{"id":53771,"date":"2025-02-16T08:02:18","date_gmt":"2025-02-16T00:02:18","guid":{"rendered":"https:\/\/fwq.ai\/blog\/53771\/"},"modified":"2025-02-16T08:02:18","modified_gmt":"2025-02-16T00:02:18","slug":"%e5%9f%ba%e4%ba%8eopenusd%e7%9a%84%e5%90%88%e6%88%90%e6%95%b0%e6%8d%ae%e7%94%9f%e6%88%90","status":"publish","type":"post","link":"https:\/\/fwq.ai\/blog\/53771\/","title":{"rendered":"\u57fa\u4e8eOpenUSD\u7684\u5408\u6210\u6570\u636e\u751f\u6210"},"content":{"rendered":"<p>\u8bad\u7ec3\u7528\u4e8e\u9a71\u52a8\u673a\u5668\u4eba\u548c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7b49\u81ea\u4e3b\u673a\u5668\u7684\u7269\u7406 AI 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Usd.Stage) -&gt; None:\n    \"\"\"Create a 6x5 grid of rect lights on the x and y axis.\"\"\"\n    lights_xform = UsdGeom.Xform.Define(stage, Sdf.Path(\"\/Lights\"))\n     \n    for i in range(6):\n        for j in range(5):\n            light_path = Sdf.Path(f\"\/Lights\/Light_{i}_{j}\")\n            rect_light = UsdLux.RectLight.Define(stage, light_path)\n            rect_light.CreateIntensityAttr().Set(5000)\n            rect_light.CreateExposureAttr().Set(1)\n            rect_light.CreateSizeAttr().Set((10, 3))\n            rect_light.AddTranslateOp().Set((i * 5, j * 10, 0))\n            lights_xform.AddChild(rect_light.GetPrim())<\/code><\/pre>\n<p>\u7ed3\u679c\u4ee3\u7801\u5728\u6267\u884c\u65f6\u4f1a\u6309\u7167\u89c4\u5b9a\u7684\u95f4\u8ddd\u5728\u4ed3\u5e93\u4e2d\u521b\u5efa\u5e76\u586b\u5145 30 \u4e2a\u65b0\u706f\uff08\u56fe 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\u7684\u6838\u5fc3\u529f\u80fd\u4e4b\u4e00\u3002\u4f60\u53ef\u4ee5\u4ee5\u7f16\u7a0b\u65b9\u5f0f\u66f4\u6539\u7ed9\u5b9a\u573a\u666f\u4e2d\u7684\u4efb\u610f\u6570\u91cf\u7684\u53d8\u91cf\uff0c\u5305\u62ec\u7167\u660e\u3001\u5bf9\u8c61\u4f4d\u7f6e\u3001\u6750\u8d28\u548c\u7eb9\u7406\u7b49\u3002\u521b\u5efa\u591a\u6837\u5316\u7684\u6570\u636e\u96c6\u6709\u52a9\u4e8e\u611f\u77e5\u6a21\u578b\u5728\u8bb8\u591a\u4e0d\u540c\u573a\u666f\u4e2d\u6267\u884c\u3002<\/p>\n<p>\u4f46\u662f\uff0c\u7f16\u5199\u5927\u89c4\u6a21\u57df\u968f\u673a\u5316\u7684\u4ee3\u7801\u53ef\u80fd\u5f88\u7e41\u7410\uff0c\u5e76\u4e14\u4f1a\u51cf\u6162\u6570\u636e\u751f\u6210\u7684\u8fed\u4ee3\u8fc7\u7a0b\u3002\u89e3\u51b3\u65b9\u6848\uff1f\u5229\u7528 USD Code NIM \u7684\u5f3a\u5927\u529f\u80fd\u5145\u5f53\u526f\u9a7e\u9a76\u3002<\/p>\n<p>\u672c\u8282\u5c06\u5f15\u5bfc\u4f60\u4e86\u89e3\u5982\u4f55\u4f7f\u7528 USD Code NIM \u751f\u6210\u4ee3\u7801\u4f5c\u4e3a\u57df\u968f\u673a\u5316\u7684\u8d77\u70b9\u3002\u4f60\u53ef\u4ee5\u9009\u62e9\u5728 Visual Studio Code \u4e2d\u6fc0\u6d3b USD Code\uff0c\u4e5f\u53ef\u4ee5\u76f4\u63a5\u5728\u4efb\u4f55\u57fa\u4e8e Omniverse Kit \u7684\u5e94\u7528\u7a0b\u5e8f\u4e2d\u6fc0\u6d3b\uff0c\u5176\u4e2d ChatUSD \u4ee3\u7406\u6269\u5c55\u53ef\u4ee5\u6253\u5f00 USD Code \u7a97\u53e3\u4ee5\u8f93\u5165\u63d0\u793a\u3002<\/p>\n<p>  \u56fe 3. ChatUSD \u4ee3\u7406\u6269\u5c55\u53ef\u4ee5\u5728 Omniverse \u4e2d\u6fc0\u6d3b <\/p>\n<p>\u9996\u5148\uff0c\u8f93\u5165\u4ee5\u4e0b\u63d0\u793a\uff1a<\/p>\n<blockquote><p>\n  \u5728\u6253\u5f00\u9636\u6bb5\uff0c\u6211\u5e0c\u671b\u6709\u4e00\u9879\u529f\u80fd\uff0c\u53ef\u4ee5\u4ec5\u5728 x \u8f74\u4e0a\u5c06\u540d\u4e3a\u201c\/Root\/RectLight_03\u201d\u7684\u706f\u5149\u5728 0 \u5230 -20 \u7c73\u4e4b\u95f4\u968f\u673a\u79fb\u52a8\u3002\n<\/p><\/blockquote>\n<pre><code>import omni.replicator.core as rep\nfrom omni.replicator.core.distribution import uniform\nimport asyncio\nimport omni.kit\n \nstage = omni.usd.get_context().get_stage()\ncamera = '\/OmniverseKit_Persp'\nrender_product = rep.create.render_product(camera, (1024, 1024))\n \ndef move_light() -&gt; None:\n    pass\n \n# Initialize and attach writer\nwriter = rep.writers.get(\"BasicWriter\")\nwriter.initialize(output_dir=\"_output\", rgb=True)\nwriter.attach([render_product])\n \nasync def go(num_frames=10):\n    for _ in range(num_frames):\n         move_light()\n         await rep.orchestrator.step_async()\n \nasyncio.ensure_future(go())\u201d<\/code><\/pre>\n<p>  \u56fe 4. USD Code NIM \u5bf9\u7528\u706f\u5149\u586b\u5145\u4ed3\u5e93\u7684\u521d\u59cb\u54cd\u5e94 <\/p>\n<p>\u4f60\u53ef\u4ee5\u901a\u8fc7\u9650\u5236\u706f\u5149\u7684 Y \u548c Z \u4f4d\u7f6e\u3001\u68c0\u67e5\u706f\u5149\u662f\u5426\u5177\u6709\u6b63\u786e\u7684\u53d8\u6362\u7b49\u65b9\u5f0f\u8fdb\u4e00\u6b65\u6539\u8fdb\u8fd9\u4e00\u70b9\u3002\u8bf7\u6ce8\u610f\uff0c\u867d\u7136\u8fd9\u662f\u4e00\u4e2a\u8fed\u4ee3\u8fc7\u7a0b\uff0c\u4f46\u4f7f\u7528 USD Code \u4f5c\u4e3a\u526f\u9a7e\u9a76\u5c06\u5e2e\u52a9\u60a8\u6bd4\u81ea\u5df1\u7f16\u5199\u4ee3\u7801\u66f4\u5feb\u5730\u83b7\u5f97\u65e0\u9519\u8bef\u4ee3\u7801\u3002<\/p>\n<p>\u6700\u7ec8\u4ee3\u7801\u770b\u8d77\u6765\u4f1a\u50cf\u8fd9\u6837\uff1a<\/p>\n<pre><code>import omni.replicator.core as rep\nfrom omni.replicator.core.distribution import uniform\nfrom pxr import Usd, UsdGeom, Gf\nimport asyncio\nimport omni.kit\n \nstage = omni.usd.get_context().get_stage()\ncamera = '\/OmniverseKit_Persp'\nrender_product = rep.create.render_product(camera, (1024, 1024))\n \nimport random\n \ndef move_light() -&gt; None:\n    \"\"\"Randomly move the light named \"\/Root\/RectLight_03\" between 0 and -20 meters on only the x-axis.\"\"\"\n    light_prim = stage.GetPrimAtPath(\"\/Root\/RectLight_03\")\n    translate_attr = light_prim.GetAttribute(\"xformOp:translate\")\n    if translate_attr:\n        current_translation = translate_attr.Get()\n        new_x = random.uniform(-20, 0)  # random x value between -20 and 0\n        new_translation = Gf.Vec3d(new_x, current_translation[1], current_translation[2])\n        translate_attr.Set(new_translation)\n    else:\n        new_x = random.uniform(-20, 0)  # random x value between -20 and 0\n        light_prim.AddAttribute(\"xformOp:translate\", Sdf.ValueTypeNames.Float3).Set(Gf.Vec3d(new_x, 0, 0))\n \n# Initialize and attach writer\nwriter = rep.writers.get(\"BasicWriter\")\nwriter.initialize(output_dir=\"_output\", rgb=True, normals=True, distance_to_image_plane=True, semantic_segmentation=True)\nwriter.attach([render_product])\n \nasync def go(num_frames=10):\n    for _ in range(num_frames):\n         move_light()\n         await rep.orchestrator.step_async()\n \nasyncio.ensure_future(go())<\/code><\/pre>\n<p>\u5728 Replicator \u811a\u672c\u7f16\u8f91\u5668\u4e2d\u6267\u884c\u4ee3\u7801\u5c06\u5bfc\u81f4\u4ed3\u5e93\u4e2d\u7684\u706f\u5149\u968f\u673a\u6253\u5f00\u548c\u5173\u95ed\uff08\u56fe 5\uff09\u3002<\/p>\n<p>  \u56fe 5. \u4f5c\u4e3a\u573a\u666f\u968f\u673a\u5316\u7684\u4e00\u90e8\u5206\uff0c\u4ed3\u5e93\u706f\u6253\u5f00\u548c\u5173\u95ed\uff0c\u7531 Replicator \u4ee3\u7801\u63a7\u5236 <\/p>\n<p>\u6b64\u793a\u4f8b\u4ee3\u7801\u53ea\u662f\u4f7f\u7528 USD Code NIM \u8fdb\u884c\u57df\u968f\u673a\u5316\u7684\u4f17\u591a\u793a\u4f8b\u4e4b\u4e00\u3002\u60a8\u53ef\u4ee5\u901a\u8fc7\u5411\u573a\u666f\u6dfb\u52a0\u968f\u673a\u5316\u5e76\u589e\u52a0\u6570\u636e\u96c6\u7684\u591a\u6837\u6027\u6765\u7ee7\u7eed\u8fed\u4ee3\u3002\u60a8\u8fd8\u53ef\u4ee5\u6307\u5b9a\u60a8\u7684 Python \u7f16\u5199\u4ee5\u652f\u6301\u5f00\u53d1\u53ef\u8f7b\u677e\u91cd\u7528\u4e8e\u4e0d\u540c\u573a\u666f\u7684\u8f85\u52a9\u51fd\u6570\u3002\u8fd9\u63d0\u9ad8\u4e86\u672a\u6765\u8fd0\u884c\u7684\u6548\u7387\u3002<\/p>\n<h2>4\u3001\u5bfc\u51fa\u5e26\u6807\u6ce8\u7684\u56fe\u50cf<\/h2>\n<p>\u5728 Replicator \u4e2d\u8bbe\u7f6e\u57df\u968f\u673a\u5316\u540e\uff0c\u4f60\u73b0\u5728\u53ef\u4ee5\u5bfc\u51fa\u7b2c\u4e00\u6279\u5e26\u6807\u6ce8\u7684\u56fe\u50cf\u3002Replicator \u6709\u8bb8\u591a\u5f00\u7bb1\u5373\u7528\u7684\uff0c\u4f8b\u5982 2D \u8fb9\u754c\u6846\u3001\u8bed\u4e49\u5206\u5272\u3001\u6df1\u5ea6\u3001\u6cd5\u7ebf\u7b49\u7b49\u3002\u8f93\u51fa\u7684\u7c7b\u578b\uff08\u4f8b\u5982\u8fb9\u754c\u6846\u6216\u5206\u5272\uff09\u5c06\u53d6\u51b3\u4e8e\u6a21\u578b\u6216\u7528\u4f8b\u7684\u7c7b\u578b\u3002\u53ef\u4ee5\u4f7f\u7528 BasicWriter \u5c06\u6570\u636e\u5bfc\u51fa\u4e3a\u57fa\u672c\u6570\u636e\uff0c\u4f7f\u7528 KittiWriter \u5c06\u6570\u636e\u5bfc\u51fa\u4e3a KITTI\uff0c\u6216\u4f7f\u7528\u81ea\u5b9a\u4e49\u7f16\u5199\u5668\u5c06\u6570\u636e\u5bfc\u51fa\u4e3a COCO\u3002<\/p>\n<p>\u66f4\u91cd\u8981\u7684\u662f\uff0c\u4ece Replicator \u751f\u6210\u7684\u6570\u636e\u6355\u83b7\u5404\u79cd\u7269\u7406\u4ea4\u4e92\uff0c\u5982\u521a\u4f53\u52a8\u529b\u5b66\uff08\u4f8b\u5982\u8fd0\u52a8\u548c\u78b0\u649e\uff09\u6216\u5149\u5728\u73af\u5883\u4e2d\u7684\u4ea4\u4e92\u65b9\u5f0f\u3002\u56fe 6 \u663e\u793a\u4e86\u53ef\u4ee5\u4ece Replicator \u5bfc\u51fa\u7684\u5e26\u6ce8\u91ca\u6570\u636e\u7c7b\u578b\u7684\u793a\u4f8b\u3002<\/p>\n<p>  \u56fe 6. Replicator \u53ef\u4ee5\u751f\u6210\u5404\u79cd\u5e26\u6807\u6ce8\u7684\u6570\u636e\uff0c\u5305\u62ec\uff08\u4ece\u5de6\u4e0a\u89d2\u5f00\u59cb\u987a\u65f6\u9488\u65b9\u5411\uff09\u6cd5\u7ebf\u3001RGB\u3001\u6df1\u5ea6\u548c\u8bed\u4e49\u5206\u5272 <\/p>\n<h2>5\u3001\u4f7f\u7528 ComfyUI \u589e\u5f3a\u5408\u6210\u6570\u636e\u96c6<\/h2>\n<p>\u8fdb\u4e00\u6b65\u589e\u5f3a\u5408\u6210\u6570\u636e\u96c6\u53ef\u4ee5\u521b\u5efa\u65b0\u7684\u53d8\u5316\uff0c\u4f8b\u5982\u66f4\u6539\u80cc\u666f\u5e76\u6dfb\u52a0\u989d\u5916\u7684\u7eb9\u7406\u548c\u6750\u8d28\u7ec6\u8282\uff0c\u6240\u6709\u8fd9\u4e9b\u90fd\u4f7f\u7528\u6587\u672c\u63d0\u793a\u3002\u5e7f\u6cdb\u7684\u53d8\u5316\u4e0d\u4ec5\u6709\u76ca\uff0c\u800c\u4e14\u53ef\u4ee5\u901a\u8fc7\u9ad8\u5ea6\u903c\u771f\u7684\u7ed3\u679c\u7f29\u5c0f\u5916\u89c2\u57df\u5dee\u8ddd\u3002\u603b\u7684\u6765\u8bf4\uff0c\u82b1\u5728\u6570\u636e\u96c6\u4e0a\u7684\u65f6\u95f4\u3001\u5927\u91cf\u9ad8\u8d28\u91cf\u6570\u5b57\u8d44\u4ea7\u7684\u8d1f\u62c5\u4ee5\u53ca\u5728\u589e\u5f3a\u9636\u6bb5\u91cd\u65b0\u751f\u6210\u65b0\u53d8\u5316\u7684\u7075\u6d3b\u6027\u53ef\u4ee5\u8282\u7701\u5927\u91cf\u65f6\u95f4\u3002<\/p>\n<p>\u662f\u4e00\u4e2a\u57fa\u4e8e Web \u7684\u540e\u7aef\u548c GUI\uff0c\u7528\u4e8e\u4f7f\u7528\u6269\u6563\u6a21\u578b\u6784\u5efa\u548c\u6267\u884c\u7ba1\u9053\u3002\u5b83\u662f\u4e00\u4e2a\u529f\u80fd\u5f3a\u5927\u7684\u5f00\u6e90\u5de5\u5177\uff0c\u53ef\u5728 GitHub \u4e0a\u4e0b\u8f7d\u3002\u5b83\u53ef\u4ee5\u4e0e SDXL\u3001\u5176\u4ed6\u6269\u6563\u6a21\u578b\u6216\u4f60\u9009\u62e9\u7684\u5fae\u8c03\u6a21\u578b\u4e00\u8d77\u4f7f\u7528\u3002\u66f4\u5e7f\u6cdb\u7684\u793e\u533a\u5df2\u7ecf\u521b\u5efa\u4e86\u4e00\u4e2a\u989d\u5916\u7684\u6280\u672f\u548c\u529f\u80fd\u751f\u6001\u7cfb\u7edf\uff0c\u4f5c\u4e3a ComfyUI \u7684\u8282\u70b9\uff0c\u4f60\u53ef\u4ee5\u5c06\u5176\u96c6\u6210\u5230\u4f60\u7684\u56fe\u4e2d\u3002<\/p>\n<p>\u6709\u5173\u5165\u95e8\u7684\u53c2\u8003 ComfyUI \u56fe\u8868\uff0c\u8bf7\u53c2\u9605\u300a\u3002<\/p>\n<p>  \u56fe 7. \u4f7f\u7528\u6269\u6563\u6a21\u578b\u589e\u5f3a\u5408\u6210\u751f\u6210\u7684\u56fe\u50cf\u7684\u793a\u4f8b ComfyUI \u5de5\u4f5c\u6d41\u7a0b 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