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