::
Contrary to most of objects in Morse, the X axis of the camera
is not "in front" of the camera. Here, Morse follows the
"standard convention for camera", i.e. X and Y are in the image
plane, and Z is in the depth axis of the camera.
"""
_name = "Generic Camera"
_short_desc = "Base class for cameras in MORSE"
# Set the values of image size from the variables
# in the Blender Logic Properties
add_property('image_width', 256, 'cam_width')
add_property('image_height', 256, 'cam_height')
add_property('image_focal', 25.0, 'cam_focal')
add_property('image_fov', None, 'cam_fov')
add_property('near_clipping', 0.1, 'cam_near')
add_property('far_clipping', 100.0, 'cam_far')
add_property('vertical_flip', True, 'Vertical_Flip')
add_property('retrieve_depth', False, 'retrieve_depth')
add_property('retrieve_zbuffer', False, 'retrieve_zbuffer')
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
logger.info("%s initialization" % obj.name)
# Call the constructor of the parent class
morse.core.sensor.Sensor.__init__(self, obj, parent)
# Set the background color of the scene
self.bg_color = [143, 143, 143, 255]
self._camera_image = None
"""
Check if the bge.render.offScreenCreate method exists. If it
exists, Morse will use it (to use FBO). Otherwise, Morse will se
the old and classic viewport rendering. It requieres creation of
additional scenes for each camera resolution, and
synchronisation of these scenes before rendering (which makes
the process potentially slower and may introduce some glitches
if some objects are not properly synchronised).
Unfortunabely, it seems that the current FBO handling do not work
properly for Z-Buffer. Turn off temporarly until we find a solution (on
Morse side), or the issue has been fixed (if needed) on Blender side.
"""
#self._offscreen_create = getattr(blenderapi.render(), 'offScreenCreate', None)
self._offscreen_create = False
if not self._offscreen_create:
self.scene_name = 'S.%dx%d' % (self.image_width, self.image_height)
persistantstorage = morse.core.blenderapi.persistantstorage()
parent_name = self.robot_parent.name()
is_parent_external = False
for robot in persistantstorage.externalRobotDict.keys():
if robot.name == parent_name:
is_parent_external = True
break
if not is_parent_external:
logger.info("Adding scene %s" % self.scene_name)
blenderapi.add_scene(self.scene_name, overlay=0)
logger.info('Component initialized, runs at %.2f Hz', self.frequency)
[docs] def default_action(self):
""" Update the texture image. """
# Configure the texture settings the first time the sensor is called
if not self._camera_image:
if blenderapi.isfastmode():
logger.warning("Running in fastmode! No camera support!")
else:
# Prepare the camera object in Blender
self._setup_video_texture()
# Exit if the cameras could not be prepared
if not self._camera_image:
logger.warning("Blender's bge.logic does not have the 'cameras' variable, \
something must have failed when configuring the cameras")
if self._camera_image:
if not self._offscreen_create:
# Update all objects pose/orientation before to refresh the image
self._update_scene()
# Call the bge.texture method to refresh the image
self._camera_image.refresh(True)
@property
def image_data(self):
if self._camera_image is not None:
return self._camera_image.source
logger.debug("image_data not yet available")
return None
def _update_scene(self):
for _to, _from in self._scene_syncable_objects:
try:
copy_pose(_from, _to)
except Exception as e:
logger.warning(str(e))
def _compute_syncable_objects(self):
"""
Compute the relation between objects in the current scene and
objects in the main logic scene.
The logic is a bit complex, as in the case of group, we can have
objects with the same name (but different ids). So, in this
case, we follow the hierarchy on both scene to find
correspondance (assuming no recursive group)
known_ids is used to track objects alreay referenced and not
include it twice (and possibly missing the fact that the same
name can reference multiples different objects)
I'm definitively not sure it is correct at all, it is a really
really dark corner of Blender :). But it seems to do the job!
"""
scene_map = blenderapi.get_scene_map()
logger.info("Scene %s from %s"% (self.scene_name, repr(scene_map.keys()) ) )
self._scene = scene_map[self.scene_name]
self._morse_scene = scene_map['S.MORSE_LOGIC']
self._scene_syncable_objects = []
known_ids = set()
for obj in self._scene.objects:
if obj.name != '__default__cam__' and id(obj) not in known_ids:
members = obj.groupMembers
if not members:
self._scene_syncable_objects.append(
(obj, self._morse_scene.objects[obj.name]))
known_ids.add(id(obj))
else:
main_members = self._morse_scene.objects[obj.name].groupMembers
for i in range(0, len(main_members)):
self._scene_syncable_objects.append(
(members[i], main_members[i]))
known_ids.add(id(members[i]))
childs = members[i].childrenRecursive
main_childs = main_members[i].childrenRecursive
for child in childs:
self._scene_syncable_objects.append(
(child, main_childs[child.name]))
known_ids.add(id(child))
def _setup_video_texture(self):
""" Prepare this camera to use the bge.texture module.
Extract the references to the Blender camera and material where
the images will be rendered.
"""
for child in self.bge_object.children:
# The camera object that will produce the image in Blender
if 'CameraRobot' in child.name:
camera = child
# The object that contains the material where the image is rendered
if 'CameraMesh' in child.name:
screen = child
# Considering it consists of a single mesh
mesh = child.meshes[0]
# Get the material name
for material in mesh.materials:
material_index = material.getMaterialIndex()
mesh_material_name = mesh.getMaterialName(material_index)
if 'MAScreenMat' in mesh_material_name:
material_name = mesh_material_name
try:
logger.debug("\tCAMERA: %s" % camera.name)
logger.debug("\tSCREEN: %s" % screen.name)
logger.debug("\tMATERIAL: %s" % material_name)
except UnboundLocalError:
logger.error("The video camera could not be properly initialized."
"The children object could not be found."
"Best solution is to re-link the camera.")
return False
if not self._offscreen_create:
self._compute_syncable_objects()
img_renderer = blenderapi.texture().ImageRender(self._scene, camera)
else:
fbo = self._offscreen_create(self.image_width, self.image_height,
blenderapi.render().RAS_OFS_RENDER_TEXTURE)
img_renderer = blenderapi.texture().ImageRender(blenderapi.scene(), camera, fbo)
mat_id = blenderapi.texture().materialID(screen, material_name)
self._camera_image = blenderapi.texture().Texture(screen, mat_id)
self._camera_image.source = img_renderer
# Set the focal length of the camera using the Game Logic Property. One
# can use either focal (lens) or fov parameter: setting one computes the
# other accordingly. Fov supersedes focal.
if self.image_fov is not None:
camera.fov = self.image_fov
self.image_focal = camera.lens
else:
camera.lens = self.image_focal
logger.info("\tFocal length of the camera is: %s" % camera.lens)
logger.info("\tFOV of the camera is: %s" % camera.fov)
# Set the clipping distances of the camera using the Game Logic Property
camera.near = self.near_clipping
logger.info("\tNear clipping distance of the camera is: %s" %
camera.near)
camera.far = self.far_clipping
logger.info("\tFar clipping distance of the camera is: %s" %
camera.far)
# Set the background to be used for the render
self._camera_image.source.background = self.bg_color
# Define an image size. It must be powers of two. Default 512 * 512
self._camera_image.source.capsize = [self.image_width, self.image_height]
logger.info("Camera '%s': Exporting an image of capsize: %s pixels" %
(self.name(), self._camera_image.source.capsize))
# Workaround capsize limit to window size
self.image_width, self.image_height = self._camera_image.source.capsize
# Reverse the image (boolean game-property)
self._camera_image.source.flip = self.vertical_flip
try:
# Use the Z-Buffer as an image texture for the camera
if self.retrieve_zbuffer:
self._camera_image.source.zbuff = True
# Use the Z-Buffer as input with an array of depths
if self.retrieve_depth:
self._camera_image.source.depth = True
except AttributeError as detail:
logger.warn("%s\nPlease use Blender > 2.65 for Z-Buffer support" %
detail)