create car Parking scene

gistfile1.txt

#coding=utf-8
import sys
sys.path.append("/usr/local/lib/python2.7/dist-packages")
print (sys.path)

import bpy
import math
import random
import colorsys
import os
import mathutils
#import png

'''
代码使用全随机方式，生产各种停车场图片
定义了停车场中各组停车位的顶角坐标和相机的相关参数
实际图片生产中，停车场打印的组数由Car_print_team_num控制，
实际打印时只需要更改Car_print_team_num和camera的相关参数即可，位置定义和概率分布等已经比较良好的实现
'''

rot_x = 43
rot_y = 43

# rendering constants
RENDER_RES_X = 640
RENDER_RES_Y = 480
FRAME_NO = 1

sunlight_from = [2]
sunlight_to = [2]
blur_from = 0.0
blur_to = 0.0
dof = False
saturation_factor = 1.0
value_factor = 1.0

# ranges
SUNLIGHT_VALUES = [0.01, 0.5, 1.0, 1.5, 2.0, 2.5]

#define car space apart
Car_Space_left_apart_right=2.74
Car_Space_up_apart_down=5.3


#define sapce start posi and car print rows ranks
Car_space_start_posi=[[2,3]]
Car_print_rows=2
Car_print_ranks=5
Car_num_total=Car_print_rows*Car_print_ranks


Car_print_team_num=1
Car_probability=0.8


#define car classes

Car_classes=['AudiA8','AudiA8.001','AudiA8.002','AudiA8.003','AudiA8.004','BMW335i','BMW335i.001',
			 'BMW335i.002','BMW335i.003','BMW335i.004','BMWM1','BMWM1.001','BMWM1.002','BMWM1.003','BMWM1.004',
       'DodgeRamPickup','DodgeRamPickup.001','DodgeRamPickup.002','FIAT500','FIAT500.001','FIAT500.002',
       'FIAT500.003','FIAT500.004','VWGolfMK4.001','VWGolfMK4','VWGolfMK4.002','VWGolfMK4.003','VWGolfMK4.004',
			 'VWTouareg','VWTouareg.001','VWTouareg.002'
			]


#define car space top position
Car_Space_Position_Top=[
      [[-62,29.23],[-49.73,29.23],[-31.82,29.23],[-14.2,29.23],[3.51,29.23],[21.21,29.23],[39.04,29.23],[57.1,29.23]],
      [[-62,11.28],[-49.73,11.28],[-31.82,11.28],[-14.2,11.28],[3.51,11.28],[21.21,11.28] ,[39.04,11.28],[57.1,11.8]],
      [[-62,-5.54],[-49.73,-5.54],[-31.82,-5.54] ,[-14.2,-5.54],[3.51,-5.54],[21.21,-5.54],[39.04,-5.54],[57.1,-5.54]],
      [[-62,-23.1],[-49.73,-23.1],[-31.82,-23.1],[-14.2,-23.1],[3.51,-23.1],[21.21,-23.1],[39.04,-23.1] ,[57.1,-23.1]]
      ]


#func two define ten posi
Car_num_ten_Posi=[
           [-14.2,11.21],[-11.45,11.21],[-8.71,11.21],[-6.2,11.21],[-3.45,11.21],
           [-14.2,5.95],[-11.45,5.95],[-8.71,5.95],[-6.2,5.95],[-3.45,5.95]
        ]


#func one set Camera paramter，with different rota
Cam_rota=[[[10,0,0],[-9,-13,22]],
          [[20,0,0],[-9,-17,21]],
          [[30,0,0],[-9,-21,19]],
          [[40,0,0],[-9,-23,16]],
          [[50,0,0],[-9,-26,13]],
          [[60,0,60],[10,-19,10]],#[60,0,60]参数表示[pitch，yaw，roll]，[10,-19,10]表示[x,y,z]坐标，改变摄像头的参数从这六个参数修改即可。
          [[70,0,0],[-9,-31,6]],
          [[80,0,0],[-9,-31,6]]
         ]


car_num = 1000


def createParkingScene(output_dir, car_num, pitch, roll, xyz):
	output_dir = output_dir+'{}_{}'.format(str(pitch), str(roll))

	car_num = car_num;
	output_dir = output_dir;

	if not os.path.exists(output_dir):
		os.makedirs(output_dir)
	if not os.path.exists(output_dir + '/images'):
		os.makedirs(output_dir + '/images')
	if not os.path.exists(output_dir + '/annotations'):
		os.makedirs(output_dir + '/annotations')
	if not os.path.exists(output_dir + '/prepare'):
		os.makedirs(output_dir + '/prepare')

	bpy.context.scene.frame_current = FRAME_NO

	bpy.context.scene.render.resolution_x = RENDER_RES_X
	bpy.context.scene.render.resolution_y = RENDER_RES_Y
	bpy.context.scene.render.use_border = False

	annot_file = open(output_dir + '/annotations.txt', 'w+')
	space_file = open(output_dir + '/space.txt', 'w+')
	annot_file.write('')

	nodes = bpy.context.scene.node_tree.nodes
	links = bpy.context.scene.node_tree.links
	nodes['File Output'].base_path = output_dir	

	#set camera  location
	#bpy.data.objects['Camera'].location = xyz
	#bpy.data.objects['Camera'].rotation_euler = [math.radians(pitch), math.radians(0), math.radians(roll)]
	bpy.data.objects['Camera'].location = [10,-19,10]
	bpy.data.objects['Camera'].rotation_euler = [60, math.radians(0), 60]


	#get random carSpace satrt position
	def getCarSpace_Start_posi(Car_Space_Start_num):
	  return random.sample(Car_space_start_posi,Car_Space_Start_num)

	#get random CarClasses
	def getRandomCarClasses(Car_print_team_num,Car_print_rows,Car_print_ranks):
	  return random.sample(Car_classes,Car_print_rows*Car_print_ranks*Car_print_team_num)

	#define get sapce position 
	def getCarSpace_Position(car_sapce_posi_top_row,car_sapce_posi_top_rank,car_num):
		if car_num<5:
			Car_print_posi=[Car_Space_Position_Top[car_sapce_posi_top_row][car_sapce_posi_top_rank][0]+(car_num)*Car_Space_left_apart_right,Car_Space_Position_Top[car_sapce_posi_top_row][car_sapce_posi_top_rank][1]]
			print(str(Car_print_posi)+'****')
			return Car_print_posi
		else:
			Car_print_posi=[Car_Space_Position_Top[car_sapce_posi_top_row][car_sapce_posi_top_rank][0]+(car_num-5)*Car_Space_left_apart_right,Car_Space_Position_Top[car_sapce_posi_top_row][car_sapce_posi_top_rank][1]-Car_Space_up_apart_down-0.8]
			print(str(Car_print_posi)+'****')
			return Car_print_posi 

	#set carSpace empty
	def setCarSpace_random_empty(Car_probability):
		Car_weight=10*(1-Car_probability)
		isEmpty=random.randint(0,10)
		if isEmpty>Car_weight:
			isEmpty=1
		else:
			isEmpty=0
		return isEmpty

	def get_Ranom_Color():
		r, g, b = [random.random() for i in range(3)]
		return r, g, b	


	def hide_all_parkingSpot():
		for parkingSpot in PARKING_CLASSES:
			bpy.data.objects[parkingSpot].hide_render = True


	def choose_car_position_byname(name, posi_x,posi_y,posi_z=0,Car_probability=1):    
		if setCarSpace_random_empty(Car_probability)==1:
			bpy.data.objects[name].hide_render = False

			annot_file.write('1 ')
		else:
			print('it did not print\n')
			annot_file.write('0 ')

			vec = mathutils.Vector((posi_x,posi_y, posi_z))
			inv = bpy.data.objects[name].matrix_world.copy()
			print('>>>>>>>>>>>>')
			print (vec)
			print (inv)
			inv.invert()
			# vec aligned to local axis
			vec_rot = vec * inv
			print (vec_rot)
			print (name)	
		  #annot_file.write(vec_rot)
		  #annot_file.write('\tvec_rot:\t'+str(vec_rot)+'\t')
			bpy.data.objects[name].location = vec
			bpy.data.objects[name].show_bounds = True
			print (bpy.data.objects[name])
			return bpy.data.objects[name]
		          

	def hide_all_cars(myCar_classes):
		for car in myCar_classes:
			bpy.data.objects[car].hide_render = True;

	def get_Random_Car(): 

		posi_x_y = []
		#1.hide all cars
		#2.random get print car num
		#3.random set car space have car or not
		#4.set car in car space
		#5.print picature and print annotation 
		filepath1 = output_dir + '/images/' + str(i+1) + '.png'  
		filepath2 = output_dir + '/images2/' + str(i+1) + '.png'  
		hide_all_cars(Car_classes)
		car_classes_print_list=getRandomCarClasses(Car_print_team_num,Car_print_rows,Car_print_ranks)
		car_space_posi_list=getCarSpace_Start_posi(Car_print_team_num)
		

		annot_file.write(str(filepath1)+'\t')
		#func_1
		
		posi_z=0
		print('>>>>'+str(car_classes_print_list)+'\n'+str(car_space_posi_list)+'\n')
		print(str(car_space_posi_list)+'  '+str(Car_print_rows)+' '+str(Car_print_ranks))
		for car_space_posi_list_len in range(0,len(car_space_posi_list)):
			for car_posi_print_row_len in range(0,Car_print_rows):
				for car_posi_print_rank_len in range(0,Car_print_ranks):
					print('is is '+str(Car_print_rows*Car_print_ranks+car_posi_print_row_len*Car_print_ranks+car_posi_print_rank_len)+'--\n')
					car_name=car_classes_print_list[Car_print_rows*Car_print_ranks*car_space_posi_list_len+car_posi_print_row_len*Car_print_ranks+car_posi_print_rank_len]
					car_print_posi=getCarSpace_Position(car_space_posi_list[car_space_posi_list_len][0],car_space_posi_list[car_space_posi_list_len][1],car_posi_print_row_len*Car_print_ranks+car_posi_print_rank_len)
					#annot_file.write(str(car_name)+' '+str(car_print_posi)+' ')
				#print(str(car_space_posi_list_len)+'  '+str(car_posi_print_row_len)+'  '+str(car_posi_print_rank_len)+'\t'+str(car_space_posi_list_len*Car_print_rows*Car_print_ranks+Car_print_rows*car_posi_print_rank_len+car_posi_print_rank_len)+'  '+str(car_name)+'\n')
					posi_x=car_print_posi[0]
					posi_y=car_print_posi[1]
					choose_car_position_byname(car_name, posi_x,posi_y,posi_z,Car_probability)
	################计算每辆车与摄像头的水平和垂直距离###################
					if bpy.data.objects[car_name].hide_render == False:#判断该车位上是否有车
						posi_x_y.append([posi_x,posi_y])
						print (posi_x_y)
		space_file.write(filepath1+' ')
		for j in range(0,len(posi_x_y)):
			Horizontal_Distance =math.sqrt((posi_x_y[j][0]-Cam_rota[5][1][0])**2+(posi_x_y[j][1]-Cam_rota[5][1][1])**2)
			Vertical_Distance = Cam_rota[5][1][2]
			space_file.write(str(Horizontal_Distance)+' ')
			space_file.write(str(Vertical_Distance)+' ')
		space_file.write('\n')
	####################################################################
		

		filepath = output_dir + '/images/' + str(i + 1) + '.png'                            
		bpy.context.scene.render.filepath = filepath         
		    
		nodes['File Output'].file_slots[0].path = '/images2/'+str(i + 1) 
		print('Rendering car no. ' + str(i + 1))    

		bpy.ops.render.render(write_still = True)   
		annot_file.write('\n')
		annot_file.flush()
		space_file.flush()


    

	for i in range(0, car_num):
		get_Random_Car()

	annot_file.close()







if __name__=="__main__":
	#加载配置文件，摄像头角度距离车辆数目等
	f_parkCon='/home/gnss/si/Blender_test/parkinglot/parkingline.conf'
	f_parkCon_=open(f_parkCon,'r')
	f_parkCon_lines=f_parkCon_.readlines()
	for f_parkCon_line in f_parkCon_lines:
		f_parkCon_line_=f_parkCon_line.split(':')
		if f_parkCon_line_[0]=='CAMERA_DISTANCE':
			print(f_parkCon_line_[1],'\n')
			CAMERA_DISTANCE=float(f_parkCon_line_[1])
		elif f_parkCon_line_[0]=="rot_x":
			print(f_parkCon_line_[1],'\n')
			rot_x=float(f_parkCon_line_[1])
		elif f_parkCon_line_[0]=="rot_y":
			print(f_parkCon_line_[1],'\n')
			rot_y=float(f_parkCon_line_[1])
		elif f_parkCon_line_[0]=="car_num":
			print(f_parkCon_line_[1],'\n')
			car_num=int(f_parkCon_line_[1])
	else:
		print('\n-------------------- warning')


	createParkingScene("/home/gnss/si/Blender_test/parkinglot/Blender_render/",2,60,60,[10,-19,10])
	#createParkingScene("/home/gnss/si/Blender_test/parkinglot/Blender_render/",2,30,45)
	#createParkingScene("/home/gnss/si/Blender_test/parkinglot/Blender_render/",2,30,60)

./blender -b /home/gnss/si/Blender_test/parkinglot/ParkingLot.blend -P /home/gnss/si/Blender_test/parkinglot/parkinglot_line1.py