import os os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES" from isaacsim import SimulationApp simulation_app = SimulationApp({"headless": False}) from omni.isaac.core.utils.extensions import enable_extension enable_extension("omni.isaac.ros2_bridge") simulation_app.update() import numpy as np from PIL import Image import omni.kit.commands from pathlib import Path # 【🔥核心防坑：只依赖底层基石 USD API】 import omni.usd from pxr import Gf, Sdf, UsdShade, UsdGeom, Vt from omni.isaac.core import World from omni.isaac.core.objects import FixedCuboid from omni.isaac.core.utils.prims import create_prim from omni.isaac.core.utils.viewports import set_camera_view from omni.isaac.core.utils.rotations import euler_angles_to_quat from omni.isaac.sensor import Camera import omni.replicator.core as rep import omni.graph.core as og def create_checkerboard_image(filepath="checkerboard.png", rows=6, cols=9, square_size_px=100): width = cols * square_size_px height = rows * square_size_px img = np.ones((height, width, 3), dtype=np.uint8) * 255 for r in range(rows): for c in range(cols): if (r + c) % 2 == 1: img[r * square_size_px:(r + 1) * square_size_px, c * square_size_px:(c + 1) * square_size_px] = 0 border = square_size_px img_with_border = np.pad(img, pad_width=((border, border), (border, border), (0, 0)), mode='constant', constant_values=255) pil_img = Image.fromarray(img_with_border) abs_filepath = Path(filepath).resolve() pil_img.save(abs_filepath) usd_filepath = str(abs_filepath).replace("\\", "/") print(f"[*] 棋盘格纹理已自动生成: {usd_filepath}") return usd_filepath def add_corner_rotary_lidars(room_length=10.0, room_width=6.0, height=3.5, lidar_config="Example_Rotary", topic_prefix="/workshop/lidar"): offset = 0.3 x_pos = (room_length / 2.0) - offset y_pos = (room_width / 2.0) - offset lidar_configs = [ {"name": "FL", "pos": [x_pos, y_pos, height], "yaw": np.degrees(np.arctan2(-y_pos, -x_pos))}, {"name": "FR", "pos": [x_pos, -y_pos, height], "yaw": np.degrees(np.arctan2(y_pos, -x_pos))}, {"name": "BL", "pos": [-x_pos, y_pos, height], "yaw": np.degrees(np.arctan2(-y_pos, x_pos))}, {"name": "BR", "pos": [-x_pos, -y_pos, height], "yaw": np.degrees(np.arctan2(y_pos, x_pos))} ] keys = og.Controller.Keys graph_path = "/World/ROS2_Lidar_Graph" nodes = [ ("OnTick", "omni.graph.action.OnTick"), ("ReadSimTime", "omni.isaac.core_nodes.IsaacReadSimulationTime"), ("PublishTF", "omni.isaac.ros2_bridge.ROS2PublishTransformTree") ] connections = [ ("OnTick.outputs:tick", "PublishTF.inputs:execIn"), ("ReadSimTime.outputs:simulationTime", "PublishTF.inputs:timeStamp") ] set_values = [] lidar_paths = [] for cfg in lidar_configs: lidar_path = f"/World/Sensors/Lidar_{cfg['name']}" lidar_paths.append(lidar_path) pitch_angle = 15.0 quat = euler_angles_to_quat(np.array([0, pitch_angle, cfg['yaw']]), degrees=True) orientation = Gf.Quatd(quat[0], quat[1], quat[2], quat[3]) omni.kit.commands.execute( "IsaacSensorCreateRtxLidar", path=lidar_path, parent=None, config=lidar_config, translation=Gf.Vec3d(*cfg["pos"]), orientation=orientation ) render_product = rep.create.render_product(lidar_path, [1, 1]) helper_name = f"ROS2LidarHelper_{cfg['name']}" nodes.append((helper_name, "omni.isaac.ros2_bridge.ROS2RtxLidarHelper")) connections.append(("OnTick.outputs:tick", f"{helper_name}.inputs:execIn")) set_values.extend([ (f"{helper_name}.inputs:renderProductPath", str(render_product.path)), (f"{helper_name}.inputs:topicName", f"{topic_prefix}/{cfg['name'].lower()}/pointcloud"), (f"{helper_name}.inputs:frameId", f"Lidar_{cfg['name']}"), (f"{helper_name}.inputs:type", "point_cloud"), (f"{helper_name}.inputs:fullScan", True) ]) set_values.append(("PublishTF.inputs:targetPrims", lidar_paths)) og.Controller.edit({"graph_path": graph_path, "evaluator_name": "execution"}, {keys.CREATE_NODES: nodes, keys.CONNECT: connections, keys.SET_VALUES: set_values}) # ================= 【🔥纯血底层 API：手工构造材质与带 UV 的网格】 ================= def create_raw_usd_material(stage, mat_path, tex_path): material = UsdShade.Material.Define(stage, mat_path) pbr_shader = UsdShade.Shader.Define(stage, f"{mat_path}/PBRShader") pbr_shader.CreateIdAttr("UsdPreviewSurface") pbr_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(1.0) # 纯哑光去反光 pbr_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0) # 非金属 tex_sampler = UsdShade.Shader.Define(stage, f"{mat_path}/diffuseTexture") tex_sampler.CreateIdAttr("UsdUVTexture") tex_sampler.CreateInput("file", Sdf.ValueTypeNames.Asset).Set(Sdf.AssetPath(tex_path)) # 🔥🔥🔥 核心修改 1：强制关闭 GPU 的双线性平滑插值，使用“最近邻(Nearest)”采样！🔥🔥🔥 # 这一步能让黑白方块的交界处像刀切一样锐利，彻底消除模糊过渡带！ tex_sampler.CreateInput("magFilter", Sdf.ValueTypeNames.Token).Set("nearest") tex_sampler.CreateInput("minFilter", Sdf.ValueTypeNames.Token).Set("nearest") st_reader = UsdShade.Shader.Define(stage, f"{mat_path}/stReader") st_reader.CreateIdAttr("UsdPrimvarReader_float2") st_reader.CreateInput("varname", Sdf.ValueTypeNames.Token).Set("st") tex_sampler.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(st_reader.ConnectableAPI(), "result") pbr_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(tex_sampler.ConnectableAPI(), "rgb") material.CreateSurfaceOutput().ConnectToSource(pbr_shader.ConnectableAPI(), "surface") return material def create_textured_board(stage, prim_path, width, height, center, euler_rot_deg, usd_material): mesh = UsdGeom.Mesh.Define(stage, prim_path) w, h = width / 2.0, height / 2.0 points = Vt.Vec3fArray([Gf.Vec3f(-w, -h, 0), Gf.Vec3f(w, -h, 0), Gf.Vec3f(w, h, 0), Gf.Vec3f(-w, h, 0)]) mesh.GetPointsAttr().Set(points) mesh.GetFaceVertexCountsAttr().Set([4]) mesh.GetFaceVertexIndicesAttr().Set([0, 1, 2, 3]) mesh.GetNormalsAttr().Set([Gf.Vec3f(0, 0, 1)] * 4) mesh.SetNormalsInterpolation(UsdGeom.Tokens.vertex) primvars_api = UsdGeom.PrimvarsAPI(mesh) st_primvar = primvars_api.CreatePrimvar("st", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.vertex) st_primvar.Set([Gf.Vec2f(0, 0), Gf.Vec2f(1, 0), Gf.Vec2f(1, 1), Gf.Vec2f(0, 1)]) mesh.GetExtentAttr().Set([Gf.Vec3f(-w, -h, -0.01), Gf.Vec3f(w, h, 0.01)]) xform = UsdGeom.Xformable(mesh) xform.AddTranslateOp().Set(Gf.Vec3d(*center)) xform.AddRotateXYZOp().Set(Gf.Vec3f(*euler_rot_deg)) UsdShade.MaterialBindingAPI.Apply(mesh.GetPrim()).Bind(usd_material) return mesh # ============================================================================== def build_workshop(): world = World(stage_units_in_meters=1.0) L, W, H, T = 10.0, 6.0, 3.5, 0.2 floor_color = np.array([0.2, 0.2, 0.2]) wall_color = np.array([0.8, 0.8, 0.8]) world.scene.add(FixedCuboid(prim_path="/World/Workshop/Floor", name="floor", position=np.array([0, 0, -T / 2]), scale=np.array([L + 2 * T, W + 2 * T, T]), color=floor_color)) world.scene.add( FixedCuboid(prim_path="/World/Workshop/Ceiling", name="ceiling", position=np.array([0, 0, H + T / 2]), scale=np.array([L + 2 * T, W + 2 * T, T]), color=wall_color)) world.scene.add(FixedCuboid(prim_path="/World/Workshop/Wall_Front", name="wall_front", position=np.array([L / 2 + T / 2, 0, H / 2]), scale=np.array([T, W, H]), color=wall_color)) world.scene.add(FixedCuboid(prim_path="/World/Workshop/Wall_Back", name="wall_back", position=np.array([-L / 2 - T / 2, 0, H / 2]), scale=np.array([T, W, H]), color=wall_color)) world.scene.add(FixedCuboid(prim_path="/World/Workshop/Wall_Left", name="wall_left", position=np.array([0, W / 2 + T / 2, H / 2]), scale=np.array([L + 2 * T, T, H]), color=wall_color)) world.scene.add(FixedCuboid(prim_path="/World/Workshop/Wall_Right", name="wall_right", position=np.array([0, -W / 2 - T / 2, H / 2]), scale=np.array([L + 2 * T, T, H]), color=wall_color)) light_positions = [(L / 4, W / 4, H - 0.5), (L / 4, -W / 4, H - 0.5), (-L / 4, W / 4, H - 0.5), (-L / 4, -W / 4, H - 0.5)] for i, pos in enumerate(light_positions): create_prim(prim_path=f"/World/Workshop/Lights/Light_{i}", prim_type="SphereLight", position=np.array(pos), attributes={"inputs:radius": 0.3, "inputs:intensity": 30000.0, "inputs:color": (1.0, 1.0, 0.95)}) cb_rows, cb_cols = 6, 9 cb_square_size = 0.20 # 🔥🔥🔥 核心修改 2：适当提升分辨率 🔥🔥🔥 # 将 square_size_px 从 100 提高到 500！ tex_path = create_checkerboard_image("checkerboard.png", rows=cb_rows, cols=cb_cols, square_size_px=500) stage = omni.usd.get_context().get_stage() mat_path = "/World/Workshop/Materials/CheckerboardMat" usd_material = create_raw_usd_material(stage, mat_path, tex_path) board_w = (cb_cols + 2) * cb_square_size board_h = (cb_rows + 2) * cb_square_size z_height = H / 2.0 offset = 0.05 board_configs = [ ("/World/Workshop/CalibrationBoards/Front", [L / 2 - offset, 0, z_height], [90, 0, 90]), ("/World/Workshop/CalibrationBoards/Back", [-L / 2 + offset, 0, z_height], [90, 0, -90]), ("/World/Workshop/CalibrationBoards/Left", [0, W / 2 - offset, z_height], [90, 0, 0]), ("/World/Workshop/CalibrationBoards/Right", [0, -W / 2 + offset, z_height], [90, 0, 180]) ] for path, pos, euler_rot in board_configs: create_textured_board(stage, path, board_w, board_h, pos, euler_rot, usd_material) camera = Camera(prim_path="/World/Workshop/CalibrationCamera", position=np.array([-4.0, 0.0, 3.5]), frequency=20, resolution=(1280, 720)) camera.set_world_pose(orientation=np.array([0.7071, 0.0, 0.7071, 0.0])) camera.initialize() keys = og.Controller.Keys og.Controller.edit({"graph_path": "/World/ROS2_Camera_Graph", "evaluator_name": "execution"}, {keys.CREATE_NODES: [("OnTick", "omni.graph.action.OnTick"), ("ROS2Camera", "omni.isaac.ros2_bridge.ROS2CameraHelper")], keys.CONNECT: [("OnTick.outputs:tick", "ROS2Camera.inputs:execIn")], keys.SET_VALUES: [("ROS2Camera.inputs:renderProductPath", camera.get_render_product_path()), ("ROS2Camera.inputs:topicName", "/AutoCalib_Workshop/camera/image_raw"), ("ROS2Camera.inputs:type", "rgb")]}) add_corner_rotary_lidars(room_length=L, room_width=W, height=H - 0.2, lidar_config="Example_Rotary", topic_prefix="/AutoCalib_Workshop/lidar") return world def main(): world = build_workshop() world.reset() set_camera_view(eye=np.array([-4.0, 0.0, 2.0]), target=np.array([5.0, 0.0, 3.5])) print("======================================================") print(" 🎯 标定车间完美运行！纯锐利边缘棋盘格已加载完毕！") print(" ---------------------------------------------------") print(" 💡 标定算法所需的关键真值参数 (Ground Truth)：") print(" - 内部角点维度 (Pattern Size) : 8 x 5") print(" - 绝对物理边长 (Square Size) : 0.20 米 (20cm)") print("======================================================") while simulation_app.is_running(): world.step(render=True) simulation_app.close() if __name__ == "__main__": main()