blender渲染不同位置的多张影像

最新推荐文章于 2025-09-09 11:06:06 发布

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最新推荐文章于 2025-09-09 11:06:06 发布 · 3.8k 阅读

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#blender #计算机视觉 #机器学习

本文介绍如何使用Blender创建不同位置的相机并进行多视图渲染，同时提供了一段Python脚本用于获取相机内外参矩阵，便于进一步进行计算机视觉处理。

blender渲染不同位置的多张影像

创建不同位置的Camera

在不同位置创建相机，见相机设置：设置当前视角为相机位置

添加脚本

打开脚本页面输入：

import bpy
from mathutils import Matrix, Vector

#---------------------------------------------------------------
# 3x4 P matrix from Blender camera
#---------------------------------------------------------------

# BKE_camera_sensor_size
def get_sensor_size(sensor_fit, sensor_x, sensor_y):
    if sensor_fit == 'VERTICAL':
        return sensor_y
    return sensor_x

# BKE_camera_sensor_fit
def get_sensor_fit(sensor_fit, size_x, size_y):
    if sensor_fit == 'AUTO':
        if size_x >= size_y:
            return 'HORIZONTAL'
        else:
            return 'VERTICAL'
    return sensor_fit

# Build intrinsic camera parameters from Blender camera data
#
# See notes on this in 
# blender.stackexchange.com/questions/15102/what-is-blenders-camera-projection-matrix-model
# as well as
# https://blender.stackexchange.com/a/120063/3581
def get_calibration_matrix_K_from_blender(camd):
    if camd.type != 'PERSP':
        raise ValueError('Non-perspective cameras not supported')
    scene = bpy.context.scene
    f_in_mm = camd.lens
    scale = scene.render.resolution_percentage / 100
    resolution_x_in_px = scale * scene.render.resolution_x
    resolution_y_in_px = scale * scene.render.resolution_y
    sensor_size_in_mm = get_sensor_size(camd.sensor_fit, camd.sensor_width, camd.sensor_height)
    sensor_fit = get_sensor_fit(
        camd.sensor_fit,
        scene.render.pixel_aspect_x * resolution_x_in_px,
        scene.render.pixel_aspect_y * resolution_y_in_px
    )
    pixel_aspect_ratio = scene.render.pixel_aspect_y / scene.render.pixel_aspect_x
    if sensor_fit == 'HORIZONTAL':
        view_fac_in_px = resolution_x_in_px
    else:
        view_fac_in_px = pixel_aspect_ratio * resolution_y_in_px
    pixel_size_mm_per_px = sensor_size_in_mm / f_in_mm / view_fac_in_px
    s_u = 1 / pixel_size_mm_per_px
    s_v = 1 / pixel_size_mm_per_px / pixel_aspect_ratio

    # Parameters of intrinsic calibration matrix K
    u_0 = resolution_x_in_px / 2 - camd.shift_x * view_fac_in_px
    v_0 = resolution_y_in_px / 2 + camd.shift_y * view_fac_in_px / pixel_aspect_ratio
    skew = 0 # only use rectangular pixels

    K = Matrix(
        <