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BOP.py
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""" https://blender.stackexchange.com/questions/7198/save-the-2d-bounding-box-of-an-object-in-rendered-image-to-a-text-file """
import bpy
import numpy as np
import bmesh
from math import degrees, pi
from scipy.spatial.transform import Rotation as R
def get_relative_object_position(scene, camera_object, mesh_object):
"""
if (mesh_object in camera_object.children):
#print("object is a child of the camera - no calculation required")
#matrix = camera_object.matrix_world.normalized().inverted()
x_lin = mesh_object.location[0]
y_lin = mesh_object.location[1] #-mesh_object.location[1]
z_lin = mesh_object.location[2]
#world_diff = mesh_object.matrix_world
else:
#matrix = camera_object.matrix_world.normalized().inverted()
x_lin = mesh_object.location[0] - camera_object.location[0]
y_lin = (mesh_object.location[1] - camera_object.location[1]) #-(mesh_object.location[1] - camera_object.location[1])
z_lin = mesh_object.location[2] - camera_object.location[2]
world_diff = mesh_object.matrix_world - camera_object.matrix_world
print(world_diff)
print(" x lin ", x_lin)
print(" y lin ", y_lin)
print(" z lin ", z_lin)
print(type(x_lin))
"""
world = mesh_object.matrix_world.to_translation()
#print(world)
matrix = camera_object.matrix_world
R = np.array([
[matrix[0][0],matrix[0][1],matrix[0][2]],
[matrix[1][0],matrix[1][1],matrix[1][2]],
[matrix[2][0],matrix[2][1],matrix[2][2]]])
world = np.dot(world, R)
x_lin = float(world[0])
y_lin = float(world[1])
z_lin = float(world[2])
#world_diff = mesh_object.matrix_world - camera_object.matrix_world
#print(world_diff)
#print(" x lin ", x_lin)
#print(" y lin ", y_lin)
#print(" z lin ", z_lin)
#print(type(x_lin))
### siemens
#trans_vec = (-x_lin, z_lin, -y_lin)
trans_vec = (-x_lin, y_lin, z_lin)
### non siemens
#trans_vec = (x_lin, y_lin, z_lin)
return trans_vec
def get_relative_object_rotation(scene, camera_object, mesh_object):
axis = camera_object.matrix_world.to_quaternion()
q = mesh_object.matrix_world.to_quaternion()
rotdif = axis.rotation_difference(q)
#print("\n _____ quat")
#print(rotdif)
#print(q)
#print("\n _____ matrix")
#print(camera_object.matrix_world - mesh_object.matrix_world)
#print(mesh_object.matrix_local)
#print((rotdif.to_euler().x, rotdif.to_euler().y, rotdif.to_euler().z))
#print( mesh_object.matrix_local)
"""
R = np.array([
[matrix[0][0],matrix[0][1],matrix[0][2]],
[matrix[1][0],matrix[1][1],matrix[1][2]],
[matrix[2][0],matrix[2][1],matrix[2][2]]])
print(R)
return R"""
#print(mesh_object.matrix_local.Rotation())
### debug
#mat = R.from_quat([0, 0, 0, 1])
### for siemens
#mat = euler_to_rotMat(rotdif.to_euler().x, -rotdif.to_euler().y, -rotdif.to_euler().z)
mat = R.from_quat([rotdif.x, -rotdif.y, -rotdif.z, rotdif.w])
#return mat
# non siemens
#mat = euler_to_rotMat(rotdif.to_euler().x, rotdif.to_euler().y, rotdif.to_euler().z)
#mat = R.from_quat([rotdif.x, rotdif.y, rotdif.z, rotdif.w])
return mat.as_matrix()
def euler_to_rotMat(roll, pitch, yaw):
Rz_yaw = np.array([
[np.cos(yaw), -np.sin(yaw), 0],
[np.sin(yaw), np.cos(yaw), 0],
[ 0, 0, 1]])
Ry_pitch = np.array([
[ np.cos(pitch), 0, np.sin(pitch)],
[ 0, 1, 0],
[-np.sin(pitch), 0, np.cos(pitch)]])
Rx_roll = np.array([
[1, 0, 0],
[0, np.cos(roll), -np.sin(roll)],
[0, np.sin(roll), np.cos(roll)]])
# R = RzRyRx
#rotMat = np.dot(Rx_roll, np.dot(Ry_pitch, Rz_yaw))
### for siemens
rotMat = np.dot(Rz_yaw, np.dot(Ry_pitch, Rx_roll))
#print(rotMat)
return rotMat
if __name__ == '__main__':
print("starting")
scene = bpy.data.scenes['Scene']
camera_object = bpy.data.objects['Camera']
mesh_object = bpy.data.objects['Palette']
print(get_relative_object_position(scene, camera_object, mesh_object))