Merge pull request #103 from Computer-Aided-Validation-Laboratory/dev

Improvement to Blender calibration tool

Author: ScepticalRabbit

src/pyvale/blendercalibrationdata.py

@@ -12,4 +12,6 @@ class CalibrationData:
     angle_lims: tuple = (-10, 10)
     angle_step: int = 5
     plunge_lims: tuple = (-5, 5)
-    plunge_step: int = 5
+    plunge_step: int = 5
+    x_limit: float | None = None
+    y_limit: float | None = None

src/pyvale/blenderscene.py

@@ -94,12 +94,14 @@ def add_camera(self, cam_data:CameraData) -> bpy.data.objects:
             new_cam.dof.use_dof = True
             new_cam.dof.aperture_fstop = cam_data.fstop
 
+        new_cam.clip_end = ((cam_data.pos_world[2] - cam_data.roi_cent_world[2])
+                            + 100)
+
         bpy.context.scene.camera = camera
         return camera
 
     def add_stereo_system(self, stereo_system: CameraStereo) -> tuple[bpy.data.objects,
                                                            bpy.data.objects]:
-        # TODO: Correct docstring
         """A method to add a stereo camera system within Blender, given an
         instance of the CameraStereo class (that describes a stereo system).
 

src/pyvale/blendertools.py

@@ -332,7 +332,9 @@ def render_calibration_images(render_data: RenderData,
             A dataclass containing the parameters needed to render the images
         calibration_data : CalibrationData
             A dataclass containing the parameters by which to move the calibration
-            target. These inclcude the plungle depth and rotation angle.
+            target. These inclcude the plungle depth and rotation angle. It also
+            inlcludes optional x and y limits for the movement of the calibration
+            target (if None they will be initialised from the FOV).
         part : bpy.data.objects
             The Blender part object, in this instance the calibration target.
 
@@ -371,15 +373,17 @@ def render_calibration_images(render_data: RenderData,
             plunge = calibration_data.plunge_lims[0] + calibration_data.plunge_step * ii
             # Plunge
             (FOV_x, FOV_y) = CameraTools.blender_FOV(render_data.cam_data[0])
-            x_limit = int(round((FOV_x / 2) - (part.dimensions[0] / 2)))
 
-            y_limit = int(round((FOV_y / 2) - (part.dimensions[1] / 2)))
+            if calibration_data.x_limit is None:
+                calibration_data.x_limit = int(round((FOV_x / 2) - (part.dimensions[0] / 2)))
+            if calibration_data.y_limit is None:
+                calibration_data.y_limit = int(round((FOV_y / 2) - (part.dimensions[1] / 2)))
 
             for x in np.arange(-1, 2):
-                x *= x_limit
+                x *= calibration_data.x_limit
                 # Move in x-dir
                 for y in np.arange(-1, 2):
-                    y *= y_limit
+                    y *= calibration_data.y_limit
                     # Move in y-dir
                     part.location = ((x, y, plunge))
                     part.location[2] = plunge
@@ -415,6 +419,24 @@ def render_calibration_images(render_data: RenderData,
         print('Total number of calibration images = ' + str(render_counter))
         return render_counter
 
+    def check_for_GPU() -> bool:
+        """A method to check whether the machine has a GPU or not.
+
+        Returns
+        -------
+        bool
+            Returns True if a GPU is present, returns False if only a CPU is
+            present.
+        """
+        accepted_gpus = ["CUDA", "OPTIX", "HIP", "METAL", "ONEAPI"]
+        cycles_prefs = bpy.context.preferences.addons["cycles"].preferences
+        cycles_prefs.refresh_devices()
+        for device in cycles_prefs.devices:
+            print(f"Name: {device.name}, Type: {device.type}, Use: {device.use}")
+            if device.type in accepted_gpus:
+                return True
+        return False
+
 
 
 

src/pyvale/examples/renderblender/ex3_1_blendercalibration.py

@@ -135,7 +135,11 @@
 # %%
 # The parameters for the calibration target's movement can then be set. This is
 # done by setting the minimum and maximum angle and plunge limits, as well as
-# the step value that they should be increased by.
+# the step value that they should be increased by. The x and y limit of the
+# calibration target's movement (from the origin) can also be set if you wish to
+# perform a calibration for a constrained optical setup. If these limits are not
+# passed in they will be initialised from the FOV to cover the whole FOV of the
+# cameras.
 
 calibration_data = pyvale.CalibrationData(angle_lims=(-10, 10),
                                           angle_step=5,

tests/blender/test_blenderregression_2D.py

@@ -11,6 +11,7 @@
 from scipy.spatial.transform import Rotation
 import pyvale
 import mooseherder as mh
+import bpy
 
 # NOTE: These test may fail if you are not running bpy 4.4.0
 # It is a known issue that the render outputs between bpy 4.2.0 and 4.4.0 slightly
@@ -244,7 +245,7 @@ def test_max_bounces_happy(bounces, output, request, sample_scene, tmp_path):
                                                           render_data=render_data)
     output = request.getfixturevalue(output)
 
-    npt.assert_array_equal(image_array, output)
+    npt.assert_allclose(image_array, output, atol=1)
 
 def test_max_bounces_unhappy(sample_scene, tmp_path):
     bounces = 2.5
@@ -265,6 +266,11 @@ def test_max_bounces_unhappy(sample_scene, tmp_path):
 )
 def test_render_engine(engine, output, request, sample_scene, tmp_path):
     (_, _, cam_data, scene) = sample_scene
+    if engine == pyvale.RenderEngine.EEVEE:
+        gpu_present = pyvale.BlenderTools.check_for_GPU()
+        if gpu_present is False:
+            pytest.skip("Unsupported hardware for EEVEE")
+
     render_data = pyvale.RenderData(cam_data=cam_data,
                                     base_dir=tmp_path,
                                     engine=engine)
@@ -274,6 +280,7 @@ def test_render_engine(engine, output, request, sample_scene, tmp_path):
 
     npt.assert_allclose(image_array, output, atol=2)
 
+
 @pytest.fixture
 def half_watt_lighting():
     return np.array([[33, 40, 35, 37, 43, 46, 47, 48, 46, 50, 53, 52, 51, 51, 52, 45,

tests/blender/test_blenderregression_3D.py

@@ -90,7 +90,7 @@ def test_stereo_convenience_cameras(placement, output, request, sample_scene_no_
                                                           render_data=render_data)
     output = request.getfixturevalue(output)
 
-    npt.assert_array_equal(image_array, output)
+    npt.assert_allclose(image_array, output, atol=1)
 
 def test_stereo_deformation(sample_stereo_scene, deformed_images, tmp_path):
     (stereo_system, part, render_mesh, scene) = sample_stereo_scene
@@ -103,7 +103,7 @@ def test_stereo_deformation(sample_stereo_scene, deformed_images, tmp_path):
                                                               part=part,
                                                               stage_image=True)
     image_array = image_arrays[:, :, 120:]
-    npt.assert_array_equal(image_array, deformed_images)
+    npt.assert_allclose(image_array, deformed_images, atol=1)
 
 def test_cal_images():
     calibration_data = pyvale.CalibrationData(angle_lims=(-10, 10),